I have designed a custom flight controller. I’ve already adjusted the sensor orientations and added the missing sensor drivers to make it compatible with PX4. Now, I want to do the same for Ardupilot. Additionally, I would like to push this support to the official Ardupilot GitHub repository. What are the necessary steps to achieve this, and is there a specific process for hardware support contributions?
If the platform (processor+OS) and all the sensors are already supported by Ardupilot you need to reserve a boardID (a fairly quick process) and write a hwdef file and readme that meet the requirements (takes some work, see board PRs and developer section of the wiki).
If the sensors aren’t supported yet you need to contribute the drivers or extensions to the existing drivers, if the former you are likely to be expected to maintain the driver ie. fix bugs.
If the platform isn’t then you will need to contribute that support and definitely become a maintainer for it.
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