Develop PX4 custom controller without QGroundControl
6 vues (au cours des 30 derniers jours)
Afficher commentaires plus anciens
Hello, I'm trying to develop a custom controller for my Pixracer R15 autopilot. I followed the MATLAB tutorials and I want to know if is possibile to develop a custom controller and do HITL simulation without using QGroundControl. For example I'm trying to implement the example Position Tracking for X-Configuration Quadcopter in my hardware board instead of PX4 host target. Indeed in this example I can specify some trajectories and modify run-time parameters of the controller, I don't need to specify a mission on QGround I want only that my quadcopter follows some trajectories using the custom controller implemented in my board.
Thanks for help.
0 commentaires
Réponses (1)
Jianxin Sun
le 3 Oct 2022
Hi Paolo,
There are two HITL examples related to your application:
https://www.mathworks.com/help/supportpkg/px4/ref/hitl-simulink-plant-example.html shows how to configure HITL with multirotor dynamics in Simulink
https://www.mathworks.com/help/supportpkg/px4/ref/hitl-simulink-fixed-wing-plant-example.html shows how to configure the UAV to follow pre-defined mission in MATLAB/Simulink for fixed-wing UAV
You probably want to base your setup following the first example, but instead of using mission read block to get mission from QGroundControl, you can use pre-defined mission in MATLAB based on the second example implementation.
Jianxin
Voir également
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!