How can I receive a Mavlink message through a UDP connection and read it separately and perform convert on it?

I have written the following codes to monitor gimbal variables for UAV through Mavlink codes in MATLAB:

dialect = mavlinkdialect('common.xml');
sender = mavlinkio(dialect,'SystemID',1,'ComponentID',1,...
    'AutopilotType',"MAV_AUTOPILOT_GENERIC",...
    'ComponentType',"MAV_TYPE_FIXED_WING");
connect(sender,'UDP');
destinationPort = 14551;
destinationHost = '127.0.0.1';
receiver = mavlinkio(dialect);
connect(receiver,'UDP','LocalPort',destinationPort);
info = msginfo(dialect,"GIMBAL_DEVICE_ATTITUDE_STATUS");
msg = createmsg(dialect,info.MessageName);
info.Fields{:};
subscriber = mavlinksub(receiver,'GIMBAL_DEVICE_ATTITUDE_STATUS',...
                        'NewMessageFcn',@(~,msg)disp(msg.Payload));
for msgIdx = 1:10
    sendudpmsg(sender,msg,destinationHost,destinationPort);
    pause(1/50);
end

--------- But how can I show only 'q' in the command window?

Because I want to convert it to Euler angles = quat2eul(q)

Answer 1

[Jianxin Sun]

You'll need to create a function to process the payload:

subscriber = mavlinksub(receiver,'GIMBAL_DEVICE_ATTITUDE_STATUS',...
    'NewMessageFcn',@(~,msg)handleGimbalPayload(msg.Payload));

function handleGimbalPayload(payload)
    q = payload.q;
    ypr = quat2eul(q);
end