I am a new developer working with the Nvidia Jetson TX2 and Ardupilot. I recently developed a small python script that runs on the Nvidia Jetson to gather some data. The python script outputs a series of integer values (distances) determined by the Jetson’s built in camera module.
I wish to send this sensor data via MAVLINK to a pixhawk running ArduRover. When the distance sensor values goes below a given threshold I would like the rover to stop.
I have read through the forum posts on custom MAVLINK messages, but believe the path of least resistant will be to modify an existing Distance Sensor command.
I would appreciate any high level advice from anyone that has faced a challenge similar to this. Specifically adding the output of a python script as a new sensor data and the specific changes required in the ardupilotmega.xml, GCS_Mavlink.cpp, and CurrentState.cs