6529e39f8b
Gripper: - Don't command gripper (via uORB `gripper` topic, which maps into an actuator via Control Allocation) if we are already at the state we want (e.g. Grabbed / Released) or in the intermediate state to the state we want -> This prevents spamming on `gripper` topic Payload Deliverer: - Add read-once function for Gripper's released / grabbed state - Send vehicle_command_ack for both release/grab actions. TODO: target_system & target_component for the released/grabbed vcmd_ack is incomplete, since we are not keeping track of the vehicle_command that corresponds to this. This needs to be dealt with in the future, not sure what the best solution it is for now. Possible solutions: - Queue-ing the vehicle command? - Tying the gripper's action to specific vehicle command one-on-one, to make sure if we send multiple vehicle commands, we know which command resulted in the action exactly?) Only command Gripper grab when we are actually initializing gripper - Previously, on every parameter update, gripper grab was being commanded - This commit narrows that scope to only when we are actually initializing the gripper Handle gripper de-initialization upon parameter change - Also added some local state initialization code to init() function of Gripper - This will now make init / de-init more graceful & controlled compared to before
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
- 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 and Obstacle Avoidance
- DDS/ROS2 Interface
See also maintainers list (px4.io) and the contributors list (Github).
Supported Hardware
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
Pixhawk Standard Boards
- FMUv6X and FMUv6U (STM32H7, 2021)
- Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
- FMUv5 and FMUv5X (STM32F7, 2019/20)
- FMUv4 (STM32F4, 2015)
- FMUv3 (STM32F4, 2014)
- FMUv2 (STM32F4, 2013)
Manufacturer and Community supported
- Holybro Durandal
- Hex Cube Orange
- Hex Cube Yellow
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Bitcraze Crazyflie 2.0
- Omnibus F4 SD
- 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.
Project Governance
The PX4 Autopilot project including all of its trademarks is hosted under Dronecode, part of the Linux Foundation.
