94326a29bb
* FW attitude control scaling fixes and cleanup This commit aligns the scaling better with the derivations in https://dev.px4.io/master/en/flight_stack/controller_diagrams.html#airspeed-scaling Integrator terms now scale with IAS^2 (all three axes) To match the roll and pitch controllers: - Yaw integrator scale is now applied during accumulation, not to integral value (so now FW_YR_IMAX is respected more intuitively) - Yaw FF term now scale with IAS instead of IAS^2 Also made a number of small changes to make the three files (roll, pitch, yaw) 3-way diffable to be clearer about what the differences among them are. * Remove unused yaw coordination method - "Coordination method" open vs. closed code removed, since closed is never used and not actually implemented. - No change to behavior * Remove PX4_WARN messages Co-authored-by: george <george@campsix.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.
- 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 - Lorenz Meier, Architecture: Daniel Agar
- Communication Architecture
- UI in QGroundControl
- Multicopter Flight Control
- Multicopter Software Architecture
- VTOL Flight Control
- Fixed Wing Flight Control
- OS / NuttX David Sidrane
- Driver Architecture Daniel Agar
- Commander Architecture Julian Oes
- UAVCAN Daniel Agar
- State Estimation - Paul Riseborough
- Vision based navigation
- Obstacle Avoidance - Martina Rivizzigno
- RTPS/ROS2 Interface - Nuno Marques
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.