@Yendolosch wrote:
Hello everybody,
first a little background about my nooby question:
For a mapping research project we're planning to use an octocopter with a Pixhawk APM and a companion computer controlling multiple cameras (Sony QX1, connected via WLAN, and an IR camera) mounted on a gymbal.Unfortunately we will have very limited access to our drone (which isn't even built yet), so we can't simply play around with it; instead we have to plan, connect and test all the components on their own, possibly using something like Mission Planner and SITL to simulate the drone, and only perform the final tests with the full hardware stack.
We want to calculate our mission waypoints on the ground and push them to the drone. At each WP we need to (synchronously, if possible) trigger both cameras, move the images from the cameras to our companion computer (probably an ODROID, maybe a Raspberry Pi 3 initially), do some image processing, and signal our Pixhawk that we're done and it can move on to the next WP. I'm currently looking into the autopilot/companion connection and wondering how we can achieve both the triggering and the completion signalling part. There are tons of tutorials on how to connect and configure the hardware, but I'm missing the MAVLink part of the AP/CC communication.
So my question is:
Can I just send some MAVLink command to the drone with the target component ID set to whatever my companion computer's component ID is? And how would I determine that component ID? Is that configured somewhere? Do I check if I find a heartbeat coming from something with a type ofMAV_TYPE_ONBOARD_CONTROLLER?
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