I have a second Pi running a C++ program, using MavSDK to connect to the Navigator and telling it various commands such as parameter changes. I think I have succeeded in getting it to tell the autopilot to arm and disarm.
Also, it seems to me like the flight mode (e.g.using offboard->is_active() and also telem->flight_mode() ) actually changes by itself when I use the command like offboard->set_velocity_ned(stay) (where stay=Offboard::VelocityNedYaw() . But when I issue a subsequent command with the actual desired velocity, I get an error return, as though the arming and mode are not okay after all.
One of my basic questions is, what documents should I read that clearly spell out which commands I should send to the Navigator, how to use them, and in what order?
@williangalvani in our chat a couple weeks ago, you briefly showed a link to a document that might help, but when I look at it now I can’t figure out where to get the info I need. Could you post a link to where I should look for this?
Thanks so much for the links. Very helpful!
we own a Blue Boat, and our new vehicle looks similar. My understanding is that the stock configuration option for this invokes ArduRover. Is this correct? If so, should we be running ArduSub on our new vehicle? If we stay with the boat configuration, does that change the documentation that I should be looking at?
That is correct, yes. Most of the pymavlink documentation there will apply to other vehicles. The main difference will be that the internal flight mode numbers.