I have been looking into the software architecture (independent of the controls) as well as the application interaction from the RC input to Motor output.
I have figured out the sensor drivers, and topics handling it.
I have figured out the mixer file for multi-rotors.
I have understood on the surface that px4io is built into a separate binary that runs on IO processor.
Also, the FMU is interacting with the i/o operations and has its own px4io driver to do so.
I would like to know, that if there is a serial communication between FMU and IO processor,
what are the different scenarios of operations and what is the interaction between them?
I have asked a broad level question!
Would like to request for a discussion