알고리즘을 개발하여 PX4 Autopilot에 배포하기

알고리즘 개발 및 PX4 Autopilot에 배포할 모델 준비

알고리즘을 개발하고 PX4 Autopilot에 배포할 모델을 준비합니다. 다음 항목에서는 모델 구성 파라미터, COM 포트 설정, Simulink®에서 PX4 Autopilot을 배포하는 방법에 대한 추가 정보를 제공합니다.

블록

모두 확장

I2C Controller ReadRead data from I2C peripheral device or I2C peripheral device register
I2C Controller WriteWrite data to I2C peripheral device or I2C peripheral device register
PX4 Analog InputMeasure analog voltage applied to an ADC channel
PX4 CAN ReceiveReceive message from CAN network (R2022b 이후)
PX4 CAN Transmit Transmit message to CAN network (R2022b 이후)
Serial ReceiveRead data from UART or USART port on PX4 flight controller
Serial TransmitSend serial data to UART or USART port
AccelerometerRead sensor_accel uORB topic and obtain three dimensional linear acceleration
BatteryRead battery_status uORB topic and obtain details about the battery's state
GPSRead vehicle_gps_position uORB topic and obtain GPS coordinates
GyroscopeRead sensor_gyro uORB topic and obtain three dimensional rate of rotation
MagnetometerRead sensor_mag uORB topic and obtain three dimensional magnetic field
Radio Control TransmitterRead input_rc uORB topic to obtain data from Radio Control Transmitter
Vehicle AttitudeRead vehicle_odometry uORB topic and obtain attitude measurements
PX4 uORB MessageCreate a blank message using specified uORB topic
PX4 uORB ReadRead uORB data for the specified uORB topic
PX4 uORB WriteWrite uORB data for the specified uORB topic
MAVLink Bridge SourceRead MAVLink data from the Pixhawk board (R2022a 이후)
MAVLink Bridge SinkWrite MAVLink data to the Pixhawk board (R2022a 이후)
PX4 Read Position SetpointRead the position setpoints published by the PX4 Navigator module in the uORB topic position_setpoint_triplet (R2021b 이후)
PX4 TimestampOutput absolute timestamp from the PX4 Autopilot to a Simulink model (R2023b 이후)
PX4 ULogLog Simulink signals to an SD card in ULog format (R2023b 이후)
PX4 Write ParameterWrite PX4 system parameters (R2025a 이후)
Read ParameterRead PX4 system parameters

함수

getMATFilesFromPixhawkRetrieve MAT files from SD card inserted on Pixhawk hardware board
px4MATFilestitcherCombine multiple MAT-files retrieved from SD card into a single MAT-file
createPX4uORBMessageCreate custom uORB topic for logging in a Simulink model (R2023b 이후)
createCustomPX4ParameterCreate custom PX4 parameter for writing to the PX4 system parameter (R2025a 이후)

도움말 항목

Simulink 모델 설정하기

PX4 Autopilot 주변기기 정보

PX4 Autopilot에서 MAVLink 통신 사용

추가 정보

문제 해결

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.

추천 예제

Getting Started with PX4 Analog Input Block for ADC Channels

Getting Started with PX4 Analog Input Block for ADC Channels

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

Getting Started with PX4 Write Parameter Block

Getting Started with PX4 Write Parameter Block

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

Getting Started with Serial Receive and Serial Transmit Blocks

Getting Started with Serial Receive and Serial Transmit Blocks

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

Getting Started with PX4 CAN Receive and PX4 CAN Transmit Blocks

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.

Read GPS Data from PX4 Autopilot

Read GPS Data from PX4 Autopilot

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

Read GPS Data over UAVCAN

Read GPS Data over UAVCAN

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

Read PX4 System Parameters from PX4 Autopilot

Read PX4 System Parameters from PX4 Autopilot

Read system parameters from PX4 autopilot using Read Parameter block.

Read Accelerometer Values from I2C Based Sensor Connected to PX4 Autopilot

Read Accelerometer Values from I2C Based Sensor Connected to PX4 Autopilot

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

CAN Communication with Pixhawk Using Raspberry Pi

CAN Communication with Pixhawk Using Raspberry Pi

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

Plant and Attitude Controller Model for Hexacopter

Plant and Attitude Controller Model for Hexacopter

Create hexacopter plant and attitude controller for PX4 autopilot.