PX4 Example

Table of Contents

• 1. Setup PX4
  • 1.1. Install QGroundControl
  • 1.2. Install the PX4 Firmware
• 2. Connect PX4 with UART
• 3. Update SLAMBOX Setting

1. Setup PX4

1.1. Install QGroundControl

• Install QGroundControl from the link

1.2. Install the PX4 Firmware

• NOTE: Should use specific version of PX4(1.12.3)
• Install the firmware file from the link above which matches with your flight controller
• Open QGroundControl, click the Q Logo, Vehicle Settings
• Click Firmware and upload the downloaded firmware

Select Firmware

• Setup the flight controller parameters

  EKF2_AID_MASK parameter to 24

  EKF2_HGT_MODE parameter to Vision

  CP_DIST parameter to -1

  COM_OBS_AVOID paramter to 0

Set AID MASK Parameter

Set Height Mode Parameter

2. Connect PX4 with UART

• To connect PX4 and companion board with uart, use usb-to-tts and connect it to TEL1 on px4 board

Connect Companion Board with PixHawk

• Then set the port with QGroundContol

Set Communication Port

• Setting baud rate as same as the SLAMBOX configuration
• Check the SLAMBOX setting
• NOTE: the SLAMBOX's baud rate and PX4's baud rate should be SAME

Set Baud Rate

3. Update SLAMBOX Setting

• Update SLAMBOX Mavlink setting with command below
• Check the details here

# Enable Mavlink
$MAVLINK_ENABLE 1#
 
# Change baudrate
$MAVLINK_BAUD 921600#
 
# Set Mavlink type to px4
$MAVLINK_TYPE 0#