I have iot device developed by C programming, connecting to azure iot hub. Can I use mender.io in my C application to update my firmware over the air
Integrate Mender.io with Azure IOT Hub
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Depends, I have not used it personally but did check it out as a possibility once. Check if you can integrate mender into your board https://hub.mender.io/c/board-integrations
If it is possible then I would suggest looking at some resources mender provides on how to do so.
Get some results and post problems after you try it out once.