missionMicroservice

Upload a mission to a Pixhawk^® 4 board running PX4^® firmware by using the mission microservice.

Create a mavlinkdialect object using the common.xml file.

dialect = mavlinkdialect("common.xml");

Create a local MAVLink client by using the mavlinkio object.

gcs = mavlinkio(dialect);

Store the remote MAVLink client information by using the mavlinkclient object. This Pixhawk board has a system ID of 1 and a component ID of 1.

uav = mavlinkclient(gcs,1,1);

Connect the local MAVLink client to the same serial port as the Pixhawk board by using the connect function. This Pixhawk board uses the COM5 port.

connect(gcs,"Serial",SerialPort="COM5");

Create a heartbeat microservice object.

heartbeat = mavlinkmicroservice(gcs,"heartbeat");

Start sending the HEARTBEAT messages to the Pixhawk board by using the start function.

start(heartbeat,uav,"Serial",SerialPort="COM5")

If the Pixhawk board replies with HEARTBEAT messages, a connection is established.

Verify that the connection has been established by using the listClients function.

listClients(gcs)

ans = 2×4 table
    SystemID    ComponentID       ComponentType             AutopilotType     
    ________    ___________    ____________________    _______________________

      255            1            "MAV_TYPE_GCS"        "MAV_AUTOPILOT_INVALID"
       1             1         "MAV_TYPE_QUADROTOR"       "MAV_AUTOPILOT_PX4"

Create a mission microservice object.

mission = mavlinkmicroservice(gcs,"mission");

Upload the mission SampleMission.plan to the Pixhawk board by using the upload function. The function returns the upload status and acknowledgement message.

[status,ack] = upload(mission,uav,"SampleMission.plan")

status = true
ack = 
  struct with fields:

       target_system : 255
    target_component : 1
                type : 0
        mission_type : 0
     

Download a mission from a Pixhawk 4 board running PX4 firmware by using the mission microservice.

Create a mavlinkdialect object using the common.xml file.

dialect = mavlinkdialect("common.xml");

Create a local MAVLink client by using the mavlinkio object.

gcs = mavlinkio(dialect);

Store the remote MAVLink client information by using the mavlinkclient object. This Pixhawk board has a system ID of 1 and a component ID of 1.

uav = mavlinkclient(gcs,1,1);

Connect the local MAVLink client to the same serial port as the Pixhawk board by using the connect function. This Pixhawk board uses the COM5 port.

connect(gcs,"Serial",SerialPort="COM5");

Create a heartbeat microservice object.

heartbeat = mavlinkmicroservice(gcs,"heartbeat");

Start sending the HEARTBEAT messages to the Pixhawk board by using the start function.

start(heartbeat,uav,"Serial",SerialPort="COM5")

If the Pixhawk board replies with HEARTBEAT messages, a connection is established.

Verify that the connection has been established by using the listClients function.

listClients(gcs)

ans = 2×4 table
    SystemID    ComponentID       ComponentType             AutopilotType     
    ________    ___________    ____________________    _______________________

      255            1            "MAV_TYPE_GCS"        "MAV_AUTOPILOT_INVALID"
       1             1         "MAV_TYPE_QUADROTOR"       "MAV_AUTOPILOT_PX4"

Create a mission microservice object.

mission = mavlinkmicroservice(gcs,"mission");

Download the mission stored in the Pixhawk board by using the download function. This mission contains four waypoints.

[status,missionData] = download(mission,uav)

status = true
missionData = 4×15 table
  param1  param2  param3  param4      x           y      z   seq  command  target_system  target_component  frame  current  autocontinue  mission_type
  ______  ______  ______  ______  _________  __________  __  ___  _______  _____________  ________________  _____  _______  ____________  ____________
    0       0       0       NaN   422315437  -717016359  10   0      16         255              1            6      0           1             0      
    0       0       0       NaN   422327909  -716999085  10   1      16         255              1            6      0           1             0      
    0       0       0       NaN   422324334  -716981812  10   2      16         255              1            6      0           1             0      
    0       0       0       NaN   422309320  -716974302  10   3      16         255              1            6      0           1             0