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Beagle Systems PX4 Development Quick Start Guide

We will use this guide to train new developers joining our team, and keep tracking customized features of the firmware.

Requirements

  • Support Beagle S/M/One flying with customized firmware in the near future.
  • Optimize VTOL airframe in PX4.
  • New features for Beagle One:
    • Adding Flaps + Elevator to Servo function for Beagle One.
    • Adding Flaps angle setting.
    • Landing gear turn and brake functions.
    • Adjustable Tilt servo end position.
    • Vector thrust control support.
    • Safety switch should not cover all IOs.
    • VTOL should not be limited by Q state.
    • Short take off and landing modes.
    • VTOL moving forward and backward should use tilt servo rather than normal copter.
    • New flight modes for testing airframe.
    • RTL should return as the way it goes if possible(Smart RTL).

PX4 Architecture Overview

  1. We are using Hex Cube Black(Beagle S) and Orange(Beagle M and later) as our main Flight Controller. So we can focus on only two type of controllers from board and build configuration settings.

    # for Cube Black
make px4_fmu-v3_default

# for Cube Orange
make cubepilot_cubeorange

  2. The cmake file for Cube Black is located in ./boards/px4/fmu-v3/default.cmake, the compiled bin file will also naming as px4_fmu-v3_default. All the .cpp and .c files are included in the cmake, please add customize task or sensor driver here in order to compile them into the firmware.

  3. msg folder is short for uORB manager, all the data structures(.msg) can be found in this folder. Customized data structures should also be added here if needed.

  4. NuttX is the OS of PX4, similar to uCos. Not recommended to change. OS version should match PX4 version.

  5. ROMFS contains the start up procedure and configurations(init.d).

    • rcS: First boot up script, mount SD, start uORB, config system level parameters.
    • rc.sensors: Start sensor drivers.
    • rc.mc_defaults/fw_defaults/vtol_defaults: config PWM related parameters.
    • rc.mc_apps/fw_apps/vtol_apps: Start high level applications, e.g. attitude_estimate, attitude_control, position_estimate, position_control, etc.

  6. src folder:

    • drivers: hardware drivers. 🔥 Don't modify, always make new driver if needed!
    • examples: Make sure go through this folder before adding customize codes.
    • lib: Standard useful libraries. 🔥Don't modify, always make a new one if needed!
    • modules: algorithms and high level applications. (Find the right folder for your new codes.)

  7. Makefile: shell script to call the compiler and link.