Currently, I am working on a senior design project for school implementing the Arducopter platform with APM Planner combined with a wheeled ground base to facilitate ground travel. We are planning on hooking up the two motors we are going to use for the wheel base to outputs 5 and 6 of the Ardupilot Mega, and I was considering programming another flight mode to operate these motors. Basically, in STABILIZE mode it would fly normally, and then I'd switch to some sort of ground motor once it had landed and operate that way.
My understanding of Arduino code, however, is somewhat lacking, as I am not exactly what you would consider to be a master programmer in any capacity. Does anyone have any ideas or input as to what the best approach would be for me to achieve this? I am aiming to control the drone by both manual control via a gamepad through APM Planner (as is already available) and through automated means via the python scripting functions in APM Planner.
I started wading through the code, and I figured that if there was some way to manually repurpose the camera output channels to control servos for a ground base, and then define a "flight" control mode to have some of the rc input channels control just these two output channels (5 and 6). Can anyone give me a place to start looking here?
I am using this thread as a reference:
Is anyone able to give me any advice on this?