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99 lines
6.5 KiB
Markdown
99 lines
6.5 KiB
Markdown
# Flight Controller Porting Guide
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This topic is for developers who want to port PX4 to work with _new_ flight controller hardware.
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## PX4 Architecture
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PX4 consists of two main layers: The [board support and middleware layer](../middleware/index.md) on top of the host OS (NuttX, Linux or any other POSIX platform like Mac OS), and the applications (Flight Stack in [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules)\). Please reference the [PX4 Architectural Overview](../concept/architecture.md) for more information.
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This guide is focused only on the host OS and middleware as the applications/flight stack will run on any board target.
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## Flight Controller Configuration File Layout
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Board startup and configuration files are located under [/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards/) in each board's vendor-specific directory (i.e. **boards/_VENDOR_/_MODEL_/**).
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For example, for FMUv5:
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- (All) Board-specific files: [/boards/px4/fmu-v5](https://github.com/PX4/PX4-Autopilot/tree/main/boards/px4/fmu-v5).<!-- NEED px4_version -->
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- Build configuration: [/boards/px4/fmu-v5/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board).<!-- NEED px4_version -->
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- Board-specific initialisation file: [/boards/px4/fmu-v5/init/rc.board_defaults](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/init/rc.board_defaults) <!-- NEED px4_version -->
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- A board-specific initialisation file is automatically included in startup scripts if found under the boards directory at **init/rc.board**.
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- The file is used to start sensors (and other things) that only exist on a particular board.
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It may also be used to set a board's default parameters, UART mappings, and any other special cases.
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- For FMUv5 you can see all the Pixhawk 4 sensors being started, and it also sets a larger LOGGER_BUF.
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## Host Operating System Configuration
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This section describes the purpose and location of the configuration files required for each supported host operating system to port them to new flight controller hardware.
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### NuttX
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See [NuttX Board Porting Guide](porting_guide_nuttx.md).
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### Linux
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Linux boards do not include the OS and kernel configuration.
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These are already provided by the Linux image available for the board (which needs to support the inertial sensors out of the box).
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- [boards/px4/raspberrypi/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/raspberrypi/default.px4board) - RPi cross-compilation. <!-- NEED px4_version -->
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## Middleware Components and Configuration
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This section describes the various middleware components, and the configuration file updates needed to port them to new flight controller hardware.
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### QuRT / Hexagon
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- The start script is located in [posix-configs/](https://github.com/PX4/PX4-Autopilot/tree/main/posix-configs). <!-- NEED px4_version -->
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- The OS configuration is part of the default Linux image (TODO: Provide location of LINUX IMAGE and flash instructions).
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- The PX4 middleware configuration is located in [src/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards). <!-- NEED px4_version --> TODO: ADD BUS CONFIG
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## RC UART Wiring Recommendations
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It is generally recommended to connect RC via separate RX and TX pins to the microcontroller.
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If however RX and TX are connected together, the UART has to be put into singlewire mode to prevent any contention.
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This is done via board config and manifest files.
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One example is [px4fmu-v5](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/src/manifest.c). <!-- NEED px4_version -->
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## Officially Supported Hardware
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The PX4 project supports and maintains the [FMU standard reference hardware](../hardware/reference_design.md) and any boards that are compatible with the standard.
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This includes the [Pixhawk-series](../flight_controller/pixhawk_series.md) (see the user guide for a [full list of officially supported hardware](../flight_controller/index.md)).
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Every officially supported board benefits from:
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- PX4 Port available in the PX4 repository
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- Automatic firmware builds that are accessible from _QGroundControl_
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- Compatibility with the rest of the ecosystem
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- Automated checks via CI - safety remains paramount to this community
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- [Flight testing](../test_and_ci/test_flights.md)
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We encourage board manufacturers to aim for full compatibility with the [FMU spec](https://pixhawk.org/).
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With full compatibility you benefit from the ongoing day-to-day development of PX4, but have none of the maintenance costs that come from supporting deviations from the specification.
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:::tip
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Manufacturers should carefully consider the cost of maintenance before deviating from the specification (the cost to the manufacturer is proportional to the level of divergence).
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:::
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We welcome any individual or company to submit their port for inclusion in our supported hardware, provided they are willing to follow our [Code of Conduct](https://github.com/PX4/PX4-Autopilot/blob/main/CODE_OF_CONDUCT.md) and work with the Dev Team to provide a safe and fulfilling PX4 experience to their customers.
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It's also important to note that the PX4 dev team has a responsibility to release safe software, and as such we require any board manufacturer to commit any resources necessary to keep their port up-to-date, and in a working state.
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If you want to have your board officially supported in PX4:
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- Your hardware must be available in the market (i.e. it can be purchased by any developer without restriction).
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- Hardware must be made available to the PX4 Dev Team so that they can validate the port (contact [lorenz@px4.io](mailto:lorenz@px4.io) for guidance on where to ship hardware for testing).
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- The board must pass full [test suite](../test_and_ci/index.md) and [flight testing](../test_and_ci/test_flights.md).
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**The PX4 project reserves the right to refuse acceptance of new ports (or remove current ports) for failure to meet the requirements set by the project.**
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You can reach out to the core developer team and community on the [official support channels](../contribute/support.md).
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## Related Information
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- [Device Drivers](../middleware/drivers.md) - How to support new peripheral hardware (device drivers)
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- [Building the Code](../dev_setup/building_px4.md) - How to build source and upload firmware
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- Supported Flight Controllers:
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- [Autopilot Hardware](../flight_controller/index.md)
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- [Supported boards list](https://github.com/PX4/PX4-Autopilot/#supported-hardware) (Github) - Boards for which PX4-Autopilot has specific code
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- [Supported Peripherals](../peripherals/index.md)
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