알고리즘을 개발하여 PX4 Autopilot에 배포하기
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
| 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 (R2021b 이후) |
| 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 Controller Write | Write data to I2C peripheral device or I2C peripheral device register |
| I2C Controller Read | Read data from I2C peripheral device or I2C peripheral device register |
| GPS | Read vehicle_gps_position uORB topic and obtain GPS coordinates |
| PX4 CAN Receive | Receive message from CAN network (R2022b 이후) |
| PX4 CAN Transmit | Transmit message to CAN network (R2022b 이후) |
| MAVLink Bridge Source | Read MAVLink data from the Pixhawk board (R2022a 이후) |
| MAVLink Bridge Sink | Write MAVLink data to the Pixhawk board (R2022a 이후) |
| PX4 ULog | Log Simulink signals to an SD card in ULog format (R2023b 이후) |
| PX4 Timestamp | Output absolute timestamp from the PX4 Autopilot to a Simulink model (R2023b 이후) |
| PX4 Actuator Write | Set actuator values for motors and servos (R2024b 이후) |
| PX4 Write Thrust & Torque Setpoint | Publish the thrust and torque setpoints to uORB topics (R2025a 이후) |
| PX4 Write Parameter | Write PX4 system parameters (R2025a 이후) |
함수
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 | Create custom uORB topic for logging in a Simulink model (R2023b 이후) |
createCustomPX4Parameter | Create custom PX4 parameter for writing to the PX4 system parameter (R2025a 이후) |
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 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.
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.
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.
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.
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.
Read PX4 System Parameters Using PX4 Autopilots Support Package
Read the PX4® system parameters using UAV Toolbox Support Package for PX4 Autopilots.
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.
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.
CAN Communication with Pixhawk Using Raspberry Pi
Establish a CAN communication between Pixhawk® hardware and Raspberry Pi® hardware.
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.
Getting Started with PX4 Write Parameter Block for PX4 Autopilots
Use the PX4 Write Parameter block to write parameters values to a PX4-based flight controller. This allows you to dynamically change flight parameters during simulation and deployment, enabling real-time tuning and configuration.
Actuator Control Using Write Thrust & Torque Blocks for PX4 Autopilots
Use the PX4 Write Thrust & Torque block to command the actuators.
