"mc_att_control" is responsible for PX4 multicopter attitude control, this application can be found in "Firmware/src/modules/mc_att_control". Here is what I understand about this application. Start Similar to "mc_pos_control", this application is started by script "rc.mc_apps" on line 32: rc.mc_apps Call Hierarchy The source code for the application exists in "mc_att_control_main.cpp", it follows a very

The application responsible for multicopter position control exists in "Firmware/src/modules/mc_pos_control". I will describe what I understand about this application as much as I can in this blog. Start The application is started by the script "rc.mc_apps" in "Firmware/ROMFS/px4fmu_common/init.d". The script itself is called by the main starting script "rcS" at line 761. Since "rc.mc_apps" is

Testing development code on a flying platform is always risky, one small bug in the code could cause your beloved airframe go straight into the bin. To avoid that, always check your code stability in simulation. And the PX4 Software In the Loop (SIL) simulation is the perfect solution. SIL uses your computer hardware to

If you have done Ardupilot or Arduino source code development, the first thing you do when you clone source code from Github is probably looking for the main function. This is exactly what I did. I spent about 2 weeks looking for a main function, hoping to stumble across something that initializes everything, execute commands