アルゴリズムの開発と PX4 Autopilot での展開

アルゴリズムを開発し、PX4 Autopilot に展開するモデルを準備する

アルゴリズムを開発し、PX4 Autopilot に展開するモデルを準備します。これらのトピックには、モデルコンフィギュレーションパラメーター、COM ポートの設定、および Simulink^® からの PX4 Autopilot の展開に関する追加情報が記載されています。

ブロック

すべて展開する

周辺装置ブロック

I2C Controller Read	Read data from I2C peripheral device or I2C peripheral device register
I2C Controller Write	Write data to I2C peripheral device or I2C peripheral device register
PX4 Analog Input	Measure analog voltage applied to an ADC channel
PX4 CAN Receive	Receive message from CAN network (R2022b 以降)
PX4 CAN Transmit	Transmit message to CAN network (R2022b 以降)
Serial Receive	Read data from UART or USART port on PX4 flight controller
Serial Transmit	Send serial data to UART or USART port

センサーブロック

Accelerometer	Read sensor_accel uORB topic and obtain three dimensional linear acceleration
Battery	Read battery_status uORB topic and obtain details about the battery's state
GPS	Read vehicle_gps_position uORB topic and obtain GPS coordinates
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
Vehicle Attitude	Read vehicle_odometry uORB topic and obtain attitude measurements

uORB Read ブロックおよび uORB Write ブロック

PX4 uORB Message	Create a blank message using specified uORB topic
PX4 uORB Read	Read uORB data for the specified uORB topic
PX4 uORB Write	Write uORB data for the specified uORB topic

PX4 ユーティリティブロック

MAVLink Bridge Source	Read MAVLink data from the Pixhawk board (R2022a 以降)
MAVLink Bridge Sink	Write MAVLink data to the Pixhawk board (R2022a 以降)
PX4 Read Position Setpoint	Read the position setpoints published by the PX4 Navigator module in the uORB topic `position_setpoint_triplet` (R2021b 以降)
PX4 Timestamp	Output absolute timestamp from the PX4 Autopilot to a Simulink model (R2023b 以降)
PX4 ULog	Log Simulink signals to an SD card in ULog format (R2023b 以降)
PX4 Write Parameter	Write PX4 system parameters (R2025a 以降)
Read Parameter	Read PX4 system parameters

関数

`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
`createPX4uORBMessage`	Simulink モデルにおいて、ログ用のカスタム uORB トピックを作成する (R2023b 以降)
`createCustomPX4Parameter`	Create custom PX4 parameter for writing to the PX4 system parameter (R2025a 以降)

トピック

Simulink モデルの設定

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 Cube Blue H7 Autopilot from Simulink
Deploy Simulink generated code to Cube Blue H7 Autopilot.
Deployment on Unsupported PX4 Autopilots from Simulink
Deploy Simulink generated code to unsupported PX4 Autopilot.

PX4 Autopilot の周辺装置の情報

Index Numbers for Analog Channels on Pixhawk Series Controller Boards
Identify the index numbers for signals from analog channels.
Serial Port Names and Corresponding 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

PX4 Autopilot との MAVLink 通信

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

追加情報

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.
Getting Started with uORB Blocks for PX4 Autopilots Support Package
Read and write uORB messages using PX4 uORB Read and PX4 uORB Write blocks.
Connecting to NSH Terminal for Debugging
Debug PX4 autopilot using NSH terminal.

トラブルシューティング

Troubleshooting Deploy to Hardware Issues

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

Troubleshooting PX4 Firmware Build Failure Due to Flash Memory Overflow on the Hardware

Solve the flash memory overflow on the hardware issues while using the default px4 board build target file.

Troubleshooting Running Out of File Descriptor Issues

Solve the running out of file descriptor issues.

Troubleshooting USB Issues with Cube Orange on Windows

Solve the USB issues with Cube Orange.

注目の例

Getting Started with PX4 Analog Input Block for ADC Channels

Read voltage of ADC pins on Pixhawk series controller using PX4 Analog Input block.

モデルを開く

Getting Started with PX4 Write Parameter Block

Write parameter values to PX4 flight controllers using PX4 Write Parameter block.

モデルを開く

Getting Started with Serial Receive and Serial Transmit Blocks

Get and send serial data to PX4 autopilot using Serial Receive and Serial Transmit blocks.

モデルを開く

Getting Started with PX4 CAN Receive and PX4 CAN Transmit Blocks

Get and send control area network (CAN) messages to PX4 autopilot using PX4 CAN Receive and PX4 CAN Transmit blocks.

モデルを開く

Read GPS Data from PX4 Autopilot

Read GPS data from PX4 autopilot in Simulink using GPS block.

ライブスクリプトを開く

Read GPS Data over UAVCAN

Read UAVCAN GPS data from PX4 autopilot in Simulink using GPS block.

モデルを開く

Read PX4 System Parameters from PX4 Autopilot

Read system parameters from PX4 autopilot using Read Parameter block.

モデルを開く

Read Accelerometer Values from I2C Based Sensor Connected to PX4 Autopilot

Read accelerometer values from I2C based sensor using I2C Controller Read block.

モデルを開く

CAN Communication with Pixhawk Using Raspberry Pi

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

モデルを開く

Plant and Attitude Controller Model for Hexacopter

Create hexacopter plant and attitude controller for PX4 autopilot.

モデルを開く