main

#include "mavlink.h"
#include <WiFi.h>
#include <WiFiUdp.h>
#include <esp_task_wdt.h>

const char * ssid = "i-121"; //  your network SSID (name)
const char * pwd = "87654321";    // your network password (use for WPA, or use as key for WEP)
const char * udpAddr = "192.168.137.1"; // target ip MissionPlanner/UDP server
const int udpPort = 14022;      // local port to listen on
uint8_t mp[300]; // buffer data dari mission planner

WiFiUDP udp;

void setup() {
  Serial2.begin(57600); //RXTX from Pixhawk (Port 19,18 Arduino Mega)
  Serial.begin(57600);
  WiFi.begin(ssid, pwd);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
  }
  udp.begin(udpPort);
}

void loop() {
  px_to_mp();
}

void send_it(char* _data, uint8_t frameSize, char* plaint) {
  udp.beginPacket(udpAddr, udpPort);                    // gabungkan arr1 (header) dengan arr2 (payload+checksum)
  udp.write((const uint8_t *)_data, frameSize); // kirim data mavlink dari PX ke MP menggunakan UDP
  udp.endPacket();

  uint8_t packetSize = udp.parsePacket();
  if(packetSize) {
    if(udp.read(mp, packetSize)) {
      Serial2.write((const uint8_t *)mp, packetSize);
    }
  }
}