Offboard Control with Companion Computer for Autonomous Flight

[amrathod]

Hello, I'm writing this discussion with the hopes that someone can guide me in the right direction. I wish to know whether it is possible to send commands like thrust and angular rates or desired attitude to the beta flight controller from a companion computer such as a nvdia Jetson running ROS nodes. I understand this is possible on px4/ardupilot but I'm exploring other options. Since I am new to beta flight, I would really appreciate all the assistance I can receive. Thanks!

[ljy-zju]

I have been struggling with the same issue. I was wondering if you have been able to find a solution?

[lida2003]

Yes, you can @amrathod, please check MSP protocol.

msp_protocol.h

[nbobbili]

Hello @lida2003. I was trying to find a way to have Off board commands sent in to Beta-flight as well, But it looks like there is no message defined for Thrust or Attitude set points. Forgive me if I am missing something. I see there is a MSP_ATTITUDE message, which I believe can be used to read the Attitude readings out of the flight controller? It seems like there is no "in message" defined. Thanks in advance!

[lida2003]

Oh I didn't see details of betaflight, but it really can on iNav.

Please check https://github.com/thecognifly/cognifly-python

Originally I think iNav/betaflight are quite same. Maybe there is a little bit different.

[haslinghuis]

Need to implement MAVlink protocol. Currently only MAVlink telemetry is supported.

[yasinhp]

I also want to implement on Tello SDK with RGB and Ir led, would you please tell me steps to do that. should I start with learn.py? and then next steps?