Use mavros mavftp in Ardupilot/Arducopter

[Rand0409]

Hi Is there anyway I can use rosrun mavros mavftp upload/download with Arducopter firmware?

I saw in the mavros ROSnode description mavftp can only be used with PX4.

Thank you for your help

[Ronan0912]

Hello,

I tested the ftp plugin with ArduPilot (CubeOrange). The current implementation doesn't support ArduPilot. PX4 FTP seems to not follow exactly the MAVLink specification https://mavlink.io/en/services/ftp.html. For example, the returned size in a ACK of an open command should be 0 but expect 4 (sizeof uint32_t) for PX4: https://github.com/mavlink/mavros/blob/ros2/mavros/src/plugins/ftp.cpp#L562