as2_platform_pixhawk
Package to communicate PX4 based drones with Aerostack2 framework
README
as2_platform_pixhawk
Aerostack2 Aerial platform for the PX4 autopilot
For a complete installation guide follow PX4 instructions
Multiple PX4 Operation modes:
PX4 Msgs:
Availables:
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/sensor_combined
/fmu/out/timesync_status
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_global_position
/fmu/out/vehicle_gps_position
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
Used:
IMU: /fmu/out/sensor_combined
Set Control Mode: /fmu/out/vehicle_control_mode
Get GPS: /fmu/out/vehicle_gps_position
Get position: /fmu/out/vehicle_odometry
Set control Mode: /fmu/in/offboard_control_mode
Set trajectory reference: /fmu/in/trajectory_setpoint
Set attitude reference: /fmu/in/vehicle_attitude_setpoint
Set rate reference: /fmu/in/vehicle_rates_setpoint
Send vehicle command for arm: /fmu/in/vehicle_command
Send vehicle visual odometry: /fmu/in/vehicle_visual_odometry
Not Availables:
Get battery status: “/fmu/out/battery_status”
Kill switch: fmu/in/manual_control_switches
Not Used:
/fmu/in/obstacle_distance
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/out/failsafe_flags
/fmu/out/timesync_status
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_global_position
/fmu/out/vehicle_local_position
/fmu/out/vehicle_status