16594bffa9
- remove deprecated actuator_controls[INDEX_LANDING_GEAR] - remove dead code in mc rate controller that used to prevent it from being retracted on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR] which wasn't sent to the control allocation) - for VTOLs handle deployment/retraction of landing gear in AUTO as a MC (retract if more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition flight task is called (ALTITUDE mode and higher) - for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly - manual landing gear settings always come through (a manual command overrides a previous auto command, and vice-versa) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
PX4 Drone Autopilot
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
Building a PX4 based drone, rover, boat or robot
The PX4 User Guide explains how to assemble supported vehicles and fly drones with PX4. See the forum and chat if you need help!
Changing code and contributing
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!
Weekly Dev Call
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.
Maintenance Team
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
| Sector | Maintainer |
|---|---|
| Founder | Lorenz Meier |
| Architecture | Daniel Agar / Beat Küng |
| State Estimation | Mathieu Bresciani / Paul Riseborough |
| OS/NuttX | David Sidrane |
| Drivers | Daniel Agar |
| Simulation | Jaeyoung Lim |
| ROS2 | Beniamino Pozzan |
| Community QnA Call | Ramon Roche |
| Documentation | Hamish Willee |
| Vehicle Type | Maintainer |
|---|---|
| Multirotor | Matthias Grob |
| Fixed Wing | Thomas Stastny |
| Hybrid VTOL | Silvan Fuhrer |
| Boat | x |
| Rover | x |
See also maintainers list (px4.io) and the contributors list (Github). However it may be not up to date.
Supported Hardware
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
For the most up to date information, please visit PX4 user Guide > Autopilot Hardware.
Pixhawk Standard Boards
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
- FMUv6X and FMUv6C
- FMUv5 and FMUv5X (STM32F7, 2019/20)
- FMUv4 (STM32F4, 2015)
- FMUv3 (STM32F4, 2014)
- FMUv2 (STM32F4, 2013)
Manufacturer supported
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
- ARK Electronics ARKV6X
- Hex Cube Orange
- Hex Cube Yellow
- Holybro Durandal
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Holybro Kakute F7
Community supported
These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
Experimental
These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
Project Roadmap
Note: Outdated
A high level project roadmap is available here.
Project Governance
The PX4 Autopilot project including all of its trademarks is hosted under Dronecode, part of the Linux Foundation.
