Selecting PX4 Autopilot Application
This section explains the step—
Select Application in
Simulink—of the Hardware Setup process (using the Hardware Setup
The UAV Toolbox Support Package for PX4® Autopilots provides the option to create either path follower (navigator) or flight controller algorithm in Simulink®. The configuration settings required for each of these are different, and the Hardware Setup process can be used to pre-configure the PX4 firmware and the startup sequence for the required algorithm.
In the Select Application in Simulink screen of the Hardware Setup process, select the required option for the PX4 Autopilot algorithm that you are going to design using the support package:
Design Flight Controller Algorithm in Simulink — Select this option to design a flight controller algorithm in Simulink. This selection results in an additional step (
Select System Startup Script in PX4) as you proceed further with the Hardware Setup screens. In that step, you will get the option to select the preference for the startup script for the Autopilot. If you select the PX4 default startup script
rCSas the startup script for the Autopilot, to avoid any interference with the default PX4 multi-copter controller modules. Then
mc_att_controlmodules are disabled in the
Design Path Follower Algorithm in Simulink — Select this option to design a path follower algorithm in Simulink. This option can be used in general to design any algorithms in Simulink apart from controllers or in scenarios where user would like to keep the default PX4 controllers enabled and available during Autopilot boot-up. This selection results in an additional step (
Select Airframe for QGround Control) as you proceed further with the Hardware Setup screens. The default PX4 startup script,
rCS, will be used for starting the modules. All the default modules existing in the
rCSincluding the multi-copter controller modules are kept enabled and no modules are disabled with this selection.