PX4 Device Driver

PX4 Hardware
PX4 Software
APM

PX4 Hardware 이해

https://pixhawk.org

px4fmu v2.4.5 (회로)

Device 만들때 고려점

interface port (uart, i2c, adc, can)
전류/전압

Software

PX4 코드 이해 (속성!)

툴체인 설치(개발환경 구축)
디렉토리 구성 tree -d -L 2
부팅 과정: px4-부팅-분석.md
시작 스크립트 Firmware/ROMFS/px4fmu_common/init.d
아키텍쳐

PX4 폴더 구성

기존의 driver (i2c/uart/adc)

tree -d -L 2
tree src -d -L 2

PX4 수정하기

Simple App

px4-simple-app.md

PX4 Drivers

https://github.com/PX4/Firmware/tree/master/src/drivers

https://github.com/PX4/Firmware/tree/master/src/drivers/mb12xx

https://github.com/PX4/Firmware/blob/master/src/drivers/mb12xx/mb12xx.cpp#L583

        orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);

부록 APM

APM_HAL

AP_HAL in ArduPilot

– creates hardware abstraction layer – allows porting to many OSes and CPU architectures – each HAL provides minimal system level glue

Current ports

– AP_HAL_AVR (8 bit AVR2560) – AP_HAL_SITL (SITL simulator) – AP_HAL_PX4 (PX4 based autopilots) – AP_HAL_Flymaple (low cost ARM autopilot) – AP_HAL_VRBrain (ARM32 autopilot) – AP_HAL_Linux (embedded Linux port) – AP_HAL_Empty (very useful!)

https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_Empty

Device Driver

https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Airspeed