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User software additions/modifications

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@gpetty wrote:

I'm new to ArduPlane, and for some applications I have in mind for the Pixhawk 2.1 (e.g., communication with external sensors), I'm told I need to consider adding user software. I am unable to find anything about this subject via Google.

How does one add user software to a Pixhawk-based UAV using ArduPlane? Where do the modifications/extensions reside? How does one preserve these software additions when updating to a later version of ArduPlane? If my questions make no sense, that just illustrates my need to a pointer to a suitable guide or tutorial on the subject!

Thanks,
Grant

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