Get attitude from flight controller

get_attitude.ino

#include <HardwareSerial.h>
#include <MAVLink.h>

HardwareSerial SerialMAV(0);

void setup() {
  Serial.begin(115200);
  SerialMAV.begin(115200);
}

void loop() {
  mavlink_message_t msg;
  mavlink_status_t status;

  while (SerialMAV.available() > 0) {
    uint8_t c = SerialMAV.read();
    if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
      if (msg.msgid == MAVLINK_MSG_ID_ATTITUDE) {
        mavlink_attitude_t attitude;
        mavlink_msg_attitude_decode(&msg, &attitude);

        float roll  = attitude.roll  * 180.0 / PI;
        float pitch = attitude.pitch * 180.0 / PI;
        float yaw   = attitude.yaw   * 180.0 / PI;

        Serial.print("Roll: ");
        Serial.print(roll, 2);
        Serial.print(" deg, Pitch: ");
        Serial.print(pitch, 2);
        Serial.print(" deg, Yaw: ");
        Serial.print(yaw, 2);
        Serial.println(" deg");
      }
    }
  }
}