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    Randy Mackay
    @rmackay9
    We don't want to re-do other peoples work though so if people know of a short-cut to getting this working. PRs into the ardupilot/companion repo please!
    .. or talk with Francisco.. he can be found in a number of the gitter chats. Including the main one.
    p-goudet
    @p-goudet

    @rmackay9 We wanted to check if the strange motor sound remains on the latest commit. So we rebased the dev branch on the master branch of the ardupilot origin project. The result is that the strange still remains and the disarm command seems to not be transmit correctelly (need long time to stop engine). The testing setup is a navio2 board with esc "LHI simonk 12A” mounted on a rubocop drone. The previous version 3.4 is still fine and the MQTT function seems to go smoothly.

    Do you have any idea about where this problem might come from? (and if it might easily be solve?)

    vp_tanaka
    @norika-takumi
    @rmackay9
    I'd like to change the Rover wheel to a endless track belt.
    Does Ardupilot support this type of rover?
    If Ardupilot support it, please tell me how to use it.
    If not, can we add this mode?
    Pierre Kancir
    @khancyr
    @norika-takumi By endless track belt rover you mean a tank like rover right ?
    APMRover support it by changing SKID_STEER_OUT to 1 (and reboot), that ways ouput 1 is left track and ouput 3 is right track. See http://ardupilot.org/rover/docs/skid-steer-parameter-tuning.html
    SKID_STEER_IN is if you want to control directy each side like on old tank, right joystick control right track and left joystick, left track !
    vp_tanaka
    @norika-takumi
    @khancyr
    Thank you very much. It solved it with this.
    p-goudet
    @p-goudet
    I am currentely thinking about the best way to enable and setup the MQTT feature on run time.
    Thanks to @tajisoft, there is now an option for the waf builder “—enables-mqtt” to compile the mqtt libraries.
    The next step is to decide when the MQTT feature should be activated and setup.
    One simple solution would be to use options for the arducopter binary such as “—mqtt_url” and parse it with an option parser. However I don’t really understand where and how ardupilot read/parse options? I looked up the AP_PARAM library and setup.cpp files but I could not understood how to add new options. Does anybody have idea about how to solve it?
    vp_tanaka
    @norika-takumi
    @rmackay9
    I made a new flight mode on Rover. It is a mode that goes to the designated direction. Instructing the Rover to advance in the direction of the azimuth angle of 22 degrees, even if there is no Rover in the direction of the azimuth angle of 22 degrees, turn the handle automatically and run in that direction.
    Randy Mackay
    @rmackay9
    @norika-takumi, very nice! even I have never made a new Rover flight mode!
    p-goudet
    @p-goudet
    @rmackay9 The Ardupilot/MQTT team have finished to write a first version of ardupilot that could use the MQTT protocol. We would be glad to add this small feature to the main ardupilot project. Could you tell us the path to follow in order to open a pull request for the main ardupilot project. All comments and request are welcome to improve this modules.
    Randy Mackay
    @rmackay9
    @p-goudet, OK! sounds good
    so the best way is to rebase it on master and then do a pull request
    http://ardupilot.org/dev/docs/contributing.html
    http://ardupilot.org/dev/docs/submitting-patches-back-to-master.html
    Randy Mackay
    @rmackay9
    Please don't worry if you get lots of complaints about the code. Because it's the first PR that most of you have done, I'm sure there will be many (hopefully small) things that people will ask you to fix.
    looking forward to seeing it!
    p-goudet
    @p-goudet

    @rmackay9 Thank you, I have tried to clean a little the commit on the main developpement branch and I am preparing a branch to merge on the aptj-dev/master branch.
    Currentely, I am using astyle to fix the source format. In some files where we add new features, some source code that we didn’t implement or modify is automatically reformated with astyle. It might become an issue as those unrelated source would be part of the branch changes. Could tell me if there is better to use astyle other than :

    $astyle --options=Tools/CodeStyle/astylerc ArduCopter/ArduCopter.cpp

    :bow:

    Randy Mackay
    @rmackay9
    @p-goudet, it's ok to fix up formatting but just make sure that it goes into a separate commit from the functional changes.
    I don't use astyle myself so I'm not really sure
    p-goudet
    @p-goudet
    @rmackay9 Ok I understand, is there other tools that could be used to reformat code?
    I have tried to reorder the branch to show relevant commit and I would try to keep that.
    p-goudet
    @p-goudet
    @rmackay9 I Have opened a new pull request.
    ArduPilot/ardupilot#6325
    宜しくお願い致します :bow:
    Yuichiro Shibata
    @arsnovare
    👍
    Randy Mackay
    @rmackay9
    Great!!
    tajisoft
    @tajisoft
    Good job!!
    p-goudet
    @p-goudet
    As Randyさん guessed, the pull request recieve some comments, I would first fix the small mistakes on the AP_Telemetry_MQTT.cpp.
    Varunsaini778
    @Varunsaini778
    hello guies... i am a new user of ardupilot. can u please suggest me a quadcopter at which i can place some sensor containing payloads, place raspberry pi, flight controller.
    vp_tanaka
    @norika-takumi
    @Varunsaini778 I think these urls will be helpful.
    https://docs.emlid.com/navio2/ardupilot/hardware-setup/
    https://docs.emlid.com/navio2/ardupilot/typical-setup-schemes/
    p-goudet
    @p-goudet
    @Varunsaini778 Do you already have a frame for your quadricopter? If not what size and how weight your quadri should carry? There is a flight controller named navio2 that you can plug in the raspberry pi. It is details in the link sent by @norika-takumi.
    Also, what kind of sensor do you want to place? Is this related with flight data? or different data?
    There several ways to proced, for example in the case of navio2, the raspberry become the “flight controller”. Another way is to use a built-in flight controller and to connect it to a separate raspberry pi (or companion computer) where you way plug in your stuff.
    tajisoft
    @tajisoft
    @Varunsaini778 This calculator is useful!
    https://www.ecalc.ch/
    p-goudet
    @p-goudet
    @rmackay9 I have sent to you the log of yesterday flight at your yahoo address, is this fine?
    tajisoft
    @tajisoft
    @rmackay9 I have uploaded all log file(Dataflash and tlog) to Dropbox. According to tlog, we are doing auto mission with a file of 14:52.
    @rmackay9 The dropbox url is https://www.dropbox.com/sh/9ry7cyb4a906uka/AABSMVpI0ss72AHcF__bkf_Ea?dl=0
    Randy Mackay
    @rmackay9
    i'm trying to setup the soracom thing on my NVidia TX1..
    i'm afraid I don't really know what I'm doing..
    I plugged in the dongle (with the SIM card inserted).. and tried to follow the Linux instructions in the Quick start guide..
    Randy Mackay
    @rmackay9
    maybe someone could document how to get teh soracom working?
    vp_tanaka
    @norika-takumi
    @rmackay9
    http://qiita.com/dietposter/items/bf3b0311a044eaf36df8
    It is a Japanese document, but it may be helpful.
    tajisoft
    @tajisoft
    @rmackay9 I don’t know which step you are. What id displayed when you type “lsusb” command.
    In Raspberry Pi, you have to tell Linux OS you have usvserial device with “modprobe” command. ex)sudo modprobe usbserial vendor=0x1c9e product=0x6801
    vp_tanaka
    @norika-takumi
    @tajisoft
    Thank you for summarizing and translating.
    vp_tanaka
    @norika-takumi
    @rmackay9
    The dongle of this document is for serial communication. It may be different from what mr. Randy is using.
    Alex Albert
    @alexaalbertt
    @rmackay9 If the inertial sense blue ins system supports pixhawk, can you give it if you have any information or an article or something different ??
    indir.jpeg
    Alex Albert
    @alexaalbertt
    do you have any idea how to connect inertial sense uINS with pixhawk?
    tajisoft
    @tajisoft
    @alexaalbertt Here is a page of GPS/Compass supported in ArduPilot.
    https://ardupilot.org/copter/docs/common-positioning-landing-page.html
    It would be good way to open a topic in Forum or Issue in github if you request a new sensor support.
    Or you can create sensor driver if you are interested in driver development.
    https://ardupilot.org/dev/docs/code-overview-sensor-drivers.html