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?
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.