as2_platform_pixhawk

Aerostack2 Aerial platform for the PX4 autopilot

For a complete installation guide follow PX4 instructions

Multiple PX4 Operation modes:

PX4 Msgs:

Availables:

• /fmu/in/obstacle_distance
• /fmu/in/offboard_control_mode
• /fmu/in/onboard_computer_status
• /fmu/in/sensor_optical_flow
• /fmu/in/telemetry_status
• /fmu/in/trajectory_setpoint
• /fmu/in/vehicle_attitude_setpoint
• /fmu/in/vehicle_command
• /fmu/in/vehicle_mocap_odometry
• /fmu/in/vehicle_rates_setpoint
• /fmu/in/vehicle_trajectory_bezier
• /fmu/in/vehicle_trajectory_waypoint
• /fmu/in/vehicle_visual_odometry
• /fmu/out/failsafe_flags
• /fmu/out/sensor_combined
• /fmu/out/timesync_status
• /fmu/out/vehicle_attitude
• /fmu/out/vehicle_control_mode
• /fmu/out/vehicle_global_position
• /fmu/out/vehicle_gps_position
• /fmu/out/vehicle_local_position
• /fmu/out/vehicle_odometry
• /fmu/out/vehicle_status

Used:

• IMU: /fmu/out/sensor_combined

• Set Control Mode: /fmu/out/vehicle_control_mode

• Get GPS: /fmu/out/vehicle_gps_position

• Get position: /fmu/out/vehicle_odometry

• Set control Mode: /fmu/in/offboard_control_mode

• Set trajectory reference: /fmu/in/trajectory_setpoint

• Set attitude reference: /fmu/in/vehicle_attitude_setpoint

• Set rate reference: /fmu/in/vehicle_rates_setpoint

• Send vehicle command for arm: /fmu/in/vehicle_command

• Send vehicle visual odometry: /fmu/in/vehicle_visual_odometry

Not Availables:

• Get battery status: "/fmu/out/battery_status"
• Kill switch: fmu/in/manual_control_switches

Not Used:

• /fmu/in/obstacle_distance
• /fmu/in/onboard_computer_status
• /fmu/in/sensor_optical_flow
• /fmu/in/telemetry_status
• /fmu/in/vehicle_mocap_odometry
• /fmu/in/vehicle_trajectory_bezier
• /fmu/in/vehicle_trajectory_waypoint
• /fmu/out/failsafe_flags
• /fmu/out/timesync_status
• /fmu/out/vehicle_attitude
• /fmu/out/vehicle_control_mode
• /fmu/out/vehicle_global_position
• /fmu/out/vehicle_local_position
• /fmu/out/vehicle_status