Explore how to use MAVSDK server for ArduPilot

[elpiel]

I've recently asked in the ArduPilot community on Discord if it's possible to use MAVSDK for ArduPilot.
Apparently, the MAVSDK server is hardcoded for PX4 specifically and there might be more than a few differences.

This should be explored so that we can see what it would take to use the MAVSDK server for ArduPilot.

Basically mavsdk will runtime detect which autopilot it connects to, but some functionality is hardcoded to px4 - for instance Ardupilot uses waypoint 0 to store the home location, so missions are effectively indexed from 1. Px4 doesn’t, so missions are indexed from 0. Takeoff, land, etc should work.

ArduPilot related issues for its support in the MAVSDK server:

• ArduPilot/other mavlink autopilot compatiblity/support mavlink/MAVSDK#205
• Adding support for ArduPilot mavlink/MAVSDK#728
• ArduPilot support limitations mavlink/MAVSDK#1568
• Provide Autopilot/Server functionality for MAVLink services mavlink/MAVSDK#1445

[ykhedar]

Basic support for Ardupilot exist now (mission upload, start, basic actions, param set-get etc.) so maybe you can give it a try and open another issue if you face some specific problem.

[elpiel]

Thanks for letting me know.