Good day to you all.
We are currently making our own ROV using a four thruster setup with a Pixhawk and Raspberry Pi loaded with the ArduSub firmware. There is some progress achieved since the ROV is currently manually operational, complete with video feed via an RPi camera. The ROV works with the Manual and Stabilize flight modes, and we’re about to test the DepthHold flight mode once the depth sensor arrives.
Now, we are attempting to make the ROV have autonomous capabilities, and we came across this article about the merging of the ArduSub code into the main ArduPilot repository back in February, and there is a bit of discussion with the addition of the AP_GPS_MAVLINK class, which enabled short autonomous missions via QGC. However, the link to the class, AP_GPS_MAVLINK, seems to be empty. We would like to know more about the options to have the capability to do autonomous missions with the ROV, even simple motions like diving, going from point A to B, etc. Does the ArduSub platform currently support autonomous missions for users, or is still in development?