I’m trying to design an AUV using a Pixhawk, Rpi, and external sensors. I’m a hardware guy and not so much a programmer. I want to make sure my hardware design is solid and make sure that programming the Rpi and Pixhawk is as straightforward as possible. First I’d like to clarify how to connect the Rpi to the Pixhawk. One method is to use Pixhawk telem #2 to the Rpi GPIO’s 14 & 15, the other method is to connect USB between Pixhawk and Rpi. Which method is better? Are they both supported in the Rpi image download? Next I need to connect some external sensors to the Rpi. I think I can use the Rpi USB port and 232/485 converters to connect my sensors. My basic understanding of the programming involved is to program the Rpi to take in the sensor data, parse the data and format Mavlink messages to send the data to the Pixhawk. Is this correct? I will be using an echo sounder for altitude and I see there is already a mavlink parameter for “rangefinder”, I don’t know if there is altitude hold code in the Pixhawk or not. I may also use other sensors in the future. As long as there is a hardware and software solution to getting data into the Pixhawk I can go forward with the hardware design. I will also need a method on deck to control the the AUV for deck testing. I guess using the ethernet port on the Rpi is the easiest solution. Is that correct?
Sorry for all the NOOB questions. I just want to get it right. I will be hiring a programmer to make all the software bits work.