Unitree go2 robot dog open source autopilot with ardupilot

Описание: This is a quick video follow-up, from the last breakdown, showing a test run with the autopilot backpack we made for the Unitree go2 robot dog so that it can be operated autonomously with ardupilot.
The dog has not been modified or hacked. This works directly with any air/pro/edu model as it is only using the s.bus comms as an input.

A DJI O3 Air unit receives RC controls, which then passes them into a Mateksys H7A3 - slim flight controller. This receives the positional information from the Ardusimple simpleRTK3B Heading RTK receiver and the control commands are then read by an ESP32S3 XIAO microcontroller which reads the mavlink messages and then converts that into the suitable s.bus signals to control the dog with. Mission plans are sent via mission planner to the flight controller, currently with the use of another esp32.

Link to the GitHub with the ESP32 S.Bus conversion:
https://github.com/mechzrobotics/Unit...

Credit also goes to Khaian & and Miguel, who also spent time working on this quick solution.
Credit also also goes to the Roboverse community, a fantastic place to talk and share work with the unitree robots! https://wiki.theroboverse.com/