알고리즘을 개발하여 PX4 Autopilot에 배포하기

R2026b

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

주변기기 블록

	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 이후)
	PX4 CAN Transmit	Transmit message to CAN network (R2022b 이후)
	Serial Receive	Read data from UART or USART port on PX4 flight controller
	Serial Transmit	Send serial data to UART or USART port

센서 블록

	Accelerometer	sensor_accel uORB 토픽을 읽고 3차원 선형 가속도 가져오기
	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 블록 및 uORB Write 블록

	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 유틸리티 블록

	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 Read Position Setpoint	Read the position setpoints published by the PX4 Navigator module in the uORB topic `position_setpoint_triplet`
	PX4 Timestamp	Output absolute timestamp from the PX4 Autopilot to a Simulink model (R2023b 이후)
	PX4 ULog	Log Simulink signals to an SD card in ULog format (R2023b 이후)
	PX4 Write Parameter	Write PX4 system parameters (R2025a 이후)
	Read Parameter	Read PX4 system parameters

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`	PX4 시스템 파라미터에 쓰기 위한 사용자 지정 PX4 파라미터 만들기 (R2025a 이후)
`getLogFilesFromPX4Autopilot`	Retrieve MDF log files from SD card on PX4 autopilot (R2026b 이후)

도움말 항목

Simulink 모델 설정하기

Model Configuration Parameters for PX4 Flight Controller
Parameter and configuration options for creating and running applications on PX4^® flight controller
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 autopilots.

PX4 Autopilot 주변기기 정보

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 Autopilot에서 MAVLink 통신 사용

Connecting to NSH Terminal for Debugging
Connect to the NSH terminal of Generic Board controller for debugging.

추가 정보

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.

문제 해결

Troubleshooting Deploy to Hardware Issues

Solve the problems when you try to deploy the Simulink model to Generic Board flight controllers.

Resolve Firmware Build Failure Due to Flash Memory Overflow

Troubleshoot flash memory overflow errors when building PX4 firmware with the default 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.

Set COM Port for Upload and Communication in Simulink

Troubleshoot COM port detection failures and manually configure ports for firmware upload and host-target communication on Pixhawk boards in Simulink.