PX4 Drone Autopilot

This repository holds a customized version of the PX4 Flight Controller (v1.13.3). This is a work in progress and there may be changes.

ERL Quad States Message

A new message type was added to the firmware that has the following:

# ERL Quad States 
uint64 timestamp                  # time since system start (microseconds)
float32[3] position               # position in (FRD) body-frame  
float32[4] orientation            # orientation in quaternion [w, x, y, z]
float32[3] velocity               # velocity in (FRD) body-frame 
float32[3] angular_velocity       # angular velocity in (FRD) body-frame 
float32[4] controls               # thrust, torque x, torque y, torque z 
float32[4] controls_scaled        # thrust, torque x, torque y, torque z (after battery scaling) 

For more information, take a look at this Wiki page.

Loading Firmware

• Our custom px4 firmware can be found in ~/firmware/px4_fmu-v3_default.px4
• Follow this link to upload the new firmware

Building PX4 Software

1. Clone this repo

$ git clone git@github.com:ExistentialRobotics/erl_quadrotor_firmware.git

2. Build the firmware

$ cd erl_quadrotor_firmware
$ make px4_fmu-v6c_default

3. Connect the Pixhawk 2 (Cube Black) (FMUv3) to your computer via USB

4. Upload the firmware

make px4_fmu-v6c_default upload 

you will see the following

Erase  : [====================] 100.0%
Program: [====================] 100.0%
Verify : [====================] 100.0%
Rebooting.

[100%] Built target upload