This API serves as the communication bridge between the autopilot hardware and the high/low-level control systems on the companion computer, managing time synchronization and reference frame conversions.

• Subscribed Topics:

  • /$UAV_NAME/control_manager/motor_speed_reference: Used to send normalized individual thrust commands when the controller is in the corresponding mode.
  • /$UAV_NAME/control_manager/attitude_rates_thrust: Used to send angular velocity setpoints and a total normalized thrust value when the controller is in the corresponding mode.

• Published Topics:

  • /$UAV_NAME/px4_api/imu: Publishes filtered data from the autopilot's internal IMU (Inertial Measurement Unit).
  • /$UAV_NAME/px4_api/motor_speed_estimated: Publishes the current estimated speed of each motor.
  • /$UAV_NAME/px4_api/odometry: Publishes the estimated state of the UAV, including its position, orientation, and velocities.

• Services:

  • /$UAV_NAME/px4_api/arm: Service to arm the UAV's motors. [SIMULATION ONLY]
  • /$UAV_NAME/px4_api/disarm: Service to disarm the UAV's motors. [SIMULATION ONLY]

• Configurable Parameters:

  # Do not change these parameters
  rate: # [Hz]
    pub_offboard_control_mode: 100.0
    pub_api_diagnostic: 10.0

  # This parameter configures the control interface level with the firmware. 
  # If set to "individual_thrust", the firmware's internal control pipeline is completely bypassed. 
  # If set to "angular_rates_and_thrust", only the firmware's angular rate controller is utilized.
  control_input_mode: "individual_thrust" # Options: "individual_thrust" or "angular_rates_and_thrust"