How to use mavros_controller with ArduCopter?

ArduCopter Copter 4.1
62

how did you convert it to ardupilot from pixhawk?

63

Pixhawk is an hardware. Ardupilot is a collection of vehicle firmwares.

What exactly is your question?

64

well, how did u change the mavros controller to be used in ardupilot sitl instead of pixhawk?

65

Just connect mavros to the SITL communication port, instead of connecting it to the pixhawk hardware communication port

66

i am using ubuntu 20.04 and ros noetic for sitl, how to connect it to the iris drone in ardupilot sitl?

67
  1. start arducopter iris SITL.
  2. change the ROS launch file to use fcu_connection=127.0.0.1:14550

This is explained on the docs already.