Hi all, I'd like to have a go at implementing a UART based Mavros client / server implementation, The client will be running on a homegrown ARM Cortex F4 flight controller and the server side I plan to implement on a more powerful "Companion Computer", probably a Raspberry PI. I'm struggling to find any detailed information about how other systems perform the encapsulation with MAVLink as I would like to build code that I could easily re-use with other systems. I now have a basic understanding of ROS but I still have a few moderately fundamental questions with regard to Mavros that I'm trying to find answers for. I have started to have a look though some of the implementing code bases such as PX4. However, there is a lot of code and this is taking a while! Below are a few "overlapping" and pretty basic low level questions about the MAVLink encapsulation that I'm hoping someone can answer, or perhaps point me at some appropriate code or a technical description (I have unsuccessfully looked for this). * Which MAVLink message ID or IDs are used? * Are these custom MAVLink messages? i.e. in the range 180 - 229 and thus application specific. * Do distinct Mavros message get encapsulated as specific custom MAVLink message? Many thanks! --- [Visit Topic](https://discourse.ros.org/t/low-level-encapsulation-of-mavros-messages-using-mavlink/7247/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: