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* Applying PR #17084 * Comitting missing changes * Adding incoming SETUP_SIGNING handling * Adding proper message decoding for SETUP_SIGNING * Adding persistance of sign key in chunks of 32 bits into parameters * Allowing SETUP_SIGNING to be handled only on usb_uart * Removing unused type and variable * Changing the default for Mavlink Timestamp * Fixing styling * Merging * Merging submodules * Replacing parameters with sdcard storage for secured key and ts * Fixing styles * Isolating signing related items in separate class * Adding new files * Syncing with main * Fixing styles * Changing the signing logic to work only if key and ts properly initialized, adding store the ts on stop * Updated submodules to latest versions * Updated gz to proper version * libfc-sensor-api to proper version * libcanard to proper version * Updated fuzztest to proper version * Updated public_regulated_data_types to proper version * Updated mip_sdk to proper version * Updated pydronecan to proper version * Updated rosidl to proper version * Fixing styles * Fixing cyclonedds version * initializing sign control in the member declaration * Update src/modules/mavlink/mavlink_main.h Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Fixing comments * Fixing duplicate method * Fixing defines * Fixing styles * Fixing the define errors * replace duplicate logic with write_key_and_timestamp() function * add docs * Update docs/en/mavlink/message_signing.md Co-authored-by: Julian Oes <julian@oes.ch> * Update src/modules/mavlink/mavlink_sign_control.cpp Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update src/modules/mavlink/mavlink_sign_control.h Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update docs/en/mavlink/message_signing.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * rename to MAV_SIGN_CFG, fix copyright dates, fix docs SHA type, rename secrets file * fix newlines --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
The autopilot stack the industry builds on.
About
PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on NuttX, Linux, and macOS. Licensed under BSD 3-Clause.
Why PX4
Modular architecture. PX4 is built around uORB, a DDS-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
Wide hardware support. PX4 runs on a wide range of autopilot boards and supports an extensive set of sensors, telemetry radios, and actuators through the Pixhawk ecosystem.
Developer friendly. First-class support for MAVLink and DDS / ROS 2 integration. Comprehensive SITL simulation, hardware-in-the-loop testing, and log analysis tools. An active developer community on Discord and the weekly dev call.
Vendor neutral governance. PX4 is hosted under the Dronecode Foundation, part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
Supported Vehicles
 Multicopter |
 Fixed Wing |
 VTOL |
 Rover |
…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the full airframe reference.
Quick Start
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot
make px4_sitl
Note
See the Development Guide for toolchain setup and build options.
Documentation & Resources
| Resource | Description |
|---|---|
| User Guide | Build, configure, and fly with PX4 |
| Developer Guide | Modify the flight stack, add peripherals, port to new hardware |
| Airframe Reference | Full list of supported frames |
| Autopilot Hardware | Compatible flight controllers |
| Release Notes | What's new in each release |
| Contribution Guide | How to contribute to PX4 |
Community
- Weekly Dev Call — open to all developers (Dronecode calendar)
- Discord — Join the Dronecode server
- Discussion Forum — PX4 Discuss
- Maintainers — see
MAINTAINERS.md - Contributor Stats — LFX Insights
Contributing
We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the Contribution Guide to get started.
Governance
The PX4 Autopilot project is hosted by the Dronecode Foundation, a Linux Foundation Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the BSD 3-Clause license, so you are free to use, modify, and distribute it in your own projects.
