Hi All,

I would like to share with you my latest updates regarding a Matlab interface that I have been developing, called MatMav. The tool allows the user to monitor and command Pixhawk loaded with PX4, APMcopter is not supported yet. The tool can be used from Matlab command line, or inside m-file.
I mainly designed this tool to be able to test some High-Level Matlab algorithms regarding Multi-agent systems control. This can be achieved by utilizing  the capability of controlling Pixhawk (or PX4) via the OFFBOARD mode, but it has many other features, too. One of the interesting features that I am trying to finish soon, is the ability to monitor and command multiple Pixhawks.
I am currently doing my experiments indoors, so I am using OptiTrack mocap to get position and attitude feedback.
Setup flow:
1- PC running Motive, Mocap software, to detect and track rigid bodies, e.g. quadrotors
and it streams the data via network switches
2- another PC, runs Matlab which runs MatMav, Matlab class designed to interface (monitor 7 command) with Pixhawk, loaded with PX4 firmware (master version), in real-time. The messages are exchanged via telemetry, Xbees.
3- quadrotor with Pixhawk
Videos:
Comments/suggestions are appreciated.
UPDATE: Nov 3rd, 2015 (included MatMav test version)
MatMAv is a tool which  provides an easy interface with Pixhawk/PX4 flight controllers that are loaded with PX4 Frimware (master branch). This currently does not support Ardupilot Firmware. The communication works via serial telemetry modules e.g. 3DR, Xbee). This is tested on both Mac (64bit) and Windows(64bit). This is only the test version.
Contact on matmav.toolbox@gmail.com for full version which includes more functionalities and GUI.
.
.
EDIT: Nov 12, 2015
-------------
updated the test version
.
.
.
EDIT: Nov 17th, 2015
--------------------------------
New experiment: controlling multiple quadrotors at the same time.
.
.
.
EDIT: August 2016
------------------------
The toolbox is way advanced now! More functionalities and features are added.
Reference guide is available at:

MatMav_testVersion.zip

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • I think my problem same as you.

    Did you solve it?

    Dhruva Madhukar Bhatia said:

    Hey I have tried to use the 'obj.UDPLOCALPRT(<local port>)' command and then proceed to form 'obj.connectUDP()'

    However, after doing this, when I try to get attitude data, it returned with a struct with all of its values as null. I am guessing that the local port I used is incorrect. 

    I am using an ESP08s board connected to the telem1 port of Pixhawk, it does communicate the attitude data with QGround control.

    Any idea how I can get the IP address and the local port of the ESP? or any thing else I can do to connect directly to PixHawk over Wifi?  

     

    MatMav: Matlab interface to monitor and command Pixhawk/PX4
    Hi All, I would like to share with you my latest updates regarding a Matlab interface that I have been developing, called MatMav. The tool allows the…
  • Hey I have tried to use the 'obj.UDPLOCALPRT(<local port>)' command and then proceed to form 'obj.connectUDP()'

    However, after doing this, when I try to get attitude data, it returned with a struct with all of its values as null. I am guessing that the local port I used is incorrect. 

    I am using an ESP08s board connected to the telem1 port of Pixhawk, it does communicate the attitude data with QGround control.

    Any idea how I can get the IP address and the local port of the ESP? or any thing else I can do to connect directly to PixHawk over Wifi?  

     

  • Good Job....

This reply was deleted.

Activity

DIY Robocars via Twitter
Practice virtual race this Saturday; the real thing will be on Oct 3 https://www.meetup.com/DIYRobocars/
14 hours ago
DIY Robocars via Twitter
14 hours ago
Derrick Davies liked lisa TDrones's profile
16 hours ago
DIY Robocars via Twitter
Monday
DIY Robocars via Twitter
RT @SahikaGenc: AWS DeepRacer & Hot Wheels Track https://youtu.be/4H0Ei07RdR4 via @YouTube
Sep 14
DIY Robocars via Twitter
Sep 8
DIY Robocars via Twitter
RT @davsca1: We are releasing the code of our Fisher Information Field, the first dedicated map for perception-aware planning that is >10x…
Sep 8
DIY Robocars via Twitter
RT @SmallpixelCar: How this works: 1)object detection to find cones in single camera image, 30 frames/sec on @NVIDIAEmbedded Xavier. 2)comp…
Sep 8
DIY Robocars via Twitter
RT @SmallpixelCar: Use two color cones to guide the robocar. No map needed, on onsite training needed. Just place the cones and it will fol…
Sep 7
DIY Robocars via Twitter
Sep 7
DIY Robocars via Twitter
RT @roboton_io: Great to see http://roboton.io running at 60fps on the cheapest #chromebook we could find! #edtech #robotics #educat…
Sep 3
DIY Robocars via Twitter
RT @openmvcam: Crazy in-depth article about using the OpenMV Cam for Astrophotography: https://github.com/frank26080115/OpemMV-Astrophotography-Gear https://t.co/BPoK9QDEwS
Sep 3
DIY Robocars via Twitter
RT @openmvcam: Hi folks, it's finally here! Our first draft of our Arduino Interface Library is out! It works over SoftwareSerial, Hardware…
Sep 3
DIY Robocars via Twitter
RT @chr1sa: Please let them have an open API. This would be perfect for @DIYRobocars races https://twitter.com/NintendoAmerica/status/1301513099707658246
Sep 3
DIY Robocars via Twitter
RT @SmallpixelCar: Lanenet pretty much used all my GPU power on @NVIDIAEmbedded Xavier since I optimized with tensorRT. I need to run anoth…
Sep 3
DIY Robocars via Twitter
RT @LyftLevel5: Our @kaggle competition on Motion Prediction for Autonomous Vehicles is now live! Experiment with the largest-ever self-dri…
Aug 24
More…