formation control about dronebridge

[seeul8er]

As I understand: You want to control multiple dones with one groundstation?
The DroneBridge Protocol is already capable of doing something like this. For MSP you may want to use the control module from this repo.

To achieve what you want you probably need to write a custom extension just like the one shown in "i6S.c" file. There you determine what values get sent.
To identify your drone the DroneBridge Protocol uses the MAC address of the receiving wifi interface (or any other ID with 5 to 6 bytes length). Each wifi card has its own unique MAC address.

To address the MSP commands to your drones just set the dest. MAC address of the packet right. On the receiving end configure the "control_rx" programm to listen for this specific address (The software tries to determine the MAC of the attached wifi interface automatically).
On groundstation side go set struct ab_80211_header in tx.c under int conf_monitor right (You might need to make this dynamically as you may want to send packets to different drones/destinations). On drone side listen for this specific MAC address.
The BPF Filter on the receiving socket makes sure only relevant packets/MSP data gets through.

However I am not sure if the nRF24L01 supports monitor mode

[2black0]

Great, thanks for your information