I would like to provide external navigation to Ardupilot (position, heading, attitude) in “Rover” frame and avoid using internal GNSS/INS?
I found on the docs page that two external Nav devices can be used, but with no information on the data formats or needed messages.
Is there a documentation which outlines how to provide full external navigation via Mavlink or NMEA and needed commands?
thanks in advance
Better to ask about ArduPilot at discuss.ArduPilot.org
After few internet searches I found the way how to fit in the external navigation data into the Ardupilot and avoid using the onboard GNSS/INS.
It is nicely explained here:
in the bottom of the page.
The GPS navigation is sent by using master.mav.gps_input_send
The key to this is to set the ardupilot parameter
GPS_TYPE = MAV(14)
which make the default GPS using Mavlink. That makes Ardupilot think this is the right GPS
Turned out ardusub.com was of a great help