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 Modes Pixhawk Platform

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:

Sensors Pixhawk Platform

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:

Pixhawk Platform Parameters

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