Advanced Robotic Vehicles Programming: An Ardupilot and Pixhawk Approach

Appendix 1: Comparison of Commands with Other SDKs

Table A1-1

Comparison with Other SDKs

Task	ArduPilot command In C++	Dronekit command In Python	PX4 C++ messages ROS-kind logic
Screen interface: reading and writing	hal.console->printf() hal.console->read()	Print input() or raw_input()	PX4_INFO
Remote control reading or RC input	hal.rcin->read()	vehicle.channels[channel]	manual_control_setpoint.msg
Writing to motors or RC output	hal.rcout->write()	NOT TO MOTORS, ONLY TO VEHICLE: send_ned_velocity(vx,vy,vz,duracion )	actuator_controls.msg to vehicle actuator_direct.msg test_motor.msg to motors
Analog reading	ch=hal.analogin->channel(channel) read=ch->voltage_average()	EXTERNAL, for example, analog ports on Raspberry Pi	adc_report.msg
Digital reading and writing ...