I am working on implementing some simple autonomous swarm flights. I am using an arduino with a Xbee to communicate between the UAVs.
However in order to accomplish the formation flying I need to somehow send the commands from the arduino to the Ardupilot. Does anyone know what the easiest way to do this is?
Each drone is still sending back the telemetry over the 3DR radios so that serial port is still being used.
Are there any other serial ports or SPI ports that I could use to implement the communication between the arduino and the Ardupilot?