PX4 connections
- Remote Control connection vehicle based receiver
- Data/Telemetry connection between px4 and QGroundControl by Data Radio, Wifi or USB radio
Radio Modems (https://pixhawk.org/peripherals/radio-modems/start\
- off-board connection between px4 and external microcomputer
Offboardd Flight Mode
the vehicle obeys a position, velocity or attitude setpoint provided over MAVLink. The setpoint can be provided by APIs like MAVROS.
- the vehicle must be armed before this mode can be engaged.
- must be already be receiving a stream of target setpoints before this mode can be engaged
- will exit the mode if target setpoints are not received at a rate of > 2Hz
- in order to hold position while in this mode, the vehicle must receve a stream of setpoints for the current position.
related links
- [offboard manual on PX4 user guide] (https://docs.px4.io/en/flight_modes/offboard.html)
- [offboard control from Linux] (https://dev.px4.io/en/ros/offboard_control.html)
- [MAVROS Offboard control example] (https://dev.px4.io/en/ros/mavros_offboard.html)
PX4 Developer Guide
- link (https://dev.px4.io/en/\)
PIXFALCON
binding for transmitter & receiver
switch off the transmitter
start the pixhawk so the receiver starts. (LED blinks)
flip down the left top button on the transmitter, while switch on the transmitter,
the transmitter is gonna search for radio signals to bind.
- specktrum dx 60i/e
- qground control - radio, bind specktrum
flight mode setting
the first should be stabilize
the other one can be anything else (offboard)
requires Mavros, Mavlink package
sudo apt-get install ros-kinetic-mavlink
sudo apt-get install ros-kinetic-mavros
for specific version, see Common Error section.
version
- Firmware: still need to investigate
- need to be able to use mocap system
- rover mode should work fine: actuator control, pwm output
- mavros, mavlink on Odroid: newest as of Aug, 12, 2018
- Manual mode only (parameter files are on laptop)
mixer file
- throttle need to scale down for cars
- set MIXER filename (don't use main.mix or aux.mix extension here), other wise beeps upon starting pixhawk in earlier version