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    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.
    Ok, this is what shibuya-san sent me. I've only looked at it briefly
    he says he tested it on an NVidia TX1
    Randy Mackay
    @rmackay9
    The above code is GPLv3 by the way.. if that doesn't work for anybody please come and talk to me and we can try and figure out how to resolve any problems.
    Yuichiro Shibata
    @arsnovare
    This message was deleted
    @rmackay9 Thank you for the code !
    Sorry, because there is not time, prototype will use a simple converter we made.
    We will refer to the above code at the time of formal development.
    Randy Mackay
    @rmackay9
    yup, that's great. I'm looking forward to seeing what you have!
    Yuichiro Shibata
    @arsnovare
    @rmackay9 Yes. We are doing development to show good things.
    I am developing it with tanaka-san, Kawamura-san, Matsumoto-san, Pierre.
    Tanaka's contribution is great !
    Randy Mackay
    @rmackay9
    @arsnovare, how did the presentation go?
    Yuichiro Shibata
    @arsnovare
    @rmackay9 The presentation on March 13 ended in failure.
    I will try again on 18th March.
    Randy Mackay
    @rmackay9
    ah, that's too bad. anything I can help with?
    p-goudet
    @p-goudet

    @rmackay9 The flight on March 12th fails with latest version of ardupilot(at this time) where the MQTT features have been include. During this try the motor emit a strange sound.

    However before the drone crash, we had successfully done another try in the morning with an older version of arducopter (Copter-3.4-rc1) download from the emild HP.

    At home, we have done some tries (no flight, just motor) with the base version of ardupilot( Copter-3.5 without MQTT). The result is that the motors have a strange behaviour and making some strange noise, the same that we noticed during the failure and probably make the drone crashes.
    Currentely, locally we moved the commit where you had the AP_Telemetry library on the Copter-3.4 branch. The compile successed and the motor seems to be fine. We are now trying to import the MQTT features on that new local branch based on Copter-3.4.

    Randy Mackay
    @rmackay9
    @p-goudet, if you have the logs I can have a look. If it's a motor failure, the signs are very clear. the RCOU message will show the bad motor going to full, the opposite motor often goes low.
    Also did you do an ESC calibration?
    p-goudet
    @p-goudet
    @rmackay9 Unfortunately the log file were empty.
    I don’t remember that we have done such thing like ESC calibration.
    @rmackay9 Also later we mounted the flight controller on the Robocat drone of @tajisoft and one of the ESC burned, even before the motor start to move.
    p-goudet
    @p-goudet
    @rmackay9 I calibrate the ESC and try with the master version of ardupilot and the same issue occured
    Randy Mackay
    @rmackay9
    Ok, sounds a bit like a hardware problem then..
    Yuichiro Shibata
    @arsnovare

    @rmackay9
    We made the demonstration of MQTT successful
    I used Copter-3.4.

    We did two demonstrations.

    First, I connected Drone to the Internet with WiFi, got log (latitude, longitude, etc.), and operated (ARM, DisArm, take off, land etc.) Drone with MQTT from a remote place.

    Second, connect Drone to the Internet with SORACOM (LTE / 3G), perform simple operation (ARM, DisArm) with MQTT from a remote place, loaded Drone in the car and got position information.

    We shot a demonstration video, we will show you it when editing is over.

    Randy Mackay
    @rmackay9
    Congrats!
    Randy Mackay
    @rmackay9
    I hope i can give it a try as well..
    vp_tanaka
    @norika-takumi
    @rmackay9
    We controlled Drone in Yokohama from Fukuoka, using mqtt protocol on wifi network connected to internet.