Hi! I have a small question about best way to control (get telemetry and send wp & routes) Arducopter using Raspberry Pi.

I have Raspberry Pi B and Arducopter onboard on my quadcopter linked by usb-cable.

I did read those topics

http://diydrones.com/forum/topics/need-help-for-serial-comunication?id=705844%3ATopic%3A1038239&page=1#comments 

http://diydrones.com/forum/topics/raspberry-pi-mavlink-communication-via-usb-port-apm-2-5?xg_source=activity&id=705844%3ATopic%3A1135228&page=1#comments

and I've started to use this fork of roscopter project - https://github.com/epsilonorion/roscopter/wiki

I successfully got telemetry from APM to ROS-topics but as I understand roscopter can't be used for navigation right now - it's still under development.

So I'm trying to find best way how to send waypoints and routes to Arducopter. I don't want to reinvent the wheel and write tons of code for own MAVlink implementation.. Jason Short wrote somewhere here about code written on python using for Mission Planner unit-testing but can't find where is this repository.

For sure this is another way to run APM Planner or Mission Planner on Raspberry and try to use internal python-scripting but I think this way is little bit crappy ;)

Thanks a lot in advance for answers and solutions!