PX4 stack fork for Aerial Additive Manufacturing

This is my fork of the PX4 autopilot stack, mainly for simulation-based testing of aerial 3D printing with a custom drone.

Setup instructions

Clone this repo in '~/catkin_ws/src':

cd ~/catkin_ws/src
git clone https://github.com/lachie-aerialrobotics/PX4-Autopilot.git

Get all the submodules:

git submodule update --init --recursive

Set a git tag:

git tag -a v<PX4 version>-<custom version>

(For example: git tag -a v1.9.0-MyVersion)

Flash firmware

A number of the outputs in 'mavlink_main.cpp' have been supressed to allow 300Hz streaming of imu data

To flash onto a Pixhawk 4, plug in via USB and run:

make px4_fmu-v5_default upload

Gazebo

To test flying the hexacopter, first update any changes to the .sdf:

cd PX4-Autopilot/Tools/sitl_gazebo/models/Hex
erb Hex.sdf.erb > Hex.sdf

Then run make px4_sitl gazebo_Hex in the PX4_Autopilot directory

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, etc)
Releases: Downloads

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

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 and Obstacle Avoidance
- Markus Achtelik
RTPS/ROS2 Interface
- Nuno Marques

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

FMUv6X and FMUv6U (STM32H7, 2021)
- Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
FMUv5 and FMUv5X (STM32F7, 2019/20)
FMUv4 (STM32F4, 2015)
- Pixracer
- Pixhawk 3 Pro
FMUv3 (STM32F4, 2014)
FMUv2 (STM32F4, 2013)
- Pixhawk
- Pixfalcon

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.

lachie-aerialrobotics / PX4-Autopilot

readme