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+# Pixhawk 6C + Teensy 4.1 (UART/MAVLink, ArduPilot) Plan and Example Code
+
+This document provides a concrete plan for connecting a Pixhawk 6C running ArduPilot to a Teensy 4.1 over UART/MAVLink, along with example code for both sides.
+
+## 1) Hardware + Wiring Plan (UART/MAVLink)
+
+**Primary link:** Pixhawk 6C TELEM port ↔ Teensy 4.1 UART (Serial).
+
+**Key points**
+- **Logic levels:** Pixhawk 6C and Teensy 4.1 are 3.3V logic. No level shifting needed.
+- **Baud rate:** Start at **57600** or **115200**.
+- **Ground:** Always connect grounds (GND ↔ GND).
+- **Power:** Power Teensy via its own 5V/USB or regulated 5V; avoid drawing from Pixhawk unless the port is rated for it.
+
+**Example wiring (TELEM1):**
+- Pixhawk TELEM1 **TX** → Teensy **RX** (e.g., Serial1 RX pin)
+- Pixhawk TELEM1 **RX** ← Teensy **TX** (e.g., Serial1 TX pin)
+- Pixhawk **GND** ↔ Teensy **GND**
+
+## 2) ArduPilot Firmware Configuration (Pixhawk)
+
+Use Mission Planner or MAVProxy to set:
+- `SERIAL1_PROTOCOL = 2` (MAVLink2)
+- `SERIAL1_BAUD = 57` or `115` (57,600 or 115,200)
+
+Confirm telemetry on the selected TELEM port and reboot.
+
+## 3) MAVLink Message Plan
+
+Minimal message set for control:
+- **HEARTBEAT** (Pixhawk ↔ Teensy) for link status
+- **SET_MODE** (Teensy → Pixhawk) to arm and set flight mode
+- **COMMAND_LONG** for arming and other commands
+- **RC_CHANNELS_OVERRIDE** or **MANUAL_CONTROL** to send control inputs
+- **ATTITUDE / LOCAL_POSITION_NED** telemetry for feedback
+
+## 4) Teensy 4.1 Example Code (UART MAVLink)
+
+This is a concise example showing how to:
+- Receive MAVLink messages from Pixhawk
+- Send a HEARTBEAT
+- Arm/disarm and send a simple roll/pitch/yaw/throttle command
+
+> **Note:** This uses the MAVLink C library generated for ArduPilot. You can use `pymavlink` to generate C headers or include a pre-generated MAVLink library.
+
+```cpp
+// Teensy 4.1 MAVLink UART example (Serial1)
+#include <Arduino.h>
+#include "mavlink/common/mavlink.h"
+
+static const uint8_t SYS_ID = 200;    // Teensy system ID
+static const uint8_t COMP_ID = 190;   // Companion computer
+static const uint8_t TARGET_SYS = 1;  // Pixhawk system ID
+static const uint8_t TARGET_COMP = 1; // Pixhawk component ID
+
+void sendHeartbeat() {
+  mavlink_message_t msg;
+  uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+  mavlink_msg_heartbeat_pack(
+      SYS_ID, COMP_ID, &msg,
+      MAV_TYPE_GCS,
+      MAV_AUTOPILOT_INVALID,
+      0, 0, MAV_STATE_ACTIVE);
+
+  uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
+  Serial1.write(buf, len);
+}
+
+void sendArmCommand(bool arm) {
+  mavlink_message_t msg;
+  uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+  mavlink_msg_command_long_pack(
+      SYS_ID, COMP_ID, &msg,
+      TARGET_SYS, TARGET_COMP,
+      MAV_CMD_COMPONENT_ARM_DISARM,
+      0,                    // confirmation
+      arm ? 1.0f : 0.0f,     // param1: 1 to arm, 0 to disarm
+      0, 0, 0, 0, 0, 0);     // param2-7
+
+  uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
+  Serial1.write(buf, len);
+}
+
+void sendManualControl(int16_t x, int16_t y, int16_t z, int16_t r) {
+  mavlink_message_t msg;
+  uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+  mavlink_msg_manual_control_pack(
+      SYS_ID, COMP_ID, &msg,
+      TARGET_SYS,
+      x, y, z, r,
+      0); // buttons bitmask
+
+  uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
+  Serial1.write(buf, len);
+}
+
+void setup() {
+  Serial1.begin(115200);
+  delay(1000);
+  sendHeartbeat();
+}
+
+void loop() {
+  // Read MAVLink messages
+  mavlink_message_t msg;
+  mavlink_status_t status;
+  while (Serial1.available()) {
+    uint8_t c = Serial1.read();
+    if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
+      if (msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
+        // Link OK; add your logic here
+      }
+    }
+  }
+
+  // Example: send manual control (range -1000..1000)
+  sendManualControl(0, 0, 500, 0); // throttle mid
+  delay(50);
+}
+```
+
+## 5) Pixhawk Side: ArduPilot Companion Control Notes
+
+ArduPilot accepts companion computer control via MAVLink:
+- **Arming:** `MAV_CMD_COMPONENT_ARM_DISARM`
+- **Mode change:** `MAV_CMD_DO_SET_MODE` or `SET_MODE`
+- **RC override:** `RC_CHANNELS_OVERRIDE`
+- **Manual control:** `MANUAL_CONTROL`
+
+Ensure safety:
+- Disable arming checks only for bench tests.
+- Use a safety switch and hardware failsafe.
+
+## 6) Integration Checklist
+
+1. Verify wiring, grounds, and baud rate.
+2. Confirm heartbeat received both ways.
+3. Validate arming and mode change on a bench.
+4. Test simple manual control with props removed.
+5. Add closed-loop control using telemetry feedback.