Hi, if you are already able to receive message at 14552, you can try the following script. I updated the heartbeat message to preserve message field data type. Previously the fields were overwritten to double type.
I also used parameter protocol to test sending parameter request.
% === CONNECTION CONFIGURATION ===
localPort = 14552; % Local UDP port (match SITL config)
targetSys = 1;
targetComp = 1;
% === Initialize MAVLinkIO ===
dialect = mavlinkdialect("common.xml", 2);
mav = mavlinkio(dialect);
connect(mav, "UDP", "LocalPort", localPort);
% === Create drone target client ===
client = mavlinkclient(mav, targetSys, targetComp);
% === Register MATLAB as GCS client (sysid 255, compid 1) ===
gcs = mavlinkclient(mav, 255, 1);
% === Send HEARTBEATs periodically ===
% It is important to preserve the struct field type using (:)= assignment
disp("📡 Sending HEARTBEAT every 1 second...");
heartbeat = createmsg(dialect, "HEARTBEAT");
heartbeat.Payload.autopilot(:) = 8; % MAV_AUTOPILOT_INVALID
heartbeat.Payload.base_mode(:) = 0;
heartbeat.Payload.custom_mode(:) = uint32(0);
heartbeat.Payload.system_status(:) = 0;
heartbeat.Payload.type(:) = 6; % MAV_TYPE_GCS (Ground Station)
duration = 30; % seconds
startTime = tic;
while toc(startTime) < duration
sendmsg(mav, heartbeat);
fprintf("Sent HEARTBEAT at t=%.1f sec\n", toc(startTime));
pause(1.0);
end
% === Use parameter request to get parameter values ===
sub = mavlinksub(mav, client, "PARAM_VALUE", NewMessageFcn=@(~,msg)disp(msg.Payload), BufferSize=30);
msg = createmsg(dialect,"PARAM_REQUEST_LIST");
msg.Payload.target_system(:) = targetSys;
msg.Payload.target_component(:) = targetComp;
sendmsg(mav,msg,client)
pause(1)
% === Cleanup ===
disconnect(mav);
delete(mav);
disp("✅ Done");
