make px4_sitl_raptor gz_x500
param set NAV_DLL_ACT 0
param set COM_DISARM_LAND -1 # When taking off in offboard the landing detector can cause mid-air disarms
param set IMU_GYRO_RATEMAX 250 # Just for SITL. Tested with IMU_GYRO_RATEMAX=400 on real FCUs
param set MC_RAPTOR_ENABLE 1
param set MC_RAPTOR_OFFB 0
param save

Upload the RAPTOR checkpoint to the "SD card": Separate terminal

mavproxy.py --master udp:127.0.0.1:14540
ftp mkdir /raptor # for the real FMU use: /fs/microsd/raptor
ftp put src/modules/mc_raptor/blob/policy.tar /raptor/policy.tar

restart (ctrl+c)

make px4_sitl_raptor gz_x500
commander takeoff
commander status

Note the external mode ID of RAPTOR in the status report

commander mode ext{RAPTOR_MODE_ID}

Usage with External Trajectory Setpoint

Send Lissajous setpoints via Mavlink:

pip install px4
px4 udp:localhost:14540 track lissajous --A 2.0 --B 1.0 --duration 10 --ramp-duration 5 --takeoff 10.0 --iterations 2

SIH

make px4_fmu-v6c_raptor upload

In QGroundControl:

Airframes => SIH Quadrotor X
Settings => Comm Links => Disable Pixhawk (disable automatic USB serial connection)

mavproxy.py --master /dev/serial/by-id/usb-Auterion_PX4_FMU_v6C.x_0-if00 --out udp:localhost:14550 --out udp:localhost:13337 --out udp:localhost:13338

New terminal (optional):

./Tools/mavlink_shell.py udp:localhost:13338

param set SIH_IXX 0.005
param set SIH_IYY 0.005
param set SIH_IZZ 0.010
param set IMU_GYRO_RATEMAX 400
param save
reboot

New terminal:

./Tools/simulation/jmavsim/jmavsim_run.sh -u -p 13337 -o

Real World

Using a DroneBridge WiFi telemetry @ 1000000 baud (also set SER_TEL1_BAUD=1000000) and maximum packet size = 16. It seems like larger maximum packet sizes can lead to delays in forwarding the SET_POSITION_TARGET_LOCAL_NED messages to trajectory_setpoint.

./Tools/mavlink_shell.py tcp:192.168.2.1:5760

px4 tcp:192.168.2.1:5760 track lissajous --A 0.5 --B 0.5 --duration 10 --ramp-duration 5 --takeoff 1.0 --iterations 2

Troubleshooting

cat > logger_topics.txt << EOF
raptor_status 0
raptor_input 0
trajectory_setpoint 0
vehicle_local_position 0
vehicle_angular_velocity 0
vehicle_attitude 0
vehicle_status 0
actuator_motors 0
EOF

mavproxy.py

ftp mkdir /fs/microsd/etc
ftp mkdir /fs/microsd/etc/logging
ftp put logger_topics.txt /fs/microsd/etc/logging/logger_topics.txt

For SITL:

ftp mkdir etc
ftp mkdir logging
ftp put logger_topics.txt etc/logging/logger_topics.txt