Hi all,
I’m relatively new to the PX4 code base and have been spending some time reading though it in order to get a good understanding of how it all works and fits together. There is a lot of code to look through!
I have a few overlapping “low level” questions about encapsulating ROS messages using MAVLink, i.e. Mavros
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Which MAVLink message ID or IDs are used?
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Are these custom MAVLink messages? i.e. in the range 180 - 229 and thus application specific.
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Do distinct Mavros message get encapsulated as specific custom MAVLink message?
Apologies for the basic nature of my questions, but I’ve not been able to find where this is documented. I assume that most of this is managed by the various high level tools, but I’m just after a deeper understanding of how the actual implementation works.
Many thanks!