PX4 Autopilot Extended to Fully-Actuated Multirotors

This is the repository for the PX4 autopilot with the enhanced ability to work with fully-actuated robots. It additionally provides implementations of attitude strategies for fully-actuated multorotors that allow the 6-DoF flight. It includes the definitions for a hexarotor with all rotors tilted sideways and has been tested on several UAVs.

For more information and to access the publications, please visit the AirLab's website.

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, 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
- Dev Call - Ramon Roche
Communication Architecture
- Beat Kueng
- Julian Oes
UI in QGroundControl
- Gus Grubba
Multicopter Flight Control
- Mathieu Bresciani
Multicopter Software Architecture
- Matthias Grob
VTOL Flight Control
- Roman Bapst
Fixed Wing Flight Control
- Roman Bapst
OS / NuttX David Sidrane
Driver Architecture Daniel Agar
Commander Architecture Julian Oes
UAVCAN Daniel Agar
State Estimation - Paul Riseborough
Vision based navigation
- Julian Kent
Obstacle Avoidance - Martina Rivizzigno
RTPS/ROS2 Interface - Nuno Marques

See also About Us (px4.io) and the contributors list (Github).

Supported Hardware

This repository contains code supporting these boards:

Additional information about supported hardware can be found in PX4 user Guide > Autopilot Hardware.

Project Roadmap

A high level project roadmap is available here.

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