This is in continuation to my earlier blog post on Hardware In Loop Simulation For Co-operative Missions Using ArdupilotMega.
No hardware changes required except for soldering burg-strips on UART2 of APM2.5 board. UART2(Serial3) is used for all telemetry.
Communication modules used : Xbee Pro S1 in API (mode 1) on all Aircrafts(UART2) and Groundstation Laptop
Aircraft GCS communication : MAVlink v1.0 *Embedded in Xbee API header and Footer.
ie (API Header)[All MAVlink Packets](API Footer)
GCS used : MissionPlanner, Qgroundcontrol GCS coupled with MAVproxy.
MAVproxy is used to collect data from groundstation Xbee and Add/Strip API headers as and when required to send clean MAVlink packets to qGCS and MissionPlanner through UDP connection on separate ports.
Inter Aircraft communication : In Xbee API protocol (Not MAVlink)
No. of MAVs in the cooperative mission simulated : Upto 3 till now, can be easily extended to more.
Cooperative missions flight tested : Leader follower for 2 MAVs.
The sketchbook containing the firmware for the above cooperative mission is attached.
Flight Tested Leader-Follower Sketchbook. I'll write a small readme on how to set this system up and get it going soon, it's straight forward really.