How can replace default controller parts of PX4 with custom algorithms controller?
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I want to change controller algorithms of PX4.
So I am learning 'UAV Toolbox Support Package for PX4 Autopilots'
I want replace controller parts of px4 firmware(default : 'mc_att_control' and 'mc_pos_control)' with custom controller.
Path following flight is performed simply by connecting PX4 to the drone and simply giving a mission with QGC.(Before using UAV Toolbox Support Package for PX4 Autopilots)
if I want to change only the controller of PX4 using the UAV Toolbox Support Package for PX4 Autopilots, I wonder if I can design and build only the controller. Or, I wonder if I should design all the processes (connecting to QGC, transmitting and receiving msg, etc.) from the beginning with simulink. There is no example for this, so it is difficult to proceed.
It would be very helpful if there was an example of flying a real drone by building a custom algorithm in PX4. (not simulation)
Jianxin Sun on 15 Feb 2022
You can use the support package to replace the PX4 controller only. Please refer to the "integration with general PX4 architecture" doc page for details. You will also need to enable the mavlink module if you want to enable communication with QGC.
The following examples show how to replace multirotor position controller in PX4: