I am new to ardupilot more farmiler with betaflight. my project to develop a semi-autonomous drone. the frame is based on fpv drone without gps. the idea is to fly indoors in narrow places and avoid bumping into walls. in order to do so I have installed 6 VL53l0 range finders and I use TCA9548A as muliplexer( facing front, rear, right, left, bot, top)
can someone please guide me through the steps I have to go through in order to achieve this goal with ardupilot. matirial I have to read if exists. modules I have to modify in source code, relevant paramters I need to configure in mission planner etc…
I am using mateksys STM32H743 slim FC.
Thanks.
Roy