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Is there any alternative to MAVSDK for Ardupilot in 2021?

I am looking at the examples of MAVSDK and I see how handy they are to use, but unfortunately I cannot make them to work with Ardupilot.

Is there a modification of the software that works for Ardupilot?
Is there any other C++ library that can work with Ardupilot?

There are at least three possibilities:

  1. MAVROS works great with Ardupilot.
  2. You can use pymavlink to generate C++ Mavlink code that you can use.
  3. it should be possible to fix MAVSDK to work with ArduPilot as well.
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Thanks for the info. Has somebody done it yet?

Checkout this example:

Works great in SITL.

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