Deployment of Simulink designed controller to Pixhawk Cube Orange for a generic qadrotor UAV

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Tanay 2022-12-19

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评论： Ankur Bose 2023-1-5

Hello!

I wanted to implement my designed controller in PX4 so to understand the process, I was trying to implement this example provided by MATLAB. I was able to perform HITL simulations and was trying to implement the controller on an actual quadrotor. For that I followed a similar procedure and disabled 'Enable HITL Mode' in the Model Configuration paramters.

The controller model used in this MATLAB example reads the waypoints from QGround Control mission as shown in the figures. So I wanted to know if the simulink controller is used only in mission mode and not any other modes like manual or stabilised mode? Does pixhawk use the default PX4 control algorithm in Manual mode?

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Answer 1

Manoj Velmurugan 2022-12-20

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编辑：Manoj Velmurugan 2022-12-20

When you run the hardware setup screens from MATLAB, the inbuilt controllers get removed from the build process (by default). They no longer run in PX4.

Simulink controller runs irrespective of the selected mode from QGC.

For stabilize functionality, you can try deleting the high level navigation control loops in that model. Use Radio Control Transmitter block to get the RC inputs and set the roll, pitch, yaw setpoints.

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Tanay 2022-12-20

I understand that only the position, attitute and rate control loops are disabled in the PX4 stack. But I still could not understand that if the default controllers are disabled and replaced by simulink controllers then why is the UAV's responce still the same. If I'm flying in manual mode tusing a transmitter then QGC is not publishing any active waypoints.

Ankur Bose 2023-1-5

We have validated the Simulink controller model in this example only for mission mode. That being said, the controller should work in manual mode as well. Can you elaborate on the changes you did on the Simulink model for manual mode and what is the behavior you see? What do you mean when you say QGC is not publishing any active waypoints? How are you seeing that?

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