listClients
List all connected MAVLink clients
Description
lists all active connections for the clientTable
= listClients(mavlink
)mavlinkio
client
connection.
Examples
Work with MAVLink Connection
This example shows how to connect to MAVLink clients, inspect the list of topics, connections, and clients, and send messages through UDP ports using the MAVLink communication protocol.
Connect to a MAVLink client using the "common.xml"
dialect. This local client communicates with any other clients through a UDP port.
dialect = mavlinkdialect("common.xml"); mavlink = mavlinkio(dialect); connect(mavlink,"UDP")
ans = "Connection1"
You can list all the active clients, connections, and topics for the MAVLink connection. Currently, there is only one client connection and no topics have received messages.
listClients(mavlink)
ans=1×4 table
SystemID ComponentID ComponentType AutopilotType
________ ___________ ______________ _______________________
255 1 "MAV_TYPE_GCS" "MAV_AUTOPILOT_INVALID"
listConnections(mavlink)
ans=1×2 table
ConnectionName ConnectionInfo
______________ ___________________
"Connection1" "UDP@0.0.0.0:39273"
listTopics(mavlink)
ans = 0x5 empty table MessageID MessageName SystemID ComponentID MessageFrequency _________ ___________ ________ ___________ ________________
Create a subscriber for receiving messages on the client. This subscriber listens for the "HEARTBEAT"
message topic with ID equal to 0
.
sub = mavlinksub(mavlink,0);
Create a "HEARTBEAT"
message using the mavlinkdialect
object. Specify payload information and send the message over the MAVLink client.
msg = createmsg(dialect,"HEARTBEAT"); msg.Payload.type(:) = enum2num(dialect,'MAV_TYPE','MAV_TYPE_QUADROTOR'); sendmsg(mavlink,msg)
Disconnect from the client.
disconnect(mavlink)
Input Arguments
mavlink
— MAVLink client connection
mavlinkio
object
MAVLink client connection, specified as a mavlinkio
object.
Output Arguments
clientTable
— Active client info
table
Active connection info, returned as a table with SystemID
,
ComponentID
, ConnectionType
, and
AutopilotType
fields for each active client.
Version History
Introduced in R2019a
See Also
connect
| listConnections
| listTopics
| mavlinkio
| mavlinkdialect
| mavlinkclient
| mavlinksub
External Websites
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