As already indicated in my previous blog Control your Ardupilot Mega Rover with your Android Smartphone I continued to implement more features resulting in the new udpRC4UGV Android(TM) app with a number of rover specific functions. The most important enhancements are the selection of the flight mode and the toggling of channel 7 making a number of APM special functions available.
As outlined in the previous blog a PiKoder/SSC wRX receiver replaces the standard RC receiver in the rover. The smartphone RC uses WLAN for command transmission: the PiKoder does offer an access point (AP) to which the smartphone will connect.
The udpRC4UGV app fashions various usage preferences: a simple button controlled interface, a virtual joystick, and an accelerometer based user interface.
Every user interface offers next to the generic control elements for RC the option for selecting the flight mode. Additionally, channel 7 can be triggered by hitting the CH7 button (thereby e.g. in LEARNING mode storing the current position as a way point for a mission).