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19e7ba63ee
param save is an expensive operation that can take several 100ms. And previously it was possible that a param_get() caller was blocked on a save operation. If this happened due to a param change notification, important modules, such as sensors, could have been blocked for a longer period (and affecting the flight performance). With this patch, this situation is not possible anymore, because a param save now uses the reader lock and a separate file lock. However it is still possible that a param_set() needs to wait for a save operation, thus blocking for a longer time. param_set() thus needs to be avoided in important modules when the system is armed. In the case of mavlink it works, since it does not affect the flight if the mavlink receiver is blocked over a longer time. It is only problematic if a joystick is used as input or in offboard control.
PX4 Pro Drone Autopilot
This repository holds the PX4 Pro 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.
- Official Website: http://px4.io (License: BSD 3-clause, LICENSE.md)
- Supported airframes:
- Multicopters
- Fixed wing
- VTOL
- many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
- Releases: Downloads
Please refer to the user documentation and user forum for flying drones with the PX4 flight stack.
Weekly Dev Call
The PX4 Dev Team syncs up on a weekly dev call.
- Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time
- Uber conference (dial-in or web client)
- The agenda is announced in advance on the PX4 Discuss
- Issues and PRs may be labelled devcall to flag them for discussion
Developers
Maintenance Team
- Project / Founder - Lorenz Meier
- Communication Architecture
- UI / UX
- Multicopter Flight Control
- VTOL Flight Control
- Fixed Wing Flight Control
- Racers - Matthias Grob
- OS / drivers - David Sidrane
- UAVCAN / Industrial - Pavel Kirienko
- State Estimation - James Goppert, Paul Riseborough
- Vision based navigation
- Obstacle Avoidance - Vilhjalmur Vilhjalmsson
- Snapdragon
- Intel Aero
- Raspberry Pi / Navio - Beat Kueng
- Parrot Bebop - Michael Schaeuble
- Airmind MindPX / MindRacer - Henry Zhang
- RTPS/ROS2 Interface - Vicente Monge
Supported Hardware
This repository contains code supporting these boards:
- Snapdragon Flight
- Intel Aero
- Raspberry PI with Navio 2
- Parrot Bebop 2
- FMUv2.x
- FMUv3.x Pixhawk 2
- FMUv4.x
- Pixracer
- Pixhawk 3 Pro
- FMUv5.x (ARM Cortex M7, future Pixhawk)
- STM32F4Discovery (basic support) Tutorial
- Gumstix AeroCore (v1 and v2)
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Bitcraze Crazyflie 2.0
Project Milestones
The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.