Hi everyone, I am trying to simulate Px4 controller, however I wanna change the drone dynamics. Is there any straightforward tool I can work with? The Matlab UAV toolbox's attitude controller is not the same as the quaternion based one we have in PX4. I am working to simply implement it in Matlab, however after around 3 weeks I was not successful. I have some issues in mimicing the px4 controller. I would appreciate it if anyone can help me. I need this tool to verify my experiments and I have to do it ASAP since I have a qualifying exam in the following month.
Dear Shirin Dolatabadi,
Px4 pro is one of the leading flight control platforms, also it is complete autopilot solution.
Here is link:
http://dronecode.diyrobocars.com/technology/#:~:text=Gazebo%20is%20a%20PX4-compatible%20open%20source%20advanced%20robotics,the%20capability%20to%20replicate%20cameras%20and%20laser%20sensors
Also take a look at links.
https://nxp.gitbook.io/hovergames/developerguide/simulation
https://px4.io/
https://www.simnet.aero/
https://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html
Best regards
I recommend that you use Simulink. First, start by mimicking the PX4 attitude dynamics and the feedback control that the PX4 uses. Then, you can proceed in the same manner by completing the loop with the position control. Once you understand the dynamics and control well, you can propose other modeling and control approaches such as SO(3), quaternions, etc. For that, you must study the code, and you need time since, in the beginning, it is not an easy task.
you can work with the ROS, Which helps you to work in a real-time platform and easy to understand the SITL integration.
Hi,
You can find out about other alternatives such as the following tools:
- Simulated Workflows using Software-In-The-Loop Simulations
- Ignition Gazebo for PX4 Software-In-The-Loop Simulations, also Ignition gazebo is a opensource robotics simulator, which provides high fidelity physics, rendering and various sensor models as part of the Ignition Robotics project. Ignition Gazebo is derived from the popular Gazebo simulator, which has been one of the most popular simulators in robotics for the academia and the industry. Since ignition gazebo provides interfaces for advanced rendering capabilities and sensors, testing simulated vehicles in ignition gazebo provides a flexible environment for testing advanced capabilities of the vehicle. In this talk, we discuss the new integration of the PX4 simulation environment into Ignition Gazebo and explain how ignition gazebo can help develop robust autonomous vehicles.
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