Forwarding joystick commands to external controller

Blue Robotics Software ArduSub
5

Hello Jacob

I got around to doing this. The RBP is running a python program, where I open a connection and write serial messages to my MyRio whenever the RBP receives HEARTBEAT, MANUAL_CONTROL and SET_MODE. I found out the flight mode is stored in SET_MODE, not in MANUAL_CONTROL

When I receiver HEARTBEAT, I also send out a heartbeat back from the RBP.

However, I am never receing any MANUAL_CONTROL or SET_MODE messages. And Ive gotten confused about which connection to use. The originally suggested one, udp:0.0.0.0:14550 disables when I open QGC, so Ive tried

udpout:0.0.0.0:9000, which gives me alot of messages, but not the ones I am looking for
udpout:localhost:9000 same
udpout:192.168.2.255:14550 which gives nothing
udpout:192.168.2.1:14400, source_system=2, source_component=1, which gives only heartbeats - I took this connection from Sending Data from Raspberry Pi to QgroundControl - #21 by jwalser

I would appreciate any advice you could give on trying to pick out joystick commands and flight in the Raspberry Pi.

The code is given below

# Import mavutil
from pymavlink import mavutil
import time
import serial

# Create the connection
master = mavutil.mavlink_connection('udp:0.0.0.0:14550')
# Wait a heartbeat before sending commands
master.wait_heartbeat()

while True:
	msg = master.recv_match()
	if not msg:
		continue
	if msg.get_type() == 'MANUAL_CONTROL'
		x_axis = msg.x
		y_axis = msg.y
		z_axis = msg.z
		r_axis = msg.r
		js_buttons = msg.buttons
		ser = serial.Serial('/dev/ttyS0', 9600)
		ser.write(str(x_axis))
		ser.write(",")
		ser.write(str(y_axis))
		ser.write(",")
		ser.write(str(z_axis))
		ser.write(",")
		ser.write(str(r_axis))
		ser.write(",")
		ser.write(str(js_buttons))
		ser.write(",\n")
	if msg.get_type() == 'HEARTBEAT'
		current_mode = msg.base_mode
		ser = serial.Serial('/dev/ttyS0', 9600)
		ser.write("0,0,0,0,0,")
		ser.write(str(current_mode))
		ser.write(",\n")

BR, Michael