Develop Algorithms and Deploy on PX4 Autopilot

R2026b

Develop algorithms and prepare model for deploying on PX4 Autopilots

Develop algorithms and prepare model for deploying on PX4 Autopilots. These topics provide additional information about model configuration parameters, setting COM ports, and deploying PX4 Autopilots from Simulink^®.

Blocks

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Peripheral Blocks

	I2C Controller Read	Read data from I2C peripheral device or I2C peripheral device register
	I2C Controller Write	Write data to I2C peripheral device or I2C peripheral device register
	PX4 Analog Input	Measure analog voltage applied to an ADC channel
	PX4 CAN Receive	Receive message from CAN network (Since R2022b)
	PX4 CAN Transmit	Transmit message to CAN network (Since R2022b)
	Serial Receive	Read data from UART or USART port on PX4 flight controller
	Serial Transmit	Send serial data to UART or USART port

Sensor Blocks

	Accelerometer	Read sensor_accel uORB topic and obtain three dimensional linear acceleration
	Battery	Read battery_status uORB topic and obtain details about the battery's state
	GPS	Read vehicle_gps_position uORB topic and obtain GPS coordinates
	Gyroscope	Read sensor_gyro uORB topic and obtain three dimensional rate of rotation
	Magnetometer	Read sensor_mag uORB topic and obtain three dimensional magnetic field
	Radio Control Transmitter	Read input_rc uORB topic to obtain data from Radio Control Transmitter
	Vehicle Attitude	Read vehicle_odometry uORB topic and obtain attitude measurements

uORB Read and Write Blocks

	PX4 uORB Message	Create a blank message using specified uORB topic
	PX4 uORB Read	Read uORB data for the specified uORB topic
	PX4 uORB Write	Write uORB data for the specified uORB topic

PX4 Utility Blocks

	MAVLink Bridge Source	Read MAVLink data from the Pixhawk board (Since R2022a)
	MAVLink Bridge Sink	Write MAVLink data to the Pixhawk board (Since R2022a)
	PX4 Read Position Setpoint	Read the position setpoints published by the PX4 Navigator module in the uORB topic `position_setpoint_triplet`
	PX4 Timestamp	Output absolute timestamp from the PX4 Autopilot to a Simulink model (Since R2023b)
	PX4 ULog	Log Simulink signals to an SD card in ULog format (Since R2023b)
	PX4 Write Parameter	Write PX4 system parameters (Since R2025a)
	Read Parameter	Read PX4 system parameters

Functions

`getMATFilesFromPixhawk`	Retrieve MAT files from SD card inserted on Pixhawk hardware board
`px4MATFilestitcher`	Combine multiple MAT-files retrieved from SD card into a single MAT-file
`createPX4uORBMessage`	Create custom uORB topic for logging in a Simulink model (Since R2023b)
`createCustomPX4Parameter`	Create custom PX4 parameter for writing to the PX4 system parameter (Since R2025a)
`getLogFilesFromPX4Autopilot`	Retrieve MDF log files from SD card on PX4 autopilot (Since R2026b)

Topics

Set Up Simulink Model

Model Configuration Parameters for PX4 Flight Controller
Parameter and configuration options for creating and running applications on PX4^® flight controller
Deployment on Cube Orange Autopilot from Simulink
Deploy Simulink generated code to Cube Orange Autopilot.
Deployment on Cube Blue H7 Autopilot from Simulink
Deploy Simulink generated code to Cube Blue H7 Autopilot.
Deployment on Unsupported PX4 Autopilots from Simulink
Deploy Simulink-generated code to unsupported PX4 autopilots.

PX4 Autopilot Peripheral Information

Index Numbers for Analog Channels on Pixhawk Series Controller Boards
Identify the index numbers for signals from analog channels.
Serial Port Names and Corresponding Labels on PX4 Flight Controller Boards
Identify the UART/USART port number for the labels seen on PX4 flight controller boards.
I2C Bus Port Numbers for Labels on PX4 Autopilots
Identify the bus port number for the labels seen on PX4 flight controller boards

MAVLink Communication with PX4 Autopilots

Connecting to NSH Terminal for Debugging
Connect to the NSH terminal of Generic Board controller for debugging.

Additional Information

Migrating from Pixhawk Pilot Support Package to UAV Toolbox Support Package for PX4 Autopilots
Migrate from existing Pixhawk^® Pilot Support Package to the new UAV Toolbox Support Package for PX4 Autopilots.
Getting Started with uORB Blocks for PX4 Autopilots Support Package
Read and write uORB messages using PX4 uORB Read and PX4 uORB Write blocks.
Connecting to NSH Terminal for Debugging
Debug PX4 autopilot using NSH terminal.

Troubleshooting

Troubleshooting Deploy to Hardware Issues

Solve the problems when you try to deploy the Simulink model to Generic Board flight controllers.

Resolve Firmware Build Failure Due to Flash Memory Overflow

Troubleshoot flash memory overflow errors when building PX4 firmware with the default board build target file.

Troubleshooting Running Out of File Descriptor Issues

Solve the running out of file descriptor issues.

Troubleshooting USB Issues with Cube Orange on Windows

Solve the USB issues with Cube Orange.

Set COM Port for Upload and Communication in Simulink

Troubleshoot COM port detection failures and manually configure ports for firmware upload and host-target communication on Pixhawk boards in Simulink.