Development PX4¶

Overview¶

https://px4.io/software/getting-started/hello-sky/ubuntu/

Flight Review¶

Flight Review

Download & Install¶

download

Bash

git clone https://github.com/PX4/PX4-Autopilot.git --recursive

install

Bash

bash Tools/setup/ubuntu.sh

list

Bash

make list_config_targets

First Build (Using the jMAVSim Simulator)¶

Bash

make distclean

make px4_sitl jmavsim

Bash

pxh> commander takeoff

pxh> commander land

First Application Tutorial (Hello Sky)¶

Bash

make distclean

make px4_fmu-v5_default [upload]

output

Text Only

[0/13] Performing build step for 'px4io_firmware'
ninja: no work to do.
[1/2] uploading px4
Loaded firmware for board id: 50,0 size: 1892041 bytes (91.65%), waiting for the bootloader...

Attempting reboot on /dev/serial/by-id/usb-ArduPilot_Pixhawk4_2A003D000550304E35313320-if02 with baudrate=57600...
If the board does not respond, unplug and re-plug the USB connector.

Found board id: 50,0 bootloader version: 5 on /dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v5.x_0-if00
sn: 003d002a4e30500520333135
chip: 10016451
family: b'STM32F7[6|7]x'
revision: b'Z'
flash: 2064384 bytes
Windowed mode: False

Erase  : [====================] 100.0%
Program: [====================] 100.0%
Verify : [====================] 100.0%
Rebooting. Elapsed Time 26.817

MAVROS Offboard control example¶

MAVROS Offboard control example (C++)

Bash

rosrun px4_sim offb_node

NSH控制台¶

拔掉SD卡（脚本中提到的没有SD卡进入nsh，有SD时进入MAVLINK，因此会出现一段乱码）

Bash

./Tools/mavlink_shell.py /dev/ttyACM0

# or: PX4 Toolchain->TeraTerm (Windows)

# or
screen /dev/ttyAVM0 57600 8N1

# or 
sudo minicom

output

Text Only

Using port /dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v5.x_0-if00
Connecting to MAVLINK...

NuttShell (NSH) NuttX-10.2.0
nsh>
nsh> px4_simple_app
INFO  [px4_simple_app] Hello Sky!
INFO  [px4_simple_app] Accelerometer:    -0.0865     -0.1489     -9.8105
INFO  [px4_simple_app] Accelerometer:    -0.0839     -0.1436     -9.8115
INFO  [px4_simple_app] Accelerometer:    -0.0911     -0.1582     -9.8103
INFO  [px4_simple_app] Accelerometer:    -0.1014     -0.1553     -9.8027
INFO  [px4_simple_app] Accelerometer:    -0.0836     -0.1614     -9.8154
INFO  [px4_simple_app] exiting