I would really appreciate some degree of elaboration on the “slight modifications” that were made to the apm rover code for integration with the bluerov ROS package.
I am currently trying to modify the copter code in order to see if I can use their control loops for a custom asymmetrical motor configuration.
In particular, which files were modified, and for what reason?
I see now that github shows the changes made for each commit. Git’s a great tool that I have yet to learn.
https://github.com/bluerobotics/ardupilot/commit/98ccf27ef5565e639d21f19c69f1109027b64996
Jacob,
Our changes are very minimal because, at the moment, we are only using the APM as an interface to the thrusters and sensors. We only changed about 3 lines of code to enable updating the thrusters through MAVLink messages.
For your information, and others following along, we will be spending a lot of time on the code in January and the next few months and we will be moving more of the control to the APM.
-Rusty