I dont know if this is the right place, but I want to set up an obstacle detection system using a lidar, I already have a way on a pi 4 to get most of the data I need from the lidar of any object around the rover. Now the drone itself is a boat and all I want is to know if I can interrupt the pixhawk navigation which is going to be in mission mode so I can move the drone using the obstacle data, and then resume mission mode.
Is this possible using mavlink? can mavlink also send or receive different sets of data since there will be also another program on the pi obtaining GPS data from the pixhawk for other tasks .
The limitation I have is running it in a pi 4 since this is a proof of concept of simple obstacle avoidance I am just curios about the limitations of mavlink. I am also using dronekit , my issue is being able to take over the drone in mission mode, with the script move the drone to a position where the obstacle is not, and then return to mission mode and continue on the waypoints they were before.