The reason for me to put this post is that recently I have been using Pixhawk 4 controller with PX4 firmware to build something new. I am working on creating Quadruped Robot (4-Legged Robot). I think PX4 firmware as well the Pixhawk controller play a vital role. As I just need to understand the PX4 code and edit a little bit and made it ready for the quadruped robot. But I am having a trouble to understand that where should I start. The main sensor I need for that is IMU, Force sensor integration to controller and position/angle sensor integration to the controller. The problem I am facing is that i don't know where to start from for editing the code. Is there any guide or video in which it is explained that how to excess the Hardware for own purpose and how to flash our code in to perform.
I am waiting for your positive reply.