My name is Jeremy, I’m a doctoral student in control field. I developed an algorithm in Matlab Simulink and I would like to implement it in the ready to fly drone described in the link below : https://docs.px4.io/en/flight_controller/intel_aero.html
The point is that I’m not familiar with coding into PX4 controllers and I hesitate between two directions. Maybe you can help me to choose the most appropriate one : The first one proposed by Mathworks presented in the link below propose to install an environment in Matlab able to build directly from Simulink to the PX4 target.
It’s a pretty attractive solution because it seems like “magical”. But there is also a lack of control on how things are performed and I’m not sure it’s done properly. Do you have any experience with this tool ? Does it work well ?
The second one would be to code directly in C++ the code download from github (https://github.com/PX4/Firmware) and then upload it into the ready to fly drone. But as I said I’m not familiar in coding and I’m a little bit afraid to go in this direction because it could take many many times I think. But anyway, if it’s valuable because it’s a safe way to make a clean job I could go in that direction. In this case would you have a good tutorial that explain specifically how to modify and implement a controller into a flight controller ? For instance if I want to change the PID for a LQR controller, how can I do that?
I’m not natural in English but if there is any need of clarifications don’t hesitate to ask me,
Thank you for answering,
Hi Jérémy i am a doctoral student in control field like you
and i want to develop an algorithm and a new controler for a quad home made
it’s seems that the solution of mathworks is good to try becuse coding with C will take you many time than the time that you spent on developing
Hi @ismatitou, thank you for your feedback. Indeed, we will try the mathworks solutions which is probably much faster.
Did you finally end up using this method? I’m trying to do the same. Did you find any useful resources (ex. tutorials)?
The most usfull informations I found are here :
It explains how to install PSP to implement your algorithm from matlab into PX4 firmware.
Unfortunalty on my side I wasn’t able to install PSP on my computer. I have some error message I’m not able to debug it…
May be you will be more lucky than me if you try
When you say that you found the explanation/information from that link, do you mean that the User Guide is included as part of the PSP installation package?
I tried to download the PSP and it gave me a file for Matlab and steps on installation. I was more interested in the User Guide so that I can follow it and learn how to actually implement it.
Sorry for the late response by the way.
Im engineering student I try to implemant an adaptative PID in the Pixhawk using Simulink.
Im using " [PX4 Autopilots Support from Embedded Coder" I secceed to read sensors and to implemant a simple PID but I’ve always problem.
one or two rotor stop while incrresing thrust.
have u eny progress in your project which can help us ?
thank u in advance.
I am also an engineering student trying to implement a Robust Controller. Could you please tell me if the px4 support was of any use? Any kind of resource related to the same would be really helpful.
Also, I noticed that examples in Simulink are mostly for a quadrotor. Any idea how to proceed if I want to do the same for any other configuration say a fixed wing for example?