Modeling

Prepare model for hardware connection, add blocks to support PX4 Autopilots

Blocks

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`
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 Master Write	Write data to I2C slave device or I2C slave device register
I2C Master Read	Read data from I2C slave device or I2C slave device register
GPS	Read vehicle_gps_position uORB topic and obtain GPS coordinates

Functions

`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

Topics

Model Configuration Parameters for PX4 Flight Controller
Parameter and configuration options for creating and running applications on PX4^® flight controller
Index Numbers for Analog Channels on Pixhawk Series Controller Boards
Identify the index numbers for signals from analog channels
Port Numbers for 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

Featured Examples

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.

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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.

Open Example

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.

Open Example

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.

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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.

Open Example

Read PX4 System Parameters Using PX4 Autopilots Support Package

Read the PX4 system parameters using UAV Toolbox Support Package for PX4 Autopilots.

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Code Verification and Validation with Processor-in-the-Loop (PIL) Simulation

Use UAV Toolbox Support Package for PX4 Autopilots for code verification and validation with Processor-in-the-Loop (PIL).

Attitude Control for X-Configuration Quadcopter Using External Input

Use the UAV Toolbox Support Package for PX4 Autopilots to design an attitude controller for an X-configuration quadcopter that uses input from a joystick or radio control transmitter. In this example, you also verify the controller design using PX4 Host Target and jMAVSim simulator.

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Position Tracking for X-Configuration Quadcopter

Use the UAV Toolbox Support Package for PX4 Autopilots to design a position controller for an X-configuration quadcopter. In this example, you also verify the controller design using the PX4 Host Target and jMAVSim simulator.

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Position Tracking for X-Configuration Quadcopter Using Rate Controller

Use the UAV Toolbox Support Package for PX4 Autopilots to design a position controller using rate control for an X-configuration quadcopter. In this example, you also verify the controller design using the PX4 Host Target and jMAVSim simulator.

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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.

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MAT-file Logging on SD Card for PX4 Autopilots

Effeciently log signals in the MAT-file format from a Simulink® model running on a Pixhawk hardware, and retrive the log files from the SD card for further analysis.

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Connecting to NSH Terminal for Debugging

This topic shows you how to use the NSH terminal for the debugging of Pixhawk Series controllers.

Getting Started with Connected I/O for PX4 Host Target

Enable and use Connected I/O simulation to read data from PX4 Host Target during normal mode simulation.

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Getting Started with Connected I/O for PX4 Autopilot

Enable and use Connected I/O simulation to read data from PX4 Autopilot during normal mode simulation.

Monitor and Tune PX4 Host Target Flight Controller with Simulink-Based Plant Model

Use the UAV Toolbox Support Package for PX4 Autopilots to verify the controller design using PX4 Host Target versus the simulator designed in Simulink®.

PX4 in Hardware-in-the-Loop (HITL) Simulation with jMAVSim Simulator

Use the UAV Toolbox Support Package for PX4 Autopilots to verify the controller design by deploying on the Pixhawk hardware board, in HITL mode against the jMAVSim simulator.

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Code Execution Profiling on PX4 Target in XCP External Mode

Use the UAV Toolbox Support Package for PX4 Autopilots to profile the real-time execution of the generated code running as an executable on a PX4 target hardware with XCP on Serial Interface.

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PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with UAV Dynamics in Simulink

Use the UAV Toolbox Support Package for PX4 Autopilots to verify the controller design by deploying on the Pixhawk hardware board, in HITL mode with UAV Dynamics contained in Simulink.

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Scenario Simulation and Flight Visualization with PX4 Hardware-in-the-Loop (HITL) and UAV Dynamics in Simulink

Demonstrates 3D scenario Simulation and Flight visualization with PX4 Hardware-in-the-Loop (HITL) and UAV Dynamics contained in Simulink. Unreal Engine® simulation environment is used for the 3D scenario Simulation and visualization. For more information, see Unreal Engine Simulation for Unmanned Aerial Vehicles.

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PX4 Autopilot and NVIDIA Jetson in Hardware-in-the-Loop (HITL) Simulation with UAV Dynamics Modeled in Simulink

Use the UAV Toolbox Support Package for PX4 Autopilots to verify an autonomous algorithm deployed on NVIDIA Jetson as Onboard Computer along with Pixhawk hardware board, in HITL mode with UAV Dynamics contained in Simulink.

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