I am working on my thesis about Pixhawk controller in Ubuntu. I installed PX4 toolchain and QtCreater and I am trying to reach the control program in Pixhawk for improvement. I calibrated all sensors and radio but couldn’t find the mean program doing all the system controller.
I can see programs in QtCreator coming from PX4 toolchain in src file but I’m not sure that programs which I’m searching for.
Can somebody help me with this? I must finish the school this term.
Here’s a brief overview of the architecture - http://dev.px4.io/concept-architecture.html
What specifically are you looking for?
multicopter attitude controller - https://github.com/PX4/Firmware/tree/master/src/modules/mc_att_control
multicopter position controller - https://github.com/PX4/Firmware/tree/master/src/modules/mc_pos_control
state machine - https://github.com/PX4/Firmware/tree/master/src/modules/commander
mission handling - https://github.com/PX4/Firmware/tree/master/src/modules/navigator
We’re happy to help point you in the right direction if you provide more detail.
I can see this codes in QtCreator. If i change the codes and upload the system, can i change the firmware in pixhawk?
Yes you definitely can!
If you make a account on github.com, you can create a forked repository. That makes a separate copy of the firmware that you can modify.