Precision Landing on Pixhawk 6C with PX4 firmware

Yeshes · March 12, 2025, 3:06pm

Hello!

Currently I am attempting to precise land using IR beacon on a Pixhawk 6C Flight Controller with PX4 Firmware. According to PX4 Guide, it says to enable SENS_EN_IRLOCK, but i am unable to find this parameter on Pixhawk 6C(with PX4) where as Cube Orange(with PX4) has this parameter.

Let me know if you have a solution for this. Thankyou in advance.

Regards,
Yeshes

JulianOes · March 13, 2025, 6:33pm

You will have to build the firmware yourself to include the functionality.

For v1.15, you can see it’s enabled for Orange:

github.com/PX4/PX4-Autopilot

1.15/boards/cubepilot/cubeorange/default.px4board

release


      
          CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
          CONFIG_COMMON_DISTANCE_SENSOR=y
          CONFIG_DRIVERS_DSHOT=y
          CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
          CONFIG_DRIVERS_GPS=y
          CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
          CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
          CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
          CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
          CONFIG_COMMON_INS=y
          CONFIG_DRIVERS_IRLOCK=y
          CONFIG_COMMON_LIGHT=y
          CONFIG_COMMON_MAGNETOMETER=y
          CONFIG_COMMON_OPTICAL_FLOW=y
          CONFIG_DRIVERS_PCA9685_PWM_OUT=y
          CONFIG_DRIVERS_POWER_MONITOR_INA226=y
          CONFIG_DRIVERS_PWM_INPUT=y
          CONFIG_DRIVERS_PWM_OUT=y
          CONFIG_DRIVERS_PX4IO=y
          CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
          CONFIG_COMMON_TELEMETRY=y

But not for 6C:

github.com/PX4/PX4-Autopilot

1.15/boards/px4/fmu-v6c/default.px4board

release

CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_BOSCH_BMI055=y

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Yeshes · March 17, 2025, 4:57am

Hello JulianOes, thankyou so much for valuable input.

Since I am new to this, can you help in how the firmware can be built for IRLOCK on Pixhawk 6C? Any suggestions/reference videos would be really helpful.

Regards,
Yeshes P

JulianOes · March 17, 2025, 5:57pm

You need to add the line with CONFIG_DRIVERS_IRLOCK=y to the fmu-v6c file referenced above and then build the firmware.

Regarding building, check the PX4 docs.