Hi! My name is Clive, and I am new to the community. Phil at AUAV told me about the developer forum, and here I am, with my questions!
I am using a Pixracer on an unorthodox drone. The application is similar to the a drone with constant speed props and servo-collectives. In order to make this all work, I need to add some sensors and telemetry to the pixracer.
At first, I was going to outboard all telemetry with a dedicated micro controller and wifi link. I am still considering doing that, but the timing of the telemetry from the pixracer will be better.
Basically, I want to add a 12 or 16 channel ADC , and poll it at 50~200hz. This ADC will be monitoring about 9 sensors on the vehicle.
I would love to send all this data down the Mavlink pipe.
From my understanding, I must:
- Write an i2c driver that talks to my sensors
- Write a topic about these sensors, make an object that holds the sensor data
- Publish to that
- get MAVlink to pay attention to that thread and stuff it down the pipe
VS:
-Get a teensy and a cheap wifi board
-Wire all my sensors to the ADCs on the teensy
-Manually time all the PWM outputs from the pixracer to get commanded actuator position
-Send all that down via a separate link
I know I can do the second route, but it is an ugly hack. My concern is that my programming skills have not been developed enough to fully comprehend a project as large and as complicated as the PX4 firmware stack. I am concerned that the number of hours I need to spend to master this would exceed the number of hours needed to hack the solution.
A request to the really smart people on this forum, if someone were to say, write a driver for this chip:
http://www.linear.com/product/LTC2497
and hook it up to some mavlink parms,
And drop it in the main repo, you would probably make a lot of people very very very very happy
And trick question at the end: I want to code in throttle curves. My actuators are non-linear, and have little effect on the thrust at low PWM settings. I would like to give the pixracer a remap curve to apply to the throttles so it does not expect much out of them at the low range.