MAVLink-ESP32 connection

Mission Planner
1

Hello, I am trying to send data from an ESP32 to an Orange Cube+ with ArduPilot. To simulate a sensor connected to the ESP32, I am using a potentiometer and the c_library_v2 library with the following code:

#include <Arduino.h>
#include <stdint.h>

extern "C" {
  #include "mavlink/common/mavlink.h"
}


// UART2 del ESP32 hacia Cube Orange
HardwareSerial CubeSerial(2);

// IDs MAVLink
static uint8_t system_id    = 42;   // ESP32
static uint8_t component_id = 200;  // Sensor externo

// Pin ADC
const int POT_PIN = 34;

// Parámetros ADC ESP32
const float ADC_MAX = 4095.0;
const float VREF    = 3.3;

void setup() {

  // UART hacia Cube Orange
  CubeSerial.begin(115200, SERIAL_8N1, 16, 17);

  // Configurar ADC
  analogReadResolution(12); // 0–4095
  analogSetAttenuation(ADC_11db); // rango ~0–3.3V

  delay(1000); // tiempo para que el Cube arranque
}

void loop() {

  // Leer potenciómetro
  uint16_t adc_raw = analogRead(POT_PIN);

  // Convertir a voltaje
  float voltage = (adc_raw / ADC_MAX) * VREF;

  // Preparar MAVLink
  mavlink_message_t msg;
  uint8_t buffer[MAVLINK_MAX_PACKET_LEN];

  mavlink_msg_named_value_float_pack(
    system_id,
    component_id,
    &msg,
    millis(),
    "POT_VOLT",
    voltage
  );

  uint16_t len = mavlink_msg_to_send_buffer(buffer, &msg);
  CubeSerial.write(buffer, len);

  delay(200); // 5 Hz (ideal para sensores)
}

SERIAL2_PROTOCOL = 2
SERIAL2_BAUD = 115
BRD_SER2_RTSCTS = 0
LOG_DISARMED = 1
LOG_BACKEND_TYPE = 1

I am using those parameters in mission planner, but I don’t get any communication, can you help me please?

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image746×752 144 KB

I connected tx rx and gnd between esp32 an cube orange+

2

have you tried using dronebridge which is specifically for esp32xx series microcontrollers running on mavlink