3b0dac6840
* RTL Direct: fix rlt time prediction in final lanidng phase It was previously checking if RTL was already running through active(), which though actually is coming from the mission mode that rtl_direct inherits from. Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * RTL Direct: remove unnecessary active() check As the method setRtlPosition() is anyway not called when RTL is active, plus it checks the wrong thing, as it is the active() method from the Mission mode. Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * RTL Direct: remove unnecessary land_detector_sub.update() It is already getting updated just before the .get() Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * RTL time estiate: do not distinguish land from sink for MC To avoid rtl time prediction jump when entering LAND phase due to no correct handling of loiter altitude (LAND phase doesn't have to start only when lower then RTL_DESCND_ALT). Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Revert "RTL Direct: remove unnecessary active() check" This reverts commit d5165ba902e65839e792cc13197761c7f77748f9. * Revert "RTL Direct: fix rlt time prediction in final lanidng phase" This reverts commit 5af7c928fbf86d560dcd35dd9aea3e38f1e4c735. * RTL: Make sure to call the initialilze function of the Navigator RTL modes * RTL: use the navigator_mode run function instead of the on_xxx function directly * RTL: Make sure that for vtol the right vehicle type is used for each RTL state * RTL: move to loiter distance estimate should substract the loiter radius for fixed wing * RTL: time prediction: do not assume VTOL is in FW at start of RTL Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * RTL: time estimation: fix is_in_climbing_submode Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * RTL: time estimation: subtract loiter radius from distance in rtl_direct_mission_land Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * RTL direct: poll important topics also on_inactive such that time estimate is correct Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * navigator rtl: fix setter spacing * navigator rtl: check pointer before dereferencing * RTL: only subract loiter radius when in FW Signed-off-by: Silvan Fuhrer <silvan@auterion.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Konrad <konrad@auterion.com> Co-authored-by: Matthias Grob <maetugr@gmail.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 |
| Rover | Christian Friedrich |
| Boat | 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
- CubePilot Cube Orange+
- CubePilot Cube Orange
- CubePilot 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 public 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.
