Tim
540e4f9464
* Commit for the Integration of a position controller for the a Underwater vehicle. This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw. Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0. Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction. In general the idea is to have this position module to control the position of the uuv. The position module reseives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module. Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw). * Commit for the Integration of a position controller for the a Underwater vehicle. This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw. Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0. Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction. In general the idea is to have this position module to control the position of the uuv. The position module receives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module. Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw). Currently not solved/missing: - Problem with gazebo model(propeller moving chaotically). - Mixer correct gazebo vs real life (has to be tested in the future) - correct integration in uuv.apps (when choose which module) - very basic controller chosen (could be improved a lot in the future) * Remove error caused by unused variables and a different build error * added better description of the parameter. Additionally the group is changed. * added better description of the parameter. Additionally the group is changed. Fixed bug about parameter * Added EOF to the files. * Removed parameter for direct position control for safety reasons. * small bugfix
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.
- Official Website: http://px4.io (License: BSD 3-clause, LICENSE)
- Supported airframes (portfolio):
- Multicopters
- Fixed wing
- VTOL
- many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
- Releases: Downloads
PX4 Users
The PX4 User Guide explains how to assemble supported vehicles and fly drones with PX4. See the forum and chat if you need help!
PX4 Developers
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
- Project: Founder
- Architecture
- Dev Call
- Communication Architecture
- UI in QGroundControl
- Multicopter Flight Control
- Multicopter Software Architecture
- VTOL Flight Control
- Fixed Wing Flight Control
- OS / NuttX
- Driver Architecture
- Commander Architecture
- UAVCAN
- State Estimation
- Vision based navigation
- Obstacle Avoidance
- RTPS/ROS2 Interface
See also maintainers list (px4.io) and the contributors list (Github).
Supported Hardware
This repository contains code supporting these boards:
- FMUv2
- FMUv3
- FMUv4
- FMUv5 (ARM Cortex M7)
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Bitcraze Crazyflie 2.0
- Omnibus F4 SD
- Holybro Durandal
- Holybro Kakute F7
- Raspberry PI with Navio 2
Additional information about supported hardware can be found in PX4 user Guide > Autopilot Hardware.
Project Roadmap
A high level project roadmap is available here.