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David Sidrane dedad87e82 nxp_fmurt1062-v1:Force no no-unaligned-access 
This results in a load saving (no dcache) of 16.82% at a cost
  of 0.03% Flash, .07% XIP Flash and .45% SRAM

Forced Alighment

With: -mno-unaligned-access

Memory region         Used Size  Region Size  %age Used
           flash:      606568 B         7 MB      8.26%
        flashxip:      622920 B         1 MB     59.41%
            sram:      640848 B       856 KB     73.11%
            itcm:          0 GB         0 GB
            dtcm:          0 GB       128 KB      0.00%

 PID COMMAND                   CP
   0 Idle Task                   87640 20.047   204/  748   0 (  0)  READY  3
   1 hpwork                          0  0.000   332/ 1784 249 (249)  w:sig  3
   2 lpwork                         26  0.008   780/ 1616  50 ( 50)  w:sig  4
   3 init                            0  0.000  1980/ 2928 100 (100)  w:sem  3
   4 wq:manager                      0  0.000   508/ 1256 255 (255)  w:sem  4
 327 navigator                     910  0.204  1124/ 1832 105 (105)  READY  6
  23 wq:lp_default                3479  0.795  1252/ 1920 205 (205)  READY  4
  30 wq:hp_default               23554  5.415  1332/ 1904 237 (237)  READY  4
  47 dataman                         0  0.000   820/ 1208  90 ( 90)  w:sem  4
  57 wq:I2C1                     26849  6.190  1060/ 2336 246 (246)  w:sem  4
  60 wq:I2C2                     24045  5.440   732/ 2336 245 (245)  w:sem  4
  86 wq:SPI1                     47127 10.804  1352/ 2336 253 (253)  w:sem  4
  91 wq:I2C3                      1935  0.436   980/ 2336 244 (244)  w:sem  4
 101 wq:SPI3                      6932  1.585  1028/ 2336 251 (251)  w:sem  4
 237 wq:nav_and_controllers      16743  3.832  1236/ 2240 242 (242)  w:sem  4
 248 wq:rate_ctrl                 9008  2.074  1572/ 1952 255 (255)  w:sem  4
 250 wq:INS0                     37182  8.450  4372/ 6000 241 (241)  w:sem  4
 264 commander                   29395  6.732  1260/ 3224 140 (140)  READY  5
 287 mavlink_if0                 60513 13.828  1876/ 2728 100 (100)  READY  4
 294 mavlink_rcv_if0              5946  1.387  1292/ 4560 175 (175)  READY  4
 307 wq:UART5                     3345  0.770   844/ 1632 229 (229)  READY  4
 370 log_writer_file                 0  0.000   372/ 1176  60 ( 60)  w:sem  3
 369 logger                       2121  0.484  2468/ 3648 230 (230)  READY  3
 393 top                         37523  8.641  3060/ 4080 237 (237)  RUN    3

Processes: 24 total, 10 running, 14 sleeping
CPU usage: 77.08% tasks, 2.87% sched, 20.05% idle
DMA Memory: 5120 total, 1024 used 1024 peak
Uptime: 441.946s total, 87.640s idle

Allow Un-Alighment
With Out: -mno-unaligned-access
Memory region         Used Size  Region Size  %age Used
           flash:      604008 B         7 MB      8.23%   8.26%    +0.03

        flashxip:      622240 B         1 MB     59.34%  59.41%    +0.07
            sram:      636752 B       856 KB     72.64%  73.11%    +0.45
            itcm:          0 GB         0 GB
            dtcm:          0 GB       128 KB      0.00%  0.00%

 PID COMMAND                   CPU(ms) CPU(%)  USED/STACK PRIO(BASE) STATE FD
   0 Idle Task                    2418  3.190   264/  748   0 (  0)  READY  3
   1 hpwork                          0  0.000   332/ 1784 249 (249)  w:sig  3
   2 lpwork                         12  0.004   852/ 1616  50 ( 50)  w:sig  3
   3 init                            0  0.000  1932/ 2928 100 (100)  w:sem  3
   4 wq:manager                      0  0.000   548/ 1256 255 (255)  w:sem  4
 327 navigator                      22  0.203  1052/ 1832 105 (105)  READY  6
  23 wq:lp_default                  83  0.743  1252/ 1920 205 (205)  READY  4
  30 wq:hp_default                 637  5.886  1332/ 1904 237 (237)  READY  4
  47 dataman                         0  0.000   820/ 1208  90 ( 90)  w:sem  4
  57 wq:I2C1                       162  1.063  1060/ 2336 246 (246)  w:sem  4
  60 wq:I2C2                        98  0.500   732/ 2336 245 (245)  w:sem  4
  86 wq:SPI1                      1166 10.771  1352/ 2336 253 (253)  w:sem  4
  91 wq:I2C3                        48  0.437  1060/ 2336 244 (244)  w:sem  4
 101 wq:SPI3                       178  1.653  1028/ 2336 251 (251)  w:sem  4
 237 wq:nav_and_controllers        410  3.781  1324/ 2240 242 (242)  w:sem  4
 248 wq:rate_ctrl                  222  2.050  1572/ 1952 255 (255)  w:sem  4
 250 wq:INS0                       940  8.691  4372/ 6000 241 (241)  w:sem  4
 264 commander                     753  6.475  1472/ 3224 140 (140)  READY  5.03
 287 mavlink_if0                  1440 13.973  1780/ 2728 100 (100)  READY  4
 294 mavlink_rcv_if0               139  1.304  1276/ 4560 175 (175)  READY  4
 307 wq:UART5                       83  0.785   828/ 1632 229 (229)  READY  4
 370 log_writer_file                 0  0.000   372/ 1176  60 ( 60)  w:sem  3
 369 logger                         54  0.493  2468/ 3648 230 (230)  READY  3
 393 top                          1053 10.015  3060/ 4080 237 (237)  RUN    3
 396 mavlink_rcv_if1               166  1.608  1380/ 4560 175 (175)  READY  4
 395 mavlink_if1                  2167 23.459  1812/ 2824 100 (100)  READY  4

Processes: 26 total, 12 running, 14 sleeping
CPU usage: 93.90% tasks, 2.91% sched, 3.19% idle     77.08% tasks, 2.87% sched, 20.05% idle -16.82%
DMA Memory: 5120 total, 1024 used 1024 peak
Uptime: 18.242s total, 2.419s idle
2021-11-05 13:50:02 -04:00
.ci
Support for Raspberry PI RP2040 MCU (#18083)
2021-11-03 12:14:30 -04:00
.devcontainer
ci: update container versions to 2021-09-08
2021-09-09 09:43:15 +02:00
.github
Support for Raspberry PI RP2040 MCU (#18083)
2021-11-03 12:14:30 -04:00
.vscode
Support for Raspberry PI RP2040 MCU (#18083)
2021-11-03 12:14:30 -04:00
boards
nxp_fmurt1062-v1:Force no no-unaligned-access
2021-11-05 13:50:02 -04:00
cmake
cmake: px4_add_module always add module to PX4_MODULE_PATHS so that parameters aren't pruned
2021-10-27 23:00:40 -04:00
Documentation
DriverFramework purge
2020-01-13 14:07:03 -05:00
integrationtests/python_src/px4_it
Improve offboard failsafe (#18160)
2021-09-08 18:19:53 +02:00
launch
Fix roslaunch multivehicle regression caused by #16497
2021-01-12 21:19:36 +01:00
mavlink/include/mavlink
Update submodule mavlink v2.0 to latest Sun Sep 5 12:39:18 UTC 2021
2021-09-05 20:42:54 -04:00
msg
FD: use flags union instead of bitmask
2021-11-05 09:45:52 -04:00
platforms
Build system:Board level control of no-unaligned-access
2021-11-05 13:50:02 -04:00
posix-configs
gyro_fft: require higher SNR for initially tracking a peak
2021-10-04 10:17:16 -04:00
ROMFS
mc_autotune_attitude_control: add new MC_AT_EN parameter to enable
2021-11-05 09:52:07 -04:00
src
addressed review comments
2021-11-05 18:04:33 +01:00
test
Improve offboard failsafe (#18160)
2021-09-08 18:19:53 +02:00
test_data
ghst: keep the previous values for channels that are not updated
2021-02-20 11:29:57 +01:00
Tools
Kconfig merge_config only set to 'n' when BOOL
2021-11-02 09:34:21 -04:00
validation
px4io: add dynamic mixing support
2021-10-18 18:45:19 -04:00
.ackrc
ack: add .ackrc to ignore the Documentation directory
2016-04-11 11:23:01 +02:00
.clang-tidy
clang-tidy ignore modernize-raw-string-literal for now
2021-10-20 08:10:05 +02:00
.gitattributes
gitattributes eol=lf for nearly all file types
2020-08-05 11:32:26 -04:00
.github_changelog_generator
Changelog generator default params
2017-12-30 11:27:57 +01:00
.gitignore
drivers/distance_sensor: New Broadcom AFBR-S50LV85D distance sensor driver
2021-06-15 12:12:24 -04:00
.gitmodules
update UAVCAN-v0 dsdl to DroneCAN
2021-11-04 21:36:13 -04:00
.travis.yml
travis: change coverity to run on master
2020-01-16 13:31:41 -05:00
.ycm_extra_conf.py
update C++ standard (c++11 -> c++14)
2020-01-21 21:49:10 -05:00
appveyor.yml
appveyor: switch to Cygwin toolchain v0.9
2020-03-24 13:31:41 +00:00
CMakeLists.txt
[Kconfig] Replace find_executable by python module, moved python check before calling kconfig
2021-10-07 10:09:01 -04:00
CODE_OF_CONDUCT.md
Create CODE_OF_CONDUCT.md
2017-07-30 19:18:49 +02:00
CONTRIBUTING.md
Update CONTRIBUTING.md
2020-04-29 22:49:30 +01:00
CTestConfig.cmake
gather test results
2017-01-02 10:14:41 +01:00
eclipse.cproject
boards new split VENDOR_MODEL naming convention
2018-11-26 14:40:14 -08:00
eclipse.project
boards new split VENDOR_MODEL naming convention
2018-11-26 14:40:14 -08:00
Firmware.sublime-project
boards new split VENDOR_MODEL naming convention
2018-11-26 14:40:14 -08:00
Jenkinsfile
[Kconfig] Add all distance sensors
2021-10-07 10:09:01 -04:00
Kconfig
Kconfig: add missing serial ports
2021-10-27 08:03:55 +02:00
LICENSE
Update current year in LICENSE
2021-02-02 23:05:48 +01:00
Makefile
module_schema.yaml: add actuator_output section
2021-10-18 18:45:19 -04:00
package.xml
Remove eigen leftovers
2019-10-07 12:04:50 +02:00
PULL_REQUEST_TEMPLATE.md
PULL_REQUEST_TEMPLATE: change order of titles (#13174)
2019-10-14 13:11:44 +02:00
README.md
README: update slack invite and badge
2021-07-28 07:39:20 +02:00

README.md

PX4 Drone Autopilot

Releases DOI

Nuttx Targets SITL Tests

Slack

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.

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

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

Manufacturer and Community supported

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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Description
a mirror of official PX4-Autopilot
Readme BSD-3-Clause
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C++ 51.2%
C 38.5%
CMake 4.7%
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Shell 1.3%
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