I am new here and will be working in the upcommig month on pixhawk4 architecture for my engineering internship.
Quick presentation: My name is Theophile and I am french currently doing my internship in gernany at HTWG konstanz.
I got in touch with the firmware and wanted to know if there are any chance to get hands on more detailed documentations (hardware and software) than the one already in the firmware folder.
For exemple the pdf https://github.com/PX4/Firmware/blob/master/Documentation/px4_block_diagram.pdf clearly show a three way MCU based architecture CPU, DSP, MCU . But is there more detailed doc which explained yhich task/thread is running on the cpu 1,2 or 3 and on the low level drivers that directly interact with the sensors(gyro,accelero,…) or motors controllers like pwm (apparantly managed by rtos nuttx kernel).
The goal of my internship is to make a lighter version of the firmware that will only contained relialable low-level drivers that could get accurate and high resolution sensors value that are not subject to drift and could send value to actuators in order to implement state of the art controllers. After that interface the quad with bluetooth link to MATLAB RT in order to implement control algoritme directly from matlab/simulink for an eductational purpose.
I’m currently trying to play with what as been done orb publish/subsribe method etc…
What do you recommend me to start with and where can I found more documentation also about the cmake file architecture wich is quite complexe as there is three differente bin to make ?!
thank you for your help