Lessons

rqt plugin (Ref)

First, create Qt application project with Qt creator inside of a project. All the UI (form file) and SLOT functions are composed only in the Qt project.

Include the files in CMakeList.txt under qtx_wrap_cpp and build first. That will produce header and source in your catkin_ws. That's all we need to auto-complete in CLion. Don't forget the below in CLion cmake build setting:

-DCATKIN_DEVEL_PREFIX:PATH=/home/jbs/catkin_ws/devel

PX4

• PWM_ARM_* : for initial thrust when arming begins
• Gain tuning : for small drone such as f330 size, the gain tuning was required. See resource folder
• HAS_BARO = 0 : Disabling barometer was only available in 1.10.1. For the firmware, see resource folder. In the recent version, disabling barometer blocks EKF2 operation and QGC does not receive attitude info.
• Do not use Pixhwak 4 mini. It caused a lot of abrupt increase in thrust.
• Land detection