Table of Contents
PX4 is an autopilot, which information can be found here.
See our PX4 installation guide <aerial_platform_px4_installation_guide> for more details.
installation.rst
For more details about platform control modes and sensors, see Aerostack2 Aerial Platform Concepts <as2_concepts_aerial_platform>.
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 |
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 |
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