How do I use Pixhawk 6x with UAV Toolbox Support Package for PX4 Autopilots?

I want to use the Pixhawk 6x board with the UAV Toolbox Support Package for PX4 Autopilots. What are the steps that I can follow to deploy the code from Simulink onto these boards?

Answer 1

[Ankur Bose]

Pixhawk 6x is officially supported in the latest version UAV Toolbox support package for PX4 Autopilots in R2023a. It is recommended to use the latest version of UAV Toolbox support package for PX4 Autopilots in R2023a to get Pixhawk 6x support.

Pixhawk 6x can be used with R2022b version of MATLAB by following the below process.

1. Follow the steps to clone the Cygwin Toolchain and PX4 Firmware as mentioned here.
2. Go to the location "Firmware\boards\px4\fmu-v6x" in your cloned PX4 Firmware.
3. For the default.cmake, disable all the controller modules that you dont need by commenting them out. For example, if you need the multicopter controllers only, you can disable the Fixed Wing and VTOL controllers modules (Fixed WIng Controller modules are named as fw_**, VTOL controllers as vtol_** and multicopter controlers as mc_**). If you are designing controller in Simulink, the code generated from Simulink will act the Controller module and you can remove all controllers from default.CMake
4. Follow the steps as mentioned here to setup the Firmware for Pixhawk 6x, generate code in Simulink and deploy on Pixhawk 6x.