====CyBuoy Notes - 19/10/23 - 19:40==== 

**This document is very much a work in progress, None of it is warranted as Correct, Accurate or Optimal.. Suggestions very welcome.**

==== Current Software Thoughts====

For the moment considering QGC for ground control/planner as runs on Linux and potentially Android

**Ardupilot**

https://ardupilot.org/ardupilot/index.html

**Q Ground Control**

http://qgroundcontrol.com/

**ESP 32 ArduPilot Build**

https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ESP32/README.md

DRIVER_ICM20948 is not present.
https://discuss.ardupilot.org/t/error-building-esp32diy/100710

Now at least builds!


==== OpenIPC FPV ====

FPV link and perhaps Mavlink2 can provide basic control.

https://github.com/svpcom/wfb-ng/wiki

https://github.com/OpenIPC/wiki/blob/master/en/fpv.md

https://openipc.org/our-projects


==== Other Tools/Software ====

https://ardupilot.org/mavproxy/

https://www.expresslrs.org/software/airport/

https://mavlink.io/en/

====Current Thinking====

Ground Station -> Mavlink -> CB

MavLink Supports basic joystick control. Might be enough to start.

MavLink includes various mesh modes, yet to be explored.

Airport enables mavLink support over ELRS hardware.

Scope of simulating links and models look promising. 

MavLink proxy for hands on handling of Mavlink.

Considering a cheap FC already supported by ArduPilot.