Using Raspberry Pi as Companion Computer running H-infinity Controller

PX4 Autopilot
1

Hi,
I want to use Raspberry Pi 4B as a companion computer with Pixhawk 4 which will read sensor data from Pixhawk, run the h-infinity controller and send the computed actuator values to Pixhawk.
Is it possible to do this? I have no prior experience using a companion computer. I have read that there are different ways to communicate like using Dronekit, MAVROS, MAVProxy, etc. What is the frequency at which they communicate? Also, which would be the best way to communicate and where can I find more details about them.

I will really appreciate any help.
Thanks.

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Hi,
The mains ones are MAVROS and Dronekit both really nice, if you already know some ROS, MAVROS is the default choice, if is your first time dronekit would be faster to take in hand,

You can find a tutorial of Dronekit here https://auterion.com/getting-started-with-mavsdk-python/ and several examples in github https://github.com/mavlink/MAVSDK-Python/tree/master/examples

For MAVROS you can find a working example in the documentation https://dev.px4.io/v1.9.0/en/ros/mavros_offboard.html

For both you need to setup your system as mentioned here https://dev.px4.io/v1.9.0/en/companion_computer/pixhawk_companion.html

Is really nice that you are using Hardy-Space, is being long time I din’t see anything new in that nowadays is all ml with dnn.

Good luck and hope to see your results

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Thank You! I will look into both options.

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@Pedro_Fillastre you are bringing up DroneKit and linking MAVSDK. That’s not the same thing, Dronekit was developed to work with ArduPilot. MAVSDK has been developed mostly to be compatible with PX4 (for now).

@srvsinha I suggest to check out MAVSDK if you’re not planning on using ROS and try MAVROS if you’re going to use the ROS ecosystem.

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@JulianOes Thank You! For now, I am going ahead with MAVROS as it is well established and a proven technique.

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@JulianOes my bad, I was thinking MAVSDK and I write Dronekit, sorry for the confusion

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@Pedro_Fillastre it happens ¯_(ツ)_/¯

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