Fixed-wing Control API - Silvan Fuhrer, PX4

Fixed-wing Control API - Silvan Fuhrer, PX4 From full manual to highly assisted manual modes, from 3D waypoint following to fully automated takeoff and landing controllers, PX4 has a mode for most occasions. Advanced users can expand the system capabilities further by writing customized external flight modes running in ROS 2 and feeding in the control pipeline on different levels. In this talk we will deep-dive into the PX4 fixed-wing control structure, explain where the internal flight modes live and what controllers they feed in, and how the input/output messages of the controller blocks are defined. We will focus on the messages intended to be used in the interface between a ROS 2 application and the PX4 core. Examples are given of how simple ROS 2 applications are put together and tips and tricks shared that make the developer experience smoother.