Hi folks, sorry about delay publishing URUS system source code, for people interested and to know how it's will work with ardupilot, there is a recently documentation with descriptive images explaining the URUS structure system and URUS Protocol.
This document was used in a conference at EMI University and UAGRM Bolivia's statal university.
Thank you very much for your patience.
Link to document:
The URUS integration into ardupilot is right now merged through thi PR https://github.com/ArduPilot/ardupilot/pull/3718, and you can follow all PR pushing update to ardupilot following me at github if you want.
or following URUS discussion at this link: