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PX4 Source Code for Phoenix Tail-sitter
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Documentation Rename mainapp to px4. Jul 29, 2016
Images Changes to px4fmu-v3 for upstream Nuttx Dec 21, 2016
NuttX @ 44ad7e2 Submodules synced with upstream Jan 12, 2017
ROMFS tailsitter mixer info add rads_max Jul 5, 2017
SDCARD parameter binary file backup Sep 3, 2018
cmake ts_path_planner bug fixes Jan 26, 2018
integrationtests DroneKit IT: use new QGC json format Dec 28, 2016
misc/tones Allow tone_alarm cmd to take filename as parameter Aug 31, 2013
msg Ground truth acceleration, new gain for roll Dec 26, 2017
nuttx-patches Changes to RCC HSI and FLASH driver Jan 12, 2017
test_data Add additional DSM test data Oct 19, 2016
unittests Rearrange parameter unit tests so they are in alphabetical order. Jan 6, 2017
.clang-tidy clang-tidy config file .clang-tidy (#6277) Jan 9, 2017
.gitignore so symbolic link is treated as a file so no / at the end when define … Jul 19, 2017
.gitmodules update url for submodule due to name change Mar 14, 2019
.travis.yml Added youcompleteme config. Mar 22, 2014
CMakeLists.txt use CmakeLists scope to generate te XML file Jan 4, 2017 correct link to developer guide Jan 11, 2016
CTestConfig.cmake gather test results Jan 2, 2017
Firmware.sublime-project bring year up-to-date Jun 12, 2015
Makefile change name in README Mar 14, 2019

Phoeix Drone PX4 Pro Drone Autopilot

This repository is built upon the original PX4 autopilot firmware repository: It holds the flight control solution for the Phoeix Drone, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

If you use this software in academic work, please cite PX4 and our paper as per the README in the top level repository.

To compile the Phoeix Drone flight code for hardware (PixRacer), execute

make nuttx_px4fmu-v4_tailsitter

To upload the firmware onto the hardware, execute

make nuttx_px4fmu-v4_tailsitter upload

To run SITL (Software-in-the-Loop) simulation, execute the following after all the necessary prerequisites has been installed:

make posix_sitl_tailsitter gazebo_STARS_TS

Our main contributions are:

  • src/modules/mc_att_control: Simplified position controller for Phoeix Drone position control
  • src/modules/tc_att_control: A custom attitude controller for the Phoeix Drone with the control strategy outlined in our paper
  • drivers/tsfmu: A custom daemon inferring motor rotation speed from ESC sync pulses and regulating PWM signals delivered to ESC to enhance tracking of motor speed

Flight Hardware

We tested the software on a PixRacer (PX4FMUV4) flight computer. However, since the entire Pixhawk family uses the same ARM architecture, the flight code should be compatiable with all flight hardware supported by PX4. Our custom motor driver tsfmu needs to be modified such that the motor pulse signal PIN matches the specific hardware design and attention should also be paid to ensure there is no conflict between timer resources when porting to other platforms.

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