Discussions

Hello,

I have recently been working on a project that will be using a second on-board micro controller to create and send  MavLink packets to the APM2.5 to tell it where to go.  To do this I hope to read MavLink data from the telemetry port, and then create a mavlink packet to send back to the APM through the SPI bus.  When testing this system however, I would like to be able to assume full control in the event of errors.  My question is, when using both an RC transmitter through the normal APM inputs while the APM is receiving mavlink packets through the telemetry port or the SPI bus, which one will have priority over the control of the quad copter?

I would hope that the RC transmitter would override commands sent through MavLink, but I would like to know for sure before testing out my code.

Thanks,

Ben