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mavlink / MAVSDK

API and library for MAVLink compatible systems written in C++17
https://mavsdk.mavlink.io
BSD 3-Clause "New" or "Revised" License
633 stars 508 forks source link

Compatibility to Ardupilot version 4.0.5 #2082

Closed ygratz closed 5 months ago

ygratz commented 1 year ago

Hi, I have a project in which I need to connect and fly a quadcopter running Ardupilot version 4.0.5. Is it possible to use MAVSDK for that?

If not, shall I use the MAVLink libraries instead? https://mavlink.io/en/getting_started/use_libraries.html (although it is stated they are used on MAVSDK)

JonasVautherin commented 1 year ago

There is some support for Ardupilot in MAVSDK, so you can try and see if what you need is supported :blush:.

Also we happily take contributions for Ardupilot support!

HTRamsey commented 1 year ago

@JonasVautherin If you guys actively keep up with PRs then I'd be willing to make significant progress with ardupilot support

JonasVautherin commented 1 year ago

We do! The MissionRaw plugin works (I know it's being used), and I think it would not require too much to get the Mission plugin to work with Ardupilot. Would be great if you could look into that! In my opinion that is one big piece missing right now.

ykhedar commented 1 year ago

Hi @ygratz, just try the examples at https://github.com/ykhedar/ardupilot-mavsdk. In the docker file for Ardupilot SITL, you can build the 4.0.5 version of ArduCopter and run the mavsdk mission examples to check if it works. Most probably it should.

Hi, @holden-zenith we use Ardupilot with MAVSDK actively in our company so you can count on continued support from my side as well. Have you some specific feature support in mind?

HTRamsey commented 1 year ago

@ykhedar I ended up implementing some missing functionality I needed using MavlinkPassthrough and resolving any little quirks with intercepting messages so I got out of it what I needed. I used this in a Qt6 program and I'm happy with the results and reducing the effort from my custom mavlink implementation but I have a bit more testing to do. I'll get back to you depending on testing results and make PR's for anything I find.

JonasVautherin commented 1 year ago

Feel free to share even snippets of your mavlink-passthrough code. Maybe somebody will contribute a PR eventually :pray:.

Jai-GAY commented 1 year ago

For physical Ardupilot communication, I have successfully tested and worked well with the Andruav_ap Android app. Github

I hope it helps someone struggling.

julianoes commented 5 months ago

I'm not so sure what this is about any more. I'll close it. If I'm wrong, just re-open and convince me otherwise.