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91 lines
3.6 KiB
Markdown
91 lines
3.6 KiB
Markdown
# Auterion Skynode X
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[Skynode](https://auterion.com/product/skynode-x/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
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The onboard software is Auterion OS, consisting of an enterprise-hardened version of PX4 running on the flight controller, and an operating system with advanced management software running on the mission computer.
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The OS is managed by Auterion in production, with customer applications running as "add ons" in a safe sandbox within the mission computer.
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Auterion OS and Skynode allow seamless integration with Auterion's other software and fleet management products.
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For information about Auterion and Skynode:
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- [auterion.com](https://auterion.com/)
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- [Skynode X](https://auterion.com/product/skynode-x/) (auterion.com)
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- Skynode Guides:
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- [Vehicle Operation](https://docs.auterion.com/vehicle-operation/auterion-sign-up)
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- [App Development](https://docs.auterion.com/app-development/app-development)
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- [Hardware Integration](https://docs.auterion.com/app-development/app-development)
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## Skynode with Vanilla PX4
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Skynode comes with an Auterion-managed release of PX4.
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If you would like to try a more recent PX4 flight kernel, you can install the upstream "vanilla" PX4 from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot).
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Upstream PX4 will generally work, with the following caveats:
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- Configuration for your exact product may not be present.
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You may lose the configuration for ESCs, batteries, sensor configuration, and so on.
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- Some parameters might have different default values in the PX4 release shipped with Auterion OS.
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- Features accessed by vendor-specific customisations running on the companion computer may not be present in PX4.
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- Auterion supports Skynode running its own Auterion-managed version of PX4.
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## Building/Uploading Firmware
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PX4 `px4_fmu-v5x` binaries for Skynode are built from source using the normal [developer environment](../dev_setup/dev_env.md) and [build commands](../dev_setup/building_px4.md), and are uploaded using either `upload_skynode_usb` or `upload_skynode_wifi` upload targets.
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`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for USB and WiFi, respectively (see [AuterionOS System Guide > Building and Flashing PX4 Firmware](https://docs.auterion.com/hardware-integration/auterionos-system-guide/flashing-px4-upstream-firmware)), and upload a TAR compressed binary to the mission computer.
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The mission computer then decompresses the binary and installs it to the flight controller.
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:::info
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SSH and TAR are needed to use these upload targets, but are expected to be present by default on Ubuntu and Ubuntu running on Windows in WSL2.
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On macOS you should first install [gnu-tar](https://formulae.brew.sh/formula/gnu-tar).
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:::
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You will need to enter the password for the Skynode developer image password twice during the upload process.
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:::: tabs
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:::tab "Skynode connected via USB"
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```
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make px4_fmu-v5x upload_skynode_usb
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```
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:::
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:::tab "Skynode connected via WiFi"
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```
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make px4_fmu-v5x upload_skynode_wifi
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```
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:::
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::::
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## Restoring the Default PX4 Firmware
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To reinstall the original Skynode version of PX4 when connected via USB run the following command in the repository:
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:::: tabs
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:::tab "Skynode connected via USB"
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```
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./Tools/auterion/upload_skynode.sh --revert
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```
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:::
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:::tab "Skynode connected via WiFi"
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```
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./Tools/auterion/upload_skynode.sh --revert --wifi
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```
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:::
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::::
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