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?