Ardupilot manual code get started


I need to modify ArduPilot code for the my application.

For this purpose, it is necessary to send the information of various sensors, including GPS and distance sensors, etc to the ground control station by telemetry in real time. This is my ultimate goal.

For learning and basic training, I wanted to collect data related to attitude such as roll, pitch, yaw and add with a fixed value and view its output in ground station software such as Mission Planner, QGC.

Is such a thing possible?
What course do you suggest to start such work and goal?


Of course it is possible, all the telemetry that you want is already sent to the ground station in real time. All you need is to configure the ground station to graph it and configure the mavlink messages rate. Read the ground station documentation, and the mavlink documentation