# Custom Modes Hardware Demo with PX4 & ROS2 This tutorial is a example on how to utilize custom modes in PX4 using ROS2 and QGC. We would like to provide you with a basic example code that you can customize and utilize for your application. {% embed url="" %} Custom Modes Hardware Demo with PX4 & ROS2 {% endembed %} The repository can be found here: --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.arkelectron.com/tutorials/ros2-and-px4/custom-modes-hardware-demo-with-px4-and-ros2.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.