Develop Algorithms and Deploy on PX4 Autopilot

Develop algorithms and prepare model for deploying on PX4 Autopilots

Setup Simulink Model

Model Configuration Parameters for PX4 Flight Controller

Parameter and configuration options for creating and running applications on PX4^® flight controller

Set COM Port for Upload and Communication in Simulink

Set COM port for Upload and Communication in Simulink^® models

Deployment on Cube Orange Autopilot from Simulink

Deploy Simulink generated code to Cube Orange Autopilot.

Deployment on Unsupported PX4 Autopilots from Simulink

Deploy Simulink generated code to unsupported PX4 Autopilot.

Blocks

PX4 uORB Read	Read uORB data for the specified uORB topic
PX4 uORB Write	Write uORB data for the specified uORB topic
PX4 uORB Message	Create a blank message using specified uORB topic
PX4 Analog Input	Measure analog voltage applied to an ADC channel
PX4 PWM Output	Configure PWM outputs for servo motors and ESC control
PX4 Read Position Setpoint	Read the position setpoints published by the PX4 Navigator module in the uORB topic `position_setpoint_triplet`
Serial Receive	Read data from UART or USART port on PX4 flight controller
Serial Transmit	Send serial data to UART or USART port
Vehicle Attitude	Read vehicle_odometry uORB topic and obtain attitude measurements
Accelerometer	Read sensor_accel uORB topic and obtain three dimensional linear acceleration
Gyroscope	Read sensor_gyro uORB topic and obtain three dimensional rate of rotation
Magnetometer	Read sensor_mag uORB topic and obtain three dimensional magnetic field
Radio Control Transmitter	Read input_rc uORB topic to obtain data from Radio Control Transmitter
Read Parameter	Read PX4 system parameters
Battery	Read battery_status uORB topic and obtain details about the battery's state
I2C Master Write	Write data to I2C slave device or I2C slave device register
I2C Master Read	Read data from I2C slave device or I2C slave device register
GPS	Read vehicle_gps_position uORB topic and obtain GPS coordinates
PX4 CAN Receive	Receive message from CAN network
PX4 CAN Transmit	Transmit message to CAN network

Functions

`getMATFilesFromPixhawk`	Retrieve MAT-files from SD card inserted on Pixhawk hardware board
`px4MATFilestitcher`	Combine multiple MAT-files retrieved from SD card into a single MAT-file

PX4 Autopilot Peripheral Information

Index Numbers for Analog Channels on Pixhawk Series Controller Boards

Identify the index numbers for signals from analog channels

Port Numbers for Labels on PX4 Flight Controller Boards

Identify the UART/USART port number for the labels seen on PX4 flight controller boards

I2C Bus Port Numbers for Labels on PX4 Autopilots

Identify the bus port number for the labels seen on PX4 flight controller boards

MAVLink Communication with PX4 Autopilots

Enabling MAVLink in PX4 Over USB

Enable MAVLink protocol for PX4 Autopilots over USB

Connecting to NSH Terminal for Debugging

Connect to the NSH terminal of Pixhawk^® Series controller for debugging.

Additional Information

Migrating from Pixhawk Pilot Support Package to UAV Toolbox Support Package for PX4 Autopilots

Migrate from existing Pixhawk Pilot Support Package to the new UAV Toolbox Support Package for PX4 Autopilots

Plant and Attitude Controller Model for Hexacopter

Use plant model and attitude control model to fly a hexacopter using UAV Toolbox Support Package for PX4 Autopilots

Troubleshooting

Troubleshooting Deploy to Hardware Issues

Solve the problems when you try to deploy the Simulink model to Pixhawk Series flight controllers

Troubleshooting Flash Overflow Issues with Pixhawk 1

Solve the flash overflow issues when you try to deploy the Simulink model to Pixhawk 1

Troubleshooting Running Out of File Descriptor Issues

Solve the running out of file descriptor issues

Featured Examples

Getting Started with uORB Blocks for PX4 Autopilots Support Package

Use the PX4 uORB Read and the PX4 uORB Write blocks in UAV Toolbox Support Package for PX4 Autopilots to read and write uORB messages in the uORB network.

Open Example

Reading GPS Data from PX4 Autopilot

Obtain the data from a GPS device connected to PX4 flight controller, using UAV Toolbox Support Package for PX4 Autopilots.

Open Example

Getting Started with PX4 Analog Input Block for ADC Channels

Use the PX4 Analog Input block to read the voltage applied at the ADC pins on the Pixhawk Series controller.

Open Example

Send and Receive Serial Data using PX4 Autopilots Support Package

Use UAV Toolbox Support Package for PX4 Autopilots to send and receive serial data with a Pixhawk Series flight controller.

Open Example

Getting Started with PWM Blocks for PX4 Autopilots

Use the PX4 PWM Output block to generate signals on the PWM pins of a Pixhawk Series controller, and verify the PWM values.

Open Example

Read PX4 System Parameters Using PX4 Autopilots Support Package

Read the PX4 system parameters using UAV Toolbox Support Package for PX4 Autopilots.

Open Example

Reading Accelerometer Values from an I2C based Sensor Connected to a PX4 Autopilot

Use UAV Toolbox Support Package for PX4 Autopilot to configure and read accelerometer values from an I2C based sensor.

Open Example

Transmit and Receive Data Using PX4 CAN Blocks

To use UAV Toolbox Support Package for PX4 Autopilots to transmit and receive data from the CAN network using the specified CAN device.

Open Example

CAN Communication with Pixhawk Using Raspberry Pi

Establish a CAN communication between Pixhawk hardware and Raspberry Pi™ hardware.

Open Example

Connecting to NSH Terminal for Debugging

This topic shows you how to use the NSH terminal for the debugging of Pixhawk Series controllers.

Reading GPS Data over UAVCAN

Showcases the connectivity with the UAVCAN peripherals connected to the PX4 Autopilot, using UAV Toolbox Support Package for PX4 Autopilots. In this example, the UAVCAN GPS receiver is used as the UAVCAN peripheral.

Open Example

Actuator Control Using uORB Blocks for PX4 Autopilots

Use the PX4 uORB Write block to command the actuators.

Open Example