General Example

If you are in hurry, and would like to see how to use MatMav to fly a quadcopter equipped with Pixhawk that is running PX4 Firmware, then use the following code as an example.

Please note this is a quick example, and does not demonstrate all features.

Refer to the methods and properties sections for more details.

Copy the following script to an M-file in your MATLAB. Test section by section.

%% test script for MatMav v2.3+
% by Mohamed Abdlekader

clear;
clc;

%% create object
number_of_targets=2;
mav=MatMav(number_of_targets);
% find available ports
mav.findPorts();

%% Establisg serial connection
% set port name and baudrate
mav.set_COMPORT('/dev/tty.usbserial-DN006YKX'); % on Mac
% or mav.set_COMPORT('COM3'); % on Windows
mav.set_BAUDRATE(57600);
% connect
mav.ConnectSerial();

%% Establish UDP connection
% set local port to listen on
% vehicles will be detected automatically once connected to selected port
mav.set_UDPLOCALPRT(14550);
mav.ConnectUDP();

%% ARM command
target=1;
start=1; % arm
stop=0;% disarm
mav.Arm(target,start)

%% get IMU date
target=1;
mav.get_IMUData(target)

%% get Attitude, in radians
target=1;
mav.get_Attitude(target)

%% get local NED position, in meters
target=1;
mav.get_LocalNED(target)

%% get GPS data, if available
target=1;
mav.get_GPS(target)

%% get vehicle mode
target=1;
mav.get_vehicle_mode(target)

%% stream motion capture data
target=1;
set=1; unset=0;
% set which vehicle/target you would like to send to
mav.set_MocapFlags(target,set)
% positions in NED loca frame, meters
x=1; y=1;z=1; 
% quaternion
qw=1; qx=0; qy=0; qz=0;
mav.set_MocapData(target,qw,qx,qy,qz,x,y,z);
start=1; stop=0;
mav.sendMocap(stop); % use stop to stop streaming

%% takeoff
sysID=1;
mav.set_takeoffALT(sysID,-2);
mav.takeoff(sysID);
mav.toggle_OFFB(sysID,1);

%% send position setpoints
target=1;
% position setpoint, xyz in meters, Yaw in rad
x=1;y=1;z=-1; Yaw=0;
mav.set_PositionSetPoints(target,x,y,z,Yaw);

mav.set_setpointsFlags(target,1);
start=1; stop=0;
mav.sendSetPoints(start);
mav.toggle_OFFB(target,start);

%% land
sysID=1;
mav.Land(sysID);

%% set to MANUAL mode/ toggle offboard OFF/ stop setpoint streaming/Disarm
sysID=1;
mav.setManual(sysID)
mav.toggle_OFFB(sysID,0);
mav.sendSetPoints(0);
mav.Arm(sysID,0);

%% disconnect and clean MatMav object
mav.Disconnect();
mav.delete();