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    Randy Mackay
    @rmackay9
    hello. this is a room to discuss adding support for the MQTT telemetry protocol.
    vp_tanaka
    @norika-takumi
    MQTT メッセージを受信して、Droneをコントロールしようとする場合、MQTT のメッセージからmavlink_message_t 型のデータを生成し、GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)を呼び出すようにすればよろしいでしょうか?このハンドラーはリカーシブに呼ばれても大丈夫か、他のスレッドや割り込みから呼ばれていないか不明です。ご存じの方おられたら、ご教授願います。
    vp_tanaka
    @norika-takumi
    リカーシブでななく、リエントラントでした。
    murata,katsutoshi
    @muramura
    Is this discussion room a national room? If you are interested in the world ardupilot, I think English is good.
    tajisoft
    @tajisoft
    I prepared a MQTT server at 160.16.96.11:8883 and publishing tool at http://160.16.96.11:8884 for pub-sub test.
    The publish tool has basic-auth.
    USER ID: aptj
    PASSWORD: aptj-mqtt
    tajisoft
    @tajisoft
    村田さん>
    英語が理想ですが、現段階のプロジェクトメンバ間で円滑にコミュニケーションするには日本語で、という事にMTGで決めました。ardupilot下のプロジェクトだから英語がベストですが
    Yuichiro Shibata
    @arsnovare
    @tajisoft Thank you for preparing MQTT Server & Tools 👍
    Yuichiro Shibata
    @arsnovare
    @muramura Thank you for your advice.
    Next Tuesday, we will discuss about it again.
    murata,katsutoshi
    @muramura
    @tajisoft Thank you for your comment.
    @arsnovare asked @tridge and @rmackay9 about MQTT at Gitter.
    At this time, @khancyr (active member) was commenting. . .
    I thought that there are people interested in MQTT who are overseas members.
    =
    khancyr @khancyr 12月 30 2016 19:50
    @arsnovare @tridge have a dedicated thread could be interesting for MQTT and other protocole lib. There was already a premilary work for RTPS (or something like that, i'm on phone if i change tabs, gitter will post this incomplet message). And I was questionning myself about extenting that support for ROS (based on boost async) and gazebo ( lib ignition + protobuf). It could permit to get data from autopilot without using mavlink, or simplier that using raw socket like in current gazebo solution. The problem I see on those lib is that generaly it use exceptions and for now they are forbidden with compile rule. The real question is (I think) should ardupilot be compatible with every protocole (and iot got a lot) or have a simpler interface for companion computer or reliable communication ?
    Yuichiro Shibata
    @arsnovare

    @muramura
    I was gave a following advice from Randy.

    I think we should just make a new library similar to AP_FrSky_Telem
    then integrate it and see if people like it.. and then make it better
    let's start with something very simple.. like sending vehicle position and flight mode?  .. and maybe accepting arm/disarm commands?
    what do you think?

    Then I agreed this proposal .

    I would like to sending a small amount of log data(i.e, drone identification number and vehicle position and flight mode), and accepting a small amount of command(i.e, arm and disarm...).
    Maybe it would be an easier way to process commands by converting MQTT messages into MAVLink messages.

    Yuichiro Shibata
    @arsnovare
    Some members of the second generation of Drone Software Engineer training team started to develop.
    vp_tanaka
    @norika-takumi
    In order to map payload64 of mavlink_message_t to mavlink_command_long_t,
    I tried casting address of payload64 to mavlink_command_long_t, but it did not work.
    Using mavlink_msg_command_long_pack_chan, I confirmed that it works normally.
    Is this correct usage?
    Randy Mackay
    @rmackay9
    I hope to make an AP_Telemetry class to help this project soon
    Yuichiro Shibata
    @arsnovare
    @rmackay9 Thank you for your help and support.
    Can AP_Telemetry class convert MQTT to MAVLink,? and conversely ?
    Randy Mackay
    @rmackay9
    @arsnovare, I wasn't going to make it convert. I was just going to create a basic structure so you can more easily get started.
    it would be an alternative to MAVLink.. so this class wouldn't know anything about mavlink actually
    Yuichiro Shibata
    @arsnovare

    I wasn't going to make it convert. I was just going to create a basic structure so you can more easily get started.

    @rmackay9 , I understand that you will create a skeleton program for the MQTT.
    Thank you !

    This is just the basics ^^. It's a new AP_Telemetry class with an MQTT "backend".
    right now it just prints the lat, lon, alt to the console every 1 second inside AP_Telemetry_MQTT::update()
    That code should be replaced with serial information to send MQTT messages I think.
    Randy Mackay
    @rmackay9
    to make it load the backend you must set SERIAL2_MANAGER = 14 and reboot the flight controller
    One thing I don't understand is how we will physically connect a UART to make it send the serial to a webserver..
    Randy Mackay
    @rmackay9
    I talked to EnRoute and they have a MAVLink<->MQTT converter. Shibuya-san from EnRoute says he will send it to me soon and we can open source it
    he says it's very basic
    tajisoft
    @tajisoft
    wanderfull!!
    vp_tanaka
    @norika-takumi
    @rmackay9 ,Thank you very much. With this subject, we were suffering. This will be settled.
    Yuichiro Shibata
    @arsnovare

    @rmackay9 Sorry for late reply, and thank you for creating AP_Telemetry class !

    One thing I don't understand is how we will physically connect a UART to make it send the serial to a webserver..
    First, we would like to send MQTT Messages to the web server without using serial or UART.

    For Navio 2 platform, we expect to be able to connect to Web server directly from ArduPilot's program using TCP / IP socket.

    Also, we would like to link Paho MQTT Client library to ArduPilot. Using this Paho library, connect to a web server.

    Next,
    for the structure of "pixhawk" -> "companion computer" -> "Web Server", we will consider how to send to the web server using UART or serial.

    Yuichiro Shibata
    @arsnovare
    @rmackay9 Thank you for the adjustment of Shibuya-san!
    We will make development easier by using the converter.
    Yuichiro Shibata
    @arsnovare

    Hi @rmackay9
    Did you recieved the MQTT Converter from Shibuya san.

    We have created a prototype of MQTT which has only simple functions.
    We would like use the Converter for this prototype.

    murata,katsutoshi
    @muramura
    Is it true that password is raw?
    tajisoft
    @tajisoft
    @muramura We have some steps for MQTT project. In the first step, we are just making some simple code for demo. At this point we have not considered security yet.
    Randy Mackay
    @rmackay9
    Hi there. I was off in Australia for a couple of weeks but back now.
    I haven't gotten the MQTT converter yet from Shibuya-san so I'll ping him
    murata,katsutoshi
    @muramura
    @tajisoft comments thank you.
    Yuichiro Shibata
    @arsnovare
    @rmackay9 Thank you for reply!
    Please ping to Shibuya-san.
    We are planning a flight test of MQTT prototype at Ibaraki airfield on March 12.