Pixhawk (rc.

txt) Laptop(putty)
ttyACM0 (Data exchange serial ttyACM0 (sudo ln -s USB (external) kabel 115200
port - simulink) /dev/ttyACM0 /dev/ttyS103)
(ttyS103)
(external mode configuration -
simulink)
ttyS1 (telemetry 1) ttyUSB0 FTDI (telemetry) 57600 (to
start px4_simulink_app start)
ttyS3 GPS UBX38400

sudo ln -s /dev/ttyACM0 /dev/ttyS103

#nshterm /dev/ttyACM0 &

Host-simulink port laptopa

serial rx/tx – build pixhawk (port pixhawka np. TtyS2 – telemetry 2)

Development and implementation of GNC system for micro air vehicle

usleep 1000
uorb start
usleep 1000
#nshterm /dev/ttyACM0 &
rc.txt
usleep 1000
px4io start
usleep 1000
#commander start
#usleep 1000
#mavlink start -d /dev/ttyS1 -b 115200
#usleep 5000
#dataman start
#usleep 1000
#navigator start
#usleep 1000
sh /etc/init.d/rc.sensors
usleep 1000
#sh /etc/init.d/rc.logging
#usleep 1000
#gps start
attitude_estimator_q start
position_estimator_inav start
usleep 1000
mtd start
usleep 1000
param load /fs/mtd_params
usleep 1000
rgbled start
usleep 1000
#px4_simulink_app start
nshterm /dev/ttyS1 & #this will make ttyS6 the serial console
exit

UART mapping on
FMUv2/3/4:
#
# UART1 /dev/ttyS0
IO debug (except v4,
there ttyS0 is the wifi)
# USART2 /dev/ttyS1
TELEM1 (flow
control)
# USART3 /dev/ttyS2
TELEM2 (flow
control)
# UART4
# UART7 CONSOLE
# UART8 SERIAL4
 GPS

Telem 1 is Serial 1
Telem 2 is serial 2
GPS 1 is serial 3
GPS 2 is Serial 4
Debug is serial 5