This is my fork of the PX4 autopilot stack, mainly for simulation-based testing of aerial 3D printing with a custom drone.
Clone this repo in '~/catkin_ws/src':
cd ~/catkin_ws/src
git clone https://github.com/lachie-aerialrobotics/PX4-Autopilot.git
Get all the submodules:
git submodule update --init --recursive
Set a git tag:
git tag -a v<PX4 version>-<custom version>
(For example: git tag -a v1.9.0-MyVersion)
A number of the outputs in 'mavlink_main.cpp' have been supressed to allow 300Hz streaming of imu data
To flash onto a Pixhawk 4, plug in via USB and run:
make px4_fmu-v5_default upload
To test flying the hexacopter, first update any changes to the .sdf:
cd PX4-Autopilot/Tools/sitl_gazebo/models/Hex
erb Hex.sdf.erb > Hex.sdf
Then run make px4_sitl gazebo_Hex in the PX4_Autopilot directory
This repository holds the PX4 flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
- Official Website: http://px4.io (License: BSD 3-clause, LICENSE)
- Supported airframes (portfolio):
- Multicopters
- Fixed wing
- VTOL
- Autogyro
- Rover
- many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
- Releases: Downloads
The PX4 User Guide explains how to assemble supported vehicles and fly drones with PX4. See the forum and chat if you need help!
This Developer Guide is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
Developers should read the Guide for Contributions. See the forum and chat if you need help!
The PX4 Dev Team syncs up on a weekly dev call.
Note The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the Dronecode calendar.
- Project: Founder
- Architecture
- Dev Call
- Communication Architecture
- UI in QGroundControl
- Multicopter Flight Control
- Multicopter Software Architecture
- VTOL Flight Control
- Fixed Wing Flight Control
- OS / NuttX
- Driver Architecture
- Commander Architecture
- UAVCAN
- State Estimation
- Vision based navigation and Obstacle Avoidance
- RTPS/ROS2 Interface
See also maintainers list (px4.io) and the contributors list (Github).
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
- FMUv6X and FMUv6U (STM32H7, 2021)
- Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
- FMUv5 and FMUv5X (STM32F7, 2019/20)
- FMUv4 (STM32F4, 2015)
- FMUv3 (STM32F4, 2014)
- FMUv2 (STM32F4, 2013)
- Holybro Durandal
- Hex Cube Orange
- Hex Cube Yellow
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Bitcraze Crazyflie 2.0
- Omnibus F4 SD
- Holybro Kakute F7
- Raspberry PI with Navio 2
Additional information about supported hardware can be found in PX4 user Guide > Autopilot Hardware.
A high level project roadmap is available here.
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