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ef7ade52b1
This fixes the following case: 1. VTOL in auto mission descends to land 2. _in_landing is set to true correctly 3. _lnd_reached_ground is set to true because it's detected, motors idle. 4. The vehicle might drop for a few centimeters and _acc_z_lp goes back up above 4m/s^2, so freefall is detected. 5. The motors spin up again, and _in_landing and _lnd_reached_ground are both reset to false. 6. Since we're floating at a few centimeters, we can't actyally get to _vel_z_lp > 0.5, and therefore _in_landing is never triggered after. 7. Thus we never finish the landing. This is fixed by only resetting _lnd_reached_ground to false but leaving _in_landing true.
PX4 Pro Drone Autopilot
This repository holds the PX4 Pro 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.md)
- Supported airframes (more experimental types than listed here are supported):
- Multicopters
- Fixed wing
- VTOL
- Releases: Downloads
Users
Please refer to the user documentation and user forum for flying drones with the PX4 flight stack.
Developers
Maintenance Team
- Project / Founder - Lorenz Meier
- Dev Call - Mark Whitehorn, Ramon Roche
- Communication Architecture - Beat Kueng, Julian Oes
- UI / UX - Gus Grubba
- Multicopter Flight Control - Dennis Mannhart, Matthias Grob
- VTOL Flight Control - Roman Bapst, Andreas Antener, Sander Smeets
- Fixed Wing Flight Control - Daniel Agar, Paul Riseborough
- Racers - Mark Whitehorn
- OS / drivers - David Sidrane
- UAVCAN / Industrial - Pavel Kirienko
- State Estimation - James Goppert, Paul Riseborough
- VIO - Christoph Tobler
- Obstacle Avoidance - Vilhjalmur Vilhjalmsson
- Snapdragon - Mark Charlebois
- Intel Aero - Lucas de Marchi, Simone Guscetti
- Raspberry Pi / Navio - Beat Kueng
- Parrot Bebop - Michael Schaeuble
Supported Hardware
This repository contains code supporting these boards:
- Snapdragon Flight
- Intel Aero
- Raspberry PI with Navio 2
- Parrot Bebop
- FMUv1.x
- FMUv2.x (Pixhawk and Pixfalcon)
- FMUv3.x (Pixhawk 2)
- FMUv4.x (Pixhawk 3 Pro and Pixracer)
- FMUv5.x (ARM Cortex M7, future Pixhawk)
- AeroCore (v1 and v2)
- STM32F4Discovery (basic support) Tutorial
- MindPX V2.8 [Tutorial] (http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
- MindRacer V1.2 [Tutorial] (http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
Project Milestones
The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.