# How to request a specific Mavlink packet from Ardupilot?

I'm developing a program for communicating with Ardupilot using Mavlink. I've generated code based on the Mavlink definition for Ardupilot, and I have the basic communication working.

What I can't figure out, is how to request Ardupilot to send a specific Mavlink message. I'd like Ardupilot to send me Mavlink message Attitude (#30) every second. How can I do this?

• I would like take gps location of ardupilot like as above. I understand there is location but how to print in my serial monitor. Can you help me – Can Aydın Feb 5 '15 at 13:46

nikhil's answer is not correct: You definitely don't have to change the ArduCopter code just to get it to stream ATTITUDE messages (if that were true, how are all the ground control station apps showing the vehicle's changing attitude?)
In ArduCopter, the ATTITUDE message is streamed at a constant rate in Hz that is determined by the value of the SR0_EXTRA1 parameter. I think the default rate is 10 Hz, but you should check the value of that parameter on your vehicle. You may also want to check the values of SR0_EXTRA2 and SR0_EXTRA3.