Guided mode

Description about Guided mode of ArduPilot

In this mode the position, velocity or attitude reference / target / setpoint is provided by a companion computer connected via serial cable and MAVLink. The offboard setpoint can be provided by API like MAVROS.

Normal mainstream Ardupilot Firmware uses this message flow and Runs a high-level PID Controller:

Message Flows

ROS msg name	msg type	uses
mavros/local_position/odom	nav_msgs::Odometry	Contains local odometry data
mavros/setpoint_position/local	geometry_msgs::PoseStamped	Used in offboard mode for postion setpoint

Example

The instructions for assembling the “essential components” of Copter on Pixhawk and other autopilots. The instructions for adding other hardware are covered in Optional Hardware.