In UAV Toolbox Support Package for PX4® Autopilots, serial communication is supported over the native-USB port and non-usb ports (for example, /dev/ttyS6) on the Pixhawk Series boards. To achieve serial communication over non-USB serial port, a serial-to-USB FTDI converter is required.
The below image shows the connection between Serial 4 (/dev/ttyS6) on Pixhawk 1 board and the USB port on host computer, by using an FTDI converter.
The below table lists the serial pins on the Pixhawk 1 board and their FTDI mapping. The pins listed here are from left to right.
Pin and FTDI Mapping for Pixhawk 1
|Serial port on Pixhawk 1||FTDI|
|2||Serial 4 Tx||FTDI Rx|
|3||Serial 4 Rx||FTDI Tx|
|4||Serial 5 Tx||Not connected|
|5||Serial 5 Rx||Not connected|
Once the above hardware connections are completed, open the Configuration Parameters
dialog box in Simulink, and set the serial port to dev/ttyS6 (go to
Hardware Implementation pane >
External Mode, and enter
dev/ttyS6 in the
Hardware board serial Port
field). Now you can run the model in External mode over FTDI with Pixhawk 1