Comunication b/w flight controller and CC without MAVLINK

ArduCopter
,
1

I want to send the data from companion computer to flight controller, how can I do that ?
I read this article, which was helpful, but I dont want to use MAVLINK, is there any other way where I can send and receive data only from UART?

https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html

2

if I want to use my custom protocol, where should I write the code of it in ardupilot repository?

3

You would need to use lua scripting, no need to change the C++ source code for that:

https://ardupilot.org/copter/docs/common-lua-scripts.html

But usually MAVLink is a better way.

4

ok thanks, I will look into this article.

5

Can I test these lua scripts on SITL ??

6

Yes. You can do it the same way as on a real vehicle.

7

Thankyou so much, I have understood eveything