UAV Toolbox Support Package Alternative?

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Tristan 2023-6-5

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https://ww2.mathworks.cn/matlabcentral/answers/1978689-uav-toolbox-support-package-alternative

回答： Arun Mathamkode 2024-4-3

So as shown in the documentation, this package only supports PX4 1.12.3. If I want to use PX4 1.14, would I be able to still just use the embedded coder for the controller and not actually use the package?

Basically, the bottom line is that I have a controller designed in MATLAB. We want to put this controller onto a multirotor device, but using PX4 1.14. I am wondering if there is a way to get this code onto the flight controller using the embedded coder, since using the full package doesn't sound feasible.

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Diwakar Diwakar 2023-6-5

Either you can manually generate code from your MATLAB controller using the Embedded Coder or another option is to communicate with the PX4 flight controller using the MAVLink protocol. MATLAB has support for MAVLink communication through the mavlinkio interface. You can establish a MAVLink connection between MATLAB and the PX4 flight controller running the desired version of the PX4 firmware (1.14 in your case). You can then send control commands from MATLAB to the flight controller and receive telemetry data for closed-loop control.

Tristan 2023-6-6

Is that able to communicate fast enough/avoid latency being too high that avoids any undesired behavior? For example, what if the trajectory has a really sharp turn, will the communication delays be too high such that the control action is for a position that is too far off?

Potentially we could also have MATLAB running onboard on the companion computer, but I don't know how realistic that is?

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