Mavlinked Code

// <date>2015-11-2</date> */

#include <FastSerial.h> #include "..libraries\mavlink\include\mavlink.h" // Mavlink interface FastSerialPort0(Serial); #define dir 13 //Set pin 13 as Direction pin. Not important, only use to set the motor direction. #define en 9 // Set pin 9 as Step pin #define stepps 12 // Set pin 12 as Step pin #define homingP 2 // EE-SX671 PIN for homing #define RadarIN A0 // Radar input pin Anolog #define safety 3 // Radar input pin Anolog int steps = 0; /* The default UART header for your MCU */ int sysid = 20; ///< ID 20 for this airplane int compid = MAV_COMP_ID_IMU;

///< The component sending the message is the IMU, it could be also a Linux process int type = MAV_TYPE_QUADROTOR; ///< This system is an airplane / fixed wing // Define the system type, in this case an airplane uint8_t system_type = MAV_TYPE_FIXED_WING; uint8_t autopilot_type = MAV_AUTOPILOT_GENERIC; uint8_t system_mode = MAV_MODE_PREFLIGHT; ///< Booting up uint32_t custom_mode = 0; ///< Custom mode, can be defined by user/adopter uint8_t system_state = MAV_STATE_STANDBY; ///< System ready for flight uint8_t target_sys = 2; uint8_t target_com = 2; uint8_t c; // Initialize the required buffers mavlink_message_t msg; mavlink_status_t status; uint8_t buf[MAVLINK_MAX_PACKET_LEN];