Obstacle Avoidance by substituting pseudo-LiDAR instead of a LiDAR/Proximity Sensor/T265

ArduCopter Copter 4.6
1

Hello,

I am implementing a pseudo-lidar based navigation where the depth point clouds will be computed offboard on the GCS. I will only have about 60 degree FOV. How should I structure the depth data to send over MAVLINK?

I also see that Intel RealSense uses the MAVLINK protocol. Maybe this is the easiest path if replacing the RPi companion computer with the GCS where I can do the processing? If how should I structure the mavlink message? I assume it will be a 2D array of depths

Thanks