Overview of Hardware Setup for ArduPilot Autopilots

This section provides an overview of the hardware setup process required to connect ArduPilot-based autopilot boards with MATLAB^® and Simulink^®. Proper configuration ensures correct integration with the UAV Toolbox Support Package for ArduPilot Autopilots, enabling you to develop, deploy, and test algorithms on supported hardware platforms.

Since boards and devices supported by MathWorks^® require additional configuration and setup steps to connect to MATLAB and Simulink. The support package provides a hardware setup process that guides you through configuring and installing the third-party tools.

Hardware Setup Steps

The following steps correspond to the workflow diagram shown above and outline the process for setting up your hardware and ensuring proper integration with the UAV Toolbox Support Package for ArduPilot Autopilots:

• Step1: Install Windows Subsystem for Linux (WSL2)

  Enable WSL2 on your Windows machine to allow Linux distributions natively. This provides a Linux environment for building and modifying ArduPilot firmware.

• Step2: Install Ubuntu Distribution for Windows Subsystem for Linux (WSL)

  Install the Ubuntu distribution. Ubuntu will serve as your primary Linux environment for development and toolchain setup.

• Step3: Install Python 3.8.2 on Windows for Firmware Upload

  Download and install Python 3.8.2 on your Windows system. Python is necessary for running scripts related to firmware upload and integration with various tools.

• Step4: Select an ArduPilot Vehicle Type

  Choose the specific vehicle type you want to work with. This selection determines the firmware and configuration options used throughout the setup

• Step5: Download ArduPilot Source Code and Set Up Toolchain in Windows Subsystem for Linux

  Clone the ArduPilot source code repository within your Ubuntu environment. Set up the required toolchain and dependencies for building the firmware.

• Step6: Cloning and Running Patch Scripts for ArduPilot Integration with UAV Toolbox

  Clone the repository containing patch scripts for UAV Toolbox integration. Run these scripts to add Simulink-specific libraries to the ArduPilot firmware.

• Step7: Select ArduPilot Board

  Choose the specific ArduPilot hardware board you are using. This ensures the firmware is built and configured for the correct hardware platform.

• Step8: Download and Install Mission Planner

  Download and install Mission Planner on your Windows machine. Mission Planner is a ground control station software used for configuring, uploading firmware, and monitoring your vehicle.

• Step9: Build ArduPilot Firmware

  Build the ArduPilot firmware using the configured toolchain and patched source code. This step generates the firmware binary ready for upload to your hardware.

• Step10: Test Connection

  Testing the connection to the autopilot or hardware board is a crucial step in verifying that your selected hardware can communicate with the UAV Toolbox Support Package for ArduPilot Autopilots.