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Change the creds.h file with your WiFi credentials.

#define WIFI_SSID "YOUR_SSID"
#define WIFI_PASS "YOUR_WIFI_PASS"

It's recommanded to use a static IP address. You can change it in the conf.h file. Don't forget to set your Groundstation IP address.

#define LOCAL_IP 192, 168, 23, 23
#define SUBNET 255, 255, 255, 255
#define GATEWAY 192, 168, 23, 1
#define LOCAL_PORT 14500

#define GROUNGSTATION_IP "192.168.23.2"
#define GROUNDSTATION_PORT 14550

And change the status LED pins to your need.

#define LED_GREEN 16
#define LED_RED 17

After successfully flashing your ESP32 with the firmware, the serial monitor should output the WiFi connection status.

Open QGroundControl and go to Application Settings tick SiK Radio (Serial) and/or UDP under AutoConnect the following devices. QGroundControl should automatically connect to your ESP32 and show its position on the map. Optionally you can enable Virtual Joystick under Fly View.

You can also set connection type and settings manually under Comm Links.

Use MAVLink Inspector under Analyze Tools to get an insight into the MAVLink traffic between your ESP32 and Groundstation.

• https://discuss.ardupilot.org/t/mavlink-step-by-step/9629
• https://discuss.ardupilot.org/t/mavlink-and-arduino-step-by-step/25566
• https://github.com/tmaxxdd/arduino-with-mavlink
• https://github.com/patrickelectric/minimal-arduino-mavlink-example
• https://github.com/danzimmerman/barebones_MAVLink
• https://github.com/pschatzmann/ArduinoMavlinkDrone

Here is a list of projects that uses this sourcecode as a base (coming soon):

• ESP32 MAVLink Rover
• MAVLink Standalone Hardware Groundstation
• Pelco-D to MAVLink

✍️ Blog: https://www.technopolis.tv/How-to-use-MAVLink-on-ESP32/