CentMesh Mobile Node Programming Guide

Applications can be programmed on the CentMesh Mobile Node (see HardWare/MobileNode), as on a standard Linux platform. To enable such applications to control the motion of the vehicle (such as the CentMesh Drone hexacopter), they must implement:

• The CentMesh Mission Control Protocol (MCP) - enabling the application to receive commands from a Mission Manager,
• The MAVLink protocol - enabling the application to issue control messages to the autopilot.

Notes for accomplishing these two tasks are provided below, and sample application code which shows how an application receives and interprets MCP messages, and generates MAVLink messages to drive the autopilot.

• ​Quick-start programming tutorial (new version 1.1 - now including alternate mavutil library usage)

• ​MCP Description, and how-to for sample code

• Source code for sample apps details

• Programming is easy to start on a virtual environment - see Drones/VirtualDroneEnvironment

• Other Programming Notes
  • MAVLink protocol info details (see HardWare/Drones)
  • Sending and receiving MAVLink messages details
  • Follow the Leader APP details

• Complete tutorial February 2014
  • ​Slides
  • ​Video