I’d be grateful for thought on the best approach for a companion computer to make periodic position correction maneuvers. During manual and automated flight, these maneuvers would most likely be done while in the loiter flight or similar appropriate mode.
The companion computer has specialized sensors. The GPS position readings will not be accurate enough to just feed NAV lat/long commands. At least I’m pretty sure from observing the aircraft try to hold a position this would not work well enough. Alt readings from the barometer/gps/rangefinder will likely be sufficient for the maneuvers.
During the maneuver, I likely need 10-50hz resolution.
My basic thought is just to check the sticks are neutral and send mavlink messages to override the RC values. Will this work? Will the autopilot accept mavlink messages at these rates? I’m not super excited about this method because the companion computer is going to have to map stick values into directional velocity, which the autopilot can do already. So maybe there is a better way. Maybe an I2C interface somehow?
As for firmware customization, I’m still learning and only at the build and make small tweaks stage of expertise. I’d prefer not to require a special firmware, but if that’s the right way, I’d appreciate that feedback.