Pixhawk 4
Introduction
PX4 is an autopilot, which information can be found here.
Installation
Refer to the PX4 documentation for installation instructions using XRCE-DDS.
Aerostack2 Common Interface
For more details about platform control modes and sensors, see Aerostack2 Aerial Platform Concepts.
Control Modes
These are supported control modes:
Control Mode |
Yaw Mode |
Reference Frame |
|---|---|---|
Hover |
None |
None |
Speed |
Speed |
ENU |
Speed |
Angle |
ENU |
Attitude |
Angle |
None |
Acro |
None |
None |
Sensors
These are supported sensors:
Sensor |
Topic |
Type |
|---|---|---|
Odometry |
sensor_measurements/odom |
nav_msgs/Odometry |
IMU |
sensor_measurements/imu |
sensor_msgs/Imu |
Battery |
sensor_measurements/battery |
sensor_msgs/BatteryState |
GPS |
sensor_measurements/gps |
sensor_msgs/NavSatFix |
Platform Launch
Aerostack2 provides a launch file for this platform:
ros2 launch as2_platform_pixhawk pixhawk_launch.py
To see all the available parameters, use the ‘-s’ flag to show the description of each parameter in the launch file.