| description |
|---|
Description about Guided mode of ArduPilot |
In this mode the position, velocity or attitude reference / target / setpoint is provided by a companion computer connected via serial cable and MAVLink. The offboard setpoint can be provided by API like MAVROS.
Normal mainstream Ardupilot Firmware uses this message flow and Runs a high-level PID Controller:
| ROS msg name | msg type | uses |
|---|---|---|
| mavros/local_position/odom | nav_msgs::Odometry | Contains local odometry data |
| mavros/setpoint_position/local | geometry_msgs::PoseStamped | Used in offboard mode for postion setpoint |
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The instructions for assembling the “essential components” of Copter on Pixhawk and other autopilots. The instructions for adding other hardware are covered in Optional Hardware.