How can I create a module (not a flight controller but runs in parallel with px4_simulink_app) using UAV Toolbox support package for PX4 Autopilots?

I want to create a module which runs in parallel with the flight controller's app developed through Simulink using the UAV Toolbox support package for PX4 Autopilots. I had successfully developed a flight controller using Simulink and when I click on "build, deploy and start", it creates a module named "px4_simulink_app" which runs at startup since in rcS file the module is started using the "px4_simulink_app start" command. Now I want to create another module which performs some side stuff like only gathers data from any MAVLink supported serial port from Jetson Nano which is performing some image processing on its own and sends the coordinates to Pixhawk Cube Orange plus. The cube recieves this data, do some processing and makes some decision and output the result via MAVLink to ground station. I want this module to be created via Simulink because I am ordered to not go into C/C++ coding. Also this module should run separate from the module created when using the default settings for creating flight controllers i.e px4_simulink_app. If I am wrong at any point please guide me through it. Thanks.

Answer 1

[Arun Mathamkode]

Creating multiple modules from Simulink and running them parallelly is not supported directly from Simulink as of now. The code generated from Simulink will always be run as a single px4_simulink_app module.

I have few questions with your usecase. If you are already doing some processing in Jetson why dont you do all the processing at Jetson itself and directly send the data to QGC instead of looping through the Cube Orange plus?

There is an example showcasing how to deploy code to Jetson from Simulink and establish connectivity with PX4 autopilot. You can have a look at this example and see if its something useful for your usecase.