#MControl

PX4/NuttX application to activate offboard control mode and control the drone internaly.

Recent mods

• Added pthreads

• Reduce memory consumption

• Changed architecture to daemon application

• Added higher level commands

• Added initial position acquisation

• Added get_local_position function

• Give back control to auto mode on sequence completion

• Tested on the real drone (needs real flight testing)

Capabilities

• Ability to read from and write to drivers and other applications through uORB interprocesses
  communication layer
• Fully multithreaded
• MAVLink protocol independent
• Works internally on the pixhawk without any use of external calculator
• High level functions

Requirements

• summon-arm-toolchain or PX4 toolchain
• PX4 Firmware
• Simulation Dependencies

Setup

To setup all the requirements, follow this guide.

First download the PX4 firmware :

git clone https://github.com/PX4/Firmware.git
cd Firmware;
git submodule update --init --recursive

Place the content of this git in Firmware/src/examples/mcontrol

Then add this line to Firmware/cmake/configs/nuttx_px4fmu-v2_default.cmake

examples/mcontrol

Go to main repo (Firmware) then :

make -j4 px4fmu-v2_default

The application should compile with the firmware. Once you have the Nsh access, arm and wait for GPS then takeoff :

commander arm
commander takeoff

You can now activate the mode by :

mcontrol

The drone should take position in theory, needs real flight testing.

You can mod the MControl::start() function to change the required setpoints.

Note : This program can be added to simulation, but it won't work (will cause
the application to crash)

TODO

• Add automatic arm/disarm
• Add pthread join in thread_layer destructor to liberate memory
• Add daemon control features (start, stop, status..)
• Eliminate possible memory corruptions

Notes

• Disabling the -Werror=double-promotion flag in cmake/common/px4_base.cmake file might be necessary for now