Pixhawk 4
Introduction
PX4 is an autopilot, which information can be found here.
Installation
See our PX4 installation guide for more details.
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 Pixhawk platform provides a launch file, which parameters are:
Parameter |
Type |
Description |
---|---|---|
namespace |
string |
Namespace of the platform, also named as drone id. |
config |
string |
Optional. File yaml path with the config file that set:
command frequency in Hz (cmd_freq), info frequency in Hz (info_freq),
mass in Kg (mass), maximum thrust in N (max_thrust), minimum thrust in N (min_thrust) and
file path with the control modes configuration (control_modes_file). Default the file in the package.
|
external_odom |
bool |
Optional. Use external odometry source. Default false. |
use_sim_time |
bool |
Optional. Syncronize simulation time with node time. Default false. |
Example of launch command:
ros2 launch as2_platform_pixhawk pixhawk_launch.py namespace:=drone1