1 basic part
Pixhawk System Introduction: Briefly describe the historical relationship between APM, PX4, and Pixhawk, as well as the comparison of advantages and disadvantages between platforms.
System Architecture Overview: An overview of the source code organization of PX4, so that everyone can have a sense of PX4 as a whole and understand the role of each file.
System compilation process: describes the actions performed by the system from power-on, how to transition from the startup of the microcontroller to the operating system, to the application, and finally to execute the startup script.
Description of the startup process: Briefly describe the startup of m**link, sensor, algorithm, etc. in the startup process, deepen the understanding of the system, and pave the way for secondary development.
Process mechanism UORB: UORB is a mechanism of inter-process communication (IPC) in the PX4 system, in which the PX4 system controls all the information flow in the system, and teaches everyone how to use UORB to open up inter-process communication through examples.
Introduction to cascade PID: PID is a simple and beautiful control algorithm, the control process in the system uses PID, and it is a cascade process.
System Parameter Introduction: Explain the key parameters at the system level, such as kill switch, calculate belt speed, USB link check, log mode, rack type, etc.
2 Logical understanding
Overall introduction of functional modules: The implementation process of the overall data flow of the flight control and the interrelationship between the modules are introduced from a strategic position, so as to have a systematic understanding and overall grasp of the flight control.
Multi-redundancy design: introduces the concept of system redundancy design, multi-sensor redundancy design, the collaborative work of the main and secondary processors, and the source code analysis of the multi-sensor selection mechanism.
Commander decision analysis: In the decision-making part of flight mode, combined with the back-down mechanism and fault protection strategy of the source code learning mode switching, we understand how the commander affects the attitude and position control process.
N**igator takeoff: Sort out the functions of n**igator, module, analyze the data processing process, and learn the execution process of takeoff in combination with the source code.
N**igator's Land: Analyze the data processing process and learn the execution process of LAND in n**igator based on the source code.
N**igator Loiter: Analyze the data processing process and learn the execution process of Loiter in N**igator based on the source code.
N**igator's missition: Analyze the data processing process and learn the execution process of missition in n**igator based on the source code.