e4f4d240b6
- higher airspeed targets
- higher pusher thrust
- higher takeoff attitude (arsp failure test)
in the airspeed failure case, the lowered airspeed reading causes the
controller to want to speed up until the (wrong) airspeed is at the
setpoint, i.e. the real airspeed quite a bit faster. without these
fixes, tecs does a nosedive to regain airspeed, but never becomes fast
enough (with already maxed out pusher thrust). we pervent this with
the first two adaptations, while the last one gives space for the
remaining nosedive.
fix this permanently by:
- ensuring the model makes sense definitely (pusher thrust, mass, aero
properties)
- noticing the failure faster
- adapting tecs so it doesn't nosedive?
- stop sending airspeed in sih
src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
is already doing that. in the sensor failure case (wrong), that implements
the failure, but the SIH one not, giving conflicting data. so switch
it off
- larger acceptance radius
quadx position mode is just not that accurate. is it a control/model
mismatch problem, or a simulation problem?
- wait longer for disarm in test_vtol_rtl
this would fail at large speed factors previously. timing bug or
acceptable small variation?
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, Spacecraft, etc)
- Releases: Downloads
Releases
Release notes and supporting information for PX4 releases can be found on the Developer Guide.
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 the latest list of maintainers on MAINTAINERS file at the root of the project.
For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under LFX Insights. For information on how to update your profile and affiliations please see the following support link on how to Complete Your LFX Profile. Dronecode publishes a yearly snapshot of contributions and achievements on its website under the Reports section.
Supported Hardware
For the most up to date information, please visit PX4 User Guide > Autopilot Hardware.
Project Governance
The PX4 Autopilot project including all of its trademarks is hosted under Dronecode, part of the Linux Foundation.
