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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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<Redirect to="../robotics/#dronekit" />
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# Drone Apps & APIs
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API дронів дозволяють вам писати код для керування та інтеграції з транспортними засобами на базі PX4, не потребуючи ретельного розуміння деталей транспортного засобу та стеку польоту, або думати про критичну безпекову поведінку.
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Наприклад, ви можете створити нові "розумні" режими польоту, або власні режими геозон, або інтегрувати нове обладнання.
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Drone APIs allow you to do this using high level instructions in your programming language of choice, and the code can then run on-vehicle in a [companion computer](../companion_computer/index.md), or from a ground station.
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Under the the hood the APIs communicate with PX4 using [MAVLink](../middleware/mavlink.md) or [uXRCE-DDS](../middleware/uxrce_dds.md).
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PX4 підтримує наступні інструменти SDK/робототехніки:
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- [MAVSDK](../robotics/mavsdk.md)
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- [ROS 2](../ros/index.md)
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- [ROS 1](../ros/index.md)
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## Який API мені слід використовувати?
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We recommend using MAVSDK where possible, primarily because it is more intuitive and easier to learn, and can run on more operating systems and less performant-hardware.
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Ви можете віддати перевагу ROS, якщо ви вже знаєте, як ним користуватися, або якщо ви хочете використовувати вже існуючі інтеграції (наприклад, завдання комп'ютерного зору).
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Загалом, ROS, ймовірно, буде кращим вибором для завдань, які вимагають дуже низької затримки або більш глибокої інтеграції з PX4, ніж це забезпечує MAVLink.
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Основна різниця:
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- **MAVSDK:**
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- Інтуїтивно зрозумілий та оптимізований для дронів, з невеликою тривалістю навчання та простим налаштуванням.
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- Ви можете писати програми на C++, Python, Swift, Java, Go та інших мовах.
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- Працює на обладнанні з обмеженими ресурсами
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- Працює на широкому спектрі ОС, включаючи Android, Linux, Windows.
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- Комунікація через MAVLink.
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- Стабільний і широко підтримуваний.
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- Обмежено можливостями MAVLink - потрібна інформація може бути не опрацьована.
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- Затримка може бути занадто великою для деяких випадків використання.
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- **ROS 2**
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- General-purpose robotics API that has been extended to support drone integration:
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- Conceptually not as well optimised for drones as MAVSDK
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- Значний час навчання
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- Багато готових бібліотек: корисно для повторного використання коду.
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- Підтримуються бібліотеки C++ та Python
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- Працює на Linux
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- ROS 2 is the latest version, which connects via XRCE-DDS.
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- Інтерфейсний шар DDS дозволяє глибоку інтеграцію з будь-яким аспектом PX4, який виставляється як тема UORB (майже з усім).
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- Можна забезпечити значно нижчу затримку.
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- Still under development:
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- At time of writing requires a deeper understanding of PX4 than ROS 1.
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- Message interface with PX4 not stable/maintained across ROS and PX4 releases.
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## Deprecated APIs
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### ROS 1
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While not strictly deprecated, ROS 1 is at its final LTS Release version "Noetic Ninjemys", which reaches end-of-life in May 2025.
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That means no new features or bug fixes will be provided, and even security updates will cease in 2025.
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ROS 1 still "works" on PX4 because it uses MAVROS, a MAVLINK-ROS abstraction as an integration layer.
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This means that ROS 1 has all the limitations of MAVLink, such as a higher latency and a small API surface (and also the benefits, such as a stable interface).
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All PX4 investment in ROS is going towards a deep integration with ROS 2.
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This will essentially allow ROS 2 applications to be close to indistinguishable from code running in PX4 itself.
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:::tip
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Use ROS 2 for new projects.
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Upgrade to ROS 2 for existing projects as soon as possible.
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:::
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### DroneKit
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DroneKit-Python is a MAVLink API written in Python.
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It is not optimised for use with PX4, and has not be maintained for some years.
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Legacy docs for using PX4 and DroneKit can be found here: [PX4 v1.12 > DroneKit](https://docs.px4.io/v1.12/en/robotics/dronekit.html).
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:::tip
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[MAVSDK](https://mavsdk.mavlink.io/) is the recommended MAVLink API for use with PX4.
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It is better in almost every way: features, speed, programming language support, maintenance, and so on.
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# MAVSDK
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[MAVSDK](https://mavsdk.mavlink.io/main/en/index.html) is a MAVLink SDK that allows you to communicate with MAVLink systems such as drones, cameras or ground systems.
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The SDK provides interface libraries for various programming languages, with a simple API for managing one or more vehicles.
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It provides programmatic access to vehicle information and telemetry, and control over missions, movement and other operations.
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It can also be used to communicate with MAVLink components, such as cameras, gimbals, and other hardware.
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MAVSDK libraries can be used onboard a drone on a companion computer, or on a ground station or mobile device, and can run on Linux, macOS, Windows, Android, and iOS.
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:::info
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MAVSDK is easier to learn than [ROS 2](../ros2/index.md) and has a more stable API.
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It is recommended for communicating from ground stations, for relatively low bandwidth command/control from a companion computer, and for integrating with onboard components that do not have high bandwidth requirements, such as cameras and gimbals.
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ROS is recommended for high-bandwidth onboard communication, to provide features such as obstacle avoidance that require higher rate messages and that can leverage existing ROS and computer vision libraries..
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:::
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The SDK can also be used to write MAVLink "server" code: the side of a MAVLink communication that is normally implemented by an autopilot, MAVLink camera, or other component.
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This can be used to create a MAVLink API for components running on a companion computer, such as a camera API interface for a native camera connected to the computer.
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