We have our own ground control station. We are expanding the capabilities of the program. I want to add support for the MAVLINK protocol. We have the ability to control ARDUPLAN. We have difficulties with connecting ARDUCOPTER. To connect successfully to ARDUCOPTER, first connect ARDUCOPTER to MISSIONPLANNER. After that, there is no connection problem, you can download the route and fly. What MISSION PLANNER sends to the flight controller at the initial stage ???
I do not deal with this issue personally. I'm trying to help our programmer. My question may not be correct.
I expect advice that could help us.