Adding MAVLINK messages for an external groundstation to use in telemetry (RFD-900)

Is there a way to easily add values saved in a simulink code to the message list that external ground station programs can receive and use as telemetry.

I currently have a set of saved data points through a custom uORB message that are calculated in the simulink flight controller but I would like the freedom to also have these values be telemetered to programs like mission planner or Qground control. Ive explored some options about creating new mavlink messages but this process is incredibly cumbersome and way out my depth to successfully implement since it involves invidiaully editing more than 5 different files in the base firmware file structure. Is there a reliable way using simulink blocks to create these new messages to be included

The current setup is using a Pixhawk 6x with an RFD 900 for telemetry.

Answer 1

[Arun Mathamkode]

You can consider using the DEBUG MAVLink message and DebugValue uORB message. The values written to DebugValue uORB message should be accessible in ground controls station using DEBUG MAVLink message. Similar way there are few more debug messages to send key value pair ( DebugKeyValue -> NAMED_VALUE_FLOAT ) and array(DebugArray -> DEBUG_FLOAT_ARRAY).