Hi everyone,

I'm working on a project in which a PC board (like raspberry pi) will be mounted on the copter and it should be connected to the Pixhawk and it will send high-level commands to it like move the copter right, left, up, down with a predefined-step distance.

I want to add a new flight mode in which this capability is enabled ( it will be a modified version of stabilize mode i guess).

In this new flight mode, the pixhawk should receive messages from the PC via UART, check the sent command and behave accordingly.

I really feel lost in the big code base of ardupilot. But after couple of days navigating the code I think "GCS_MAVLink.cpp", "GCS_Common.cpp" are important files, but have no idea how to use their API!

My question is, Where to start? What are the files (out of hundreds) that I should focus on?  What is the work flow that I should follow?

I really appreciate your help.

Thanks

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Replies

  • Using a serial port and building some GCS code you can command the Pixhawk to move around based on GPS position. 
    The unit must be in Guided mode for this to work.

    Things you need to know: Mavlink http://www.mavlink.org/mavlink/start

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