The bridge is module implemented in agilib/src/bridge/. The bridge class offers an interface between the commands produced by the controller and the hardware. It uses a thrust map to convert the commands to low level signals for the designed low level controller. There are different child classes, depending on the hardware. Some of them are:

  • sbus: Implements an interface through the SBUS interface.

  • ctrl: Implements an interface to the AgiNuttx low level controller.

  • laird: Implements an interface that uses LAIRD RF modules. It’s usually used together with the SBUS bridge in order to get commands from an offboard controller and send them through the SBUS to the low level controller.