"I use the complete ArduPilot library for handling the sensors and motors (AHRS, InertialNav, GPS, ..) but wrote some alternatives for filtering and sensor fusion, frame and network code as well as scheduler. My firmware is in contrast fully OOP. My…"

"I wrote my own flight control firmware and I was wondering about this behavior. 
One day I had the idea that I want to control my quad over smartphone or laptop. 
So commands go over uartA. Since I recognized that radio would be nice too, I bought a…"

"I have the problem, that if I read the radio I get only crap if I use heavily the CPU. If the load is low I read correct values. Why is that so. Happens on AM 2.5 and 2.6. Also using UartC. On uartA I can always read correctly independent on the CPU…"

"If you were not touching the mux, telemetry on uart0/2 should run on uart0. "

"It is likely an implementation problem. 
Write a firmware for testing reading and writing on uart0 & uart2"

"I don't understand. If you use the 3dr radio on uart0/2 it will go over uart0 as standard. 
So you can use the cam over uart2 without probs. However if you disabled the muxer, than there will be an bus collision."

"I made the mod, wrote a firmware and it is working perfectly. Just if someone is interested. 
All three serial channels can work independently. I have no clue why a mux was implemented."

"I want to try something similiar. Have you results so far?"

"Added functionality:
- Reading Sensors (Barometer, Compass possible, Inertial), GPS is planned
- Sensor logging (as json string) on the RPi in a logfile
- Changing PIDs is possbile at runtime now
- Calibration of the inertial is possible at runtime…"

"I also wonder no one knows here"

"Added a init.d script for raspbian. Unfortunately the debian serial driver seems to be buggy. 
The current server script represents a workaround. It seems to be stable but I am really not totally sure about this bug. "