@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?)
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?
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.
@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:
https://docs.emlid.com/navio2/ardupilot/hardware-setup/
https://docs.emlid.com/navio2/ardupilot/typical-setup-schemes/
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.
http://qiita.com/dietposter/items/bf3b0311a044eaf36df8
It is a Japanese document, but it may be helpful.
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
