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mit-acl / faster

3D Trajectory Planner in Unknown Environments
BSD 3-Clause "New" or "Revised" License
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How to establish communication with drones #14

Closed xdwgood closed 3 years ago

xdwgood commented 3 years ago

Hello developer!

Is there any documentation on how to communicate with mainstream flight controllers (eg:px4/ardupilot)? thanks

jtorde commented 3 years ago

Hi @xdwgood!

[Taken partly from here]

Any autopilot can be used as long as you can send position/velocity commands. The core code is autopilot agnostic.

I would suggest writing your own node that subscribes to the /goal topic that MADER publishes (using snapdragon_msgs). Then, use mavros (or whatever) to relay the goal msg to the pixhawk.

Hope this helps!

xdwgood commented 3 years ago

@jtorde got it,thanks!