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Migrating from Pixhawk Pilot Support Package to UAV Toolbox Support Package for PX4 Autopilots

Till R2018a, MathWorks provided support for the Pixhawk Pilot Support Package that has been used for developing Simulink models for the Pixhawk FMU using the PX4 toolchain. From R2018b, the official hardware support packages – Embedded Coder® Support Package for PX4® Autopilots (till R2020a) and UAV Toolbox Support Package for PX4 Autopilots (from R2020b) – are available for download.

After you download UAV Toolbox Support Package for PX4 Autopilots, you can migrate Simulink models that you developed using Pixhawk Pilot Support Package to the new support package.

Note

The UAV Toolbox Support Package for PX4 Autopilots contains blocks that are not backward compatible with the blocks of the Pixhawk Pilot Support Package. However, you can replace the blocks in older models with the newer blocks and deploy the model using UAV Toolbox Support Package for PX4 Autopilots.

Note

Before proceeding with the migration procedure, it is highly recommended that you take a backup of the existing Simulink model that you created using Pixhawk PSP.

The migration process involves the following steps:

  1. Complete the setup and configuration activities of UAV Toolbox Support Package for PX4 Autopilots using the Hardware Setup screens (see Setup and Configuration).

    The new support package supports PX4 firmware version 1.10.2 whereas the Pixhawk PSP supports PX4 firmware version 1.6.5. Therefore, you also need to clone PX4 firmware v1.10.2 by following the steps mentioned in the Hardware Setup screens.

  2. Launch Simulink and create a new model.

  3. Open the Configuration Parameters dialog box and select the hardware (go to the Hardware Implementation pane and use the Hardware board drop-down list to select the Pixhawk board that you will be using to deploy the Simulink model). The new support package provides support for Pixhawk 1, Pixhawk 2.1, Pixracer, and Pixhawk 4 flight controllers.

    If you are using a board that is not officially supported, select the PX4 Pixhawk Series option.

  4. Copy the contents of the entire Simulink model from Pixhawk PSP to the new Simulink model that you created.

  5. Replace the Simulink blocks for Pixhawk Pilot Support Package with the new Simulink blocks that are available in the new support package.

    Use the following table to migrate the Simulink blocks to the new UAV Toolbox Support Package for PX4 Autopilots, in R2018b and later releases.

    Mapping of Simulink blocks in Pixhawk Pilot Support Package to UAV Toolbox Support Package for PX4 Autopilots

    Pixhawk Pilot Support Package BlockNew Block in UAV Toolbox Support Package for PX4 AutopilotsDocumentation Links
    uORB Write / uORB Write Advanced

    PX4 uORB Write and PX4 uORB Message

    PX4 uORB Write and PX4 uORB Message
    uORB Read

    PX4 uORB Read

    PX4 uORB Read
    Read uORB Function Trigger

    <Not supported> 
    ADC

    PX4 Analog Input

    PX4 Analog Input
    Serial

    Serial Transmit and Serial Receive

    Serial Transmit and Serial Receive
    PWM

    PX4 PWM Output

    PX4 PWM Output
    ParamUpdate

    Read Parameter

    Read Parameter
    Sensor_Combined

    Accelerometer

    Gyroscope

    Magnetometer

    Accelerometer

    Gyroscope

    Magnetometer

    Input_RC

    Radio Control Transmitter

    Radio Control Transmitter
    Speaker Tune

    This block can be modelled using uORB Write block and tune_control uORB topic. Refer to px4demo_LEDBuzzer Simulink model. 
    LED

    This block can be modelled using uORB Write block and led_control uORB topic. Refer to px4demo_LEDBuzzer Simulink model. 
    Battery

    Battery

    Battery
    Vehicle Attitude

    Vehicle Attitude

    Vehicle Attitude
    Vehicle GPS

    This block can be modelled using uORB Read block and vehicle_gps uORB topic. Refer to px4_readGPS Simulink model.Reading GPS Data from PX4 Autopilot
    Binary Logger

    Refer to px4_SDCard_logging Simulink model.
    Print

    <Not supported>