Esp32 reading mavlink from pixhawk via uart issue

Hi! I’m using this lib GitHub - mavlink/c_library_v2: Official reference C / C++ library for the v2 protocol to access mavlink messages from pixhawk. I’ve wired esp to telem2 port, set up uart config on my esp32, checked pixhawk parameters in mission planner but still have output of unreadable symbols. Any guesses where is my mistake?

I’d probably ask in the forum instead. This forum is for PX4 but if you’re using MissionPlanner you’re likely using ArduPilot.