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//Request a data from a device
mavlink_msg_request_data_stream_pack(2, 200, &msg, 1, 0, MAVStreams[i], MAVRates[i], 1);

//Send a heartbeat packet
mavlink_msg_heartbeat_pack(255,0, &msg, type, autopilot_type, system_mode, custom_mode, system_state);

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mavlink_message_t msg;
mavlink_status_t status;

mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(&msg,&hb);

        #ifdef DEBUG
          Serial.print(millis());
          Serial.print("\ncustom_mode: ");Serial.println(hb.custom_mode);
          Serial.print("Type: ");Serial.println(hb.type);

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// Mavlink variables
unsigned long previousMillisMAVLink = 0;     // will store last time MAVLink was transmitted and listened
unsigned long next_interval_MAVLink = 1000;  // next interval to count
const int num_hbs = 60;                      // # of heartbeats to wait before activating STREAMS from Pixhawk. 60 = one minute.
int num_hbs_past = num_hbs;
  

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// Send the message with the standard UART send function
  // uart0_send might be named differently depending on
  // the individual microcontroller / library in use.
  unsigned long currentMillisMAVLink = millis();
  if (currentMillisMAVLink - previousMillisMAVLink >= next_interval_MAVLink) {
    // Timing variables
    previousMillisMAVLink = currentMillisMAVLink;

    SerialMAV.write(buf, len);

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// Pack the message
mavlink_msg_heartbeat_pack(255,0, &msg, type, autopilot_type, system_mode, custom_mode, system_state);
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);

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void Mav_Request_Data()
{
  mavlink_message_t msg;
  uint8_t buf[MAVLINK_MAX_PACKET_LEN];

  // To be setup according to the needed information to be requested from the Pixhawk
  const int  maxStreams = 1;
  const uint8_t MAVStreams[maxStreams] = {MAV_DATA_STREAM_ALL};
  const uint16_t MAVRates[maxStreams] = {0x02};
    

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mavlink_message_t msg;
mavlink_status_t status;

while(SerialMAV.available()) {
    uint8_t c = SerialMAV.read();
    
    // Try to get a new message
    if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
      
      case MAVLINK_MSG_ID_HEARTBEAT:  // #0: Heartbeat

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void loop() {
 
  // Initialize the required buffers
  mavlink_rc_channels_override_t sp;
  mavlink_message_t msg;
  uint8_t buf[MAVLINK_MAX_PACKET_LEN];
  
  //We have to send the heartbeats to indicate side by side connection
  mav_heartbeat_pack();

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boolean current_arm = false;
String current_mode = STABILIZE;
int current_roll = 0;
int current_pitch = 0;
int current_throttle = 0; //Min value is 1150 to run motors
int current_yaw = 0;

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void mav_heartbeat_pack() {
  mavlink_message_t msg;
  uint8_t buf[MAVLINK_MAX_PACKET_LEN];
  
  // Pack the message
  mavlink_msg_heartbeat_pack(255,0, &msg, type, autopilot_type, system_mode, custom_mode, system_state);
  uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
  SerialMAV.write(buf, len);
}