<commit_before># Mavlink Vehicle Abstraction Layer #

A Mavlink wrapper dedicated to the most common messages that are exchanged
between an air vehicle and a ground station.

## Requirements ##
    * Python 2.7+ (to generate mavlink headers)
    * MavProxy (https://github.com/Dronecode/MAVProxy)
    * Ardupilot (https://github.com/ArduPilot/ardupilot)

## Build and Install ##

1. Make sure you have initialized and updated the Mavlink submodule at least
once with:

    ```
    git submodule init
    git submodule update
    ```
2. Create a build folder, make and install using CMAKE as follows:

    ```
    mkdir build
    cd build
    cmake ..
    make
    ```

## Run Tests ##

1. Open a second terminal and run Ardupilot:

    ```
    ${ARDUPILOTDIR}/build/sitl/bin/arducopter-quad --model x
    ```

2. In a third terminal, run Mavproxy:

    ```
    mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:14556 --streamrate -1
    ```

3. Then simply open the following executable to run a simple test. This test
connects to an active vehicle and displays its current variables every 3
seconds.

    ```
    build/tests/test
    ```

    This test connects to an active vehicle and displays its current state
    variables every 3 seconds.<commit_msg>Fix README<commit_after># Mavlink Vehicle Abstraction Layer #

A Mavlink wrapper dedicated to the most common messages that are exchanged
between an air vehicle and a ground station.

## Requirements ##
    * Python 2.7+ (to generate mavlink headers)
    * MavProxy (https://github.com/Dronecode/MAVProxy)
    * Ardupilot (https://github.com/ArduPilot/ardupilot)

## Build and Install ##

1. Make sure you have initialized and updated the Mavlink submodule at least
once with:

    ```
    git submodule update --init --recursive
    ```

2. Create a build folder, make and install using CMAKE as follows:

    ```
    mkdir build
    cd build
    cmake ..
    make
    ```

## Run Tests ##

1. Open a second terminal and run Ardupilot:

    ```
    cd ${ARDUPILOTDIR}/build/sitl/bin
    ./arducopter-quad --model x
    ```

2. In a third terminal, run Mavproxy:

    ```
    mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:14557 --streamrate -1
    ```

3. Then simply open the following executable to run a simple test.

    ```
    build/tests/tests
    ```

    This test connects to an active vehicle and displays its current state
    variables every once in a while.
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