PX4/MAVLink Integration

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PX4/MAVLink Integration

Post by dennis » Sat Sep 24, 2016 11:56 am

Hi all, In our lab, we have many larger drones running on the Pixhawk platform, and I thought it would be great to have a lower cost and smaller drone that we could use to test trajectories before applying them to the more expensive and dangerous drones, and to use our space more efficiently for swarming. We chose the CF2 platform due to it's hackability and comparable specs to a full flight controller.

For interoperability between the entire code base, I recently ported over the Crazyflie 2.0 drivers to the PX4 flight stack: http://dev.px4.io/hardware-crazyflie2.html.

Incase anyone was interested, I've open sourced all the work into the main PX4 repository. Currently it has full flight functionality with support for all onboard sensors and motors. The wireless driver also retains partial support for CRTP so can fly with the mobile app. But, more importantly, it supports full MAVLink over wireless via a Crazyradio PA (it is multiplexed via a reserved CRTP port).

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Re: PX4/MAVLink Integration

Post by gwiily » Mon Sep 26, 2016 3:10 am

It's a great work

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Re: PX4/MAVLink Integration

Post by whoenig » Mon Sep 26, 2016 3:12 am

Great work - thank you for sharing! Do you see any changes/improvements in terms of flight performance if your run PX4 vs. the default firmware?

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Re: PX4/MAVLink Integration

Post by tobias » Mon Sep 26, 2016 6:58 am

Great work and thanks a lot for sharing! We have had the idea of doing it for a long time but never gotten to it.

As @whoenig says it would be nice to get a quick comparison.

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Re: PX4/MAVLink Integration

Post by graboosky » Sun Mar 15, 2020 7:34 pm

Hi, great idea!

One question. Can I use Crazyradio with pixhawk? I mean one Crazyradio PA on GCD and one Crazyradio PA on drone side?

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Re: PX4/MAVLink Integration

Post by kimberly » Mon Mar 16, 2020 3:40 pm

So technically with a lot of hacking, sure you can. But I wonder if that is necessary at all to honest.... You can bridge the CRTP protocol over the existing bridge that pixhawk already has for the computer. For instance, somebody did this for PRRT to act like an crtp bridge here in our library: https://github.com/bitcraze/crazyflie-l ... n/pull/141

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