4c8c9a1e0f
Switch the Static Analysis workflow to two modes: - Push to main: run the full "make clang-tidy" target as before. - Pull request: build the clang compile database with "make px4_sitl_default-clang", then call Tools/ci/run-clang-tidy-pr.py (already in-tree) to compute the translation units actually affected by the PR diff and run clang-tidy only on that subset. PRs that touch no C++ files exit silently; the large majority of PRs will skip the slow full analysis entirely. Replace the inline ccache restore/config/save steps with the composite actions from .github/actions/setup-ccache and .github/actions/save-ccache, which use content-hash cache keys (prefix-ref-sha with ref and base_ref fallbacks), compression, and compiler_check=content. Same 120M cap. Add a second job, post_clang_tidy_comments, that runs on a GitHub-hosted runner when the analysis job reports has_findings=true. It downloads the compile_commands.json artifact produced by the analysis job, rewrites the AWS RunsOn workspace prefix (/__w/PX4-Autopilot/PX4-Autopilot) to the GitHub-hosted runner workspace so clang-tidy can chdir into the build directory, runs clang-tidy-diff-18 to export fixes, and posts inline review annotations via platisd/clang-tidy-pr-comments@v1. Annotations are set to request changes (request_changes: true), so a PR with new clang-tidy findings will be blocked until they are addressed or waived. suggestions_per_comment is capped at 10. Annotations are gated to same-repo PRs only; forks skip the annotation job because GITHUB_TOKEN has no write access there. The post_clang_tidy_comments job uses if: always() && ... so it runs whether the analysis job succeeded or failed (findings still need to be surfaced when the analysis exits non-zero). Signed-off-by: Ramon Roche <mrpollo@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.
Citation
If you use PX4 in academic work, please cite it. BibTeX:
@software{px4_autopilot,
author = {Meier, Lorenz and {The PX4 Contributors}},
title = {{PX4 Autopilot}},
publisher = {Zenodo},
doi = {10.5281/zenodo.595432},
url = {https://px4.io}
}
The DOI above is a Zenodo concept DOI that always resolves to the latest release. For a version-pinned citation, see the Zenodo record or our CITATION.cff.
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.
