After the code works on simulation as shown here http://forum.erlerobotics.com/t/rc-as-backup-and-read-velocity/2896/7, we decided to put the thing in action.
Based on Erle, we built a quadcopter with RPLidar A2 mounted on top. PX4flow doesn't work yet with the firmware, and the lidar lite also not compatible with the current firmware version. Nevertheless we use only RPLidar measurement and RC_Override to achieve obstacle avoidance.
No user stick input at roll and pitch after the rosnode is running.
The node is really simple, and can be found at:
and by the way, @Erle Can we have the arducopter 3.5.0 soon ? We know that PX4Flow and LidarLitev3 works there and the competition is next week... Very much appreciated!