PWM output block in PX4 toolbox for Simulink, how does it work?

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Salvatore Matteo Mennea
评论： Salvatore Matteo Mennea 2023-5-12
What are the inputs in the PWM PX4 blocks? Are they rotors' velocities?Or something else? How does this block work? I have to perform the model validation (jmavsim simulator, newton and lagrangian mathematical models and a simscape model) of the iris drone using PX4 firmware, I want to performe a simulation in openloop(so without any controller) and store the states(position, velocities and accelaration) and then compare the four models.
The problem is, what are the inputs I have to give to the PX4 in order to get these state variables?Rotor velocities or something else?
Another question in a PX4 simulink demo ( https://it.mathworks.com/help/supportpkg/px4/ref/attitude-control-px4-external-input.html )in the "To actuator block" there a matrix moltiplication between the taus(tau_thrust,tau_pitch,tau_roll,tau_yaw) and a Mixer Matrix, but what is this mixer matrix? And what's moltiplication meaning? Is the result the square value of the rotors' velocities that are sent to the PX4 PWM block?

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Walter Roberson
Walter Roberson 2023-5-12
According to
https://www.mathworks.com/help/supportpkg/px4/ref/attitude-control-px4-external-input.html
  • The PX4 PWM Output block takes the individual rotational speed values and sends it to a particular actuator. Along with rotational speeds, the block also has input fields for Arm and Failsafe.
  • The PX4 PWM Output block expects values of uint16 datatype for rotational speeds, and each input can take a value between 1000 to 2000. A Gain block with Gain set to 1000 facilitates these requirements related to a compatible data type and scaling.
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Salvatore Matteo Mennea
Salvatore Matteo Mennea 2023-5-12
Yes, I know, I've already read it. The input of this block are the Ton time where 900 ms is drone disarmed and then it ranges from 1000 to 2000. The problem is: How can I do to give to this block as inputs the rotor velocities? How can I map the PWM channels Ton values(1000-2000 ms) to rotor velocities?

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