Software development for companion computer


my rover:
I have a pixhawk 2.4.8 hooked to a pi 4 running rpanion and have the camera streaming, ntrip working well for rtk with f9p, and connecting over wifi from mission planner to the rover. The rover is based on a hoverboard.

Now I need to start coding to add some functionality on the companion computer and I am a c++ programmer. What is the best way to proceed? Dronekit, apsync, mavsdk, or what?

I suggest you start with dronekit-python.
If it’s not sufficient enough, you can start to pymavlink.

Thanks, I try dronekit-python.