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
Please clone the repository with the following command:
$ git clone --recursive https://github.com/arplaboratory/PX4-Autopilot-fw.git
Once cloned:
$ cd PX4-Autopilot-fw
$ git checkout v1.15.0/fixedwing
Once in the correct branch, please execute the following commadn to initialize the proper submodule for gazebo-sitl-classic
$ cd /PX4-Autopilot-fw/Tools/simulation/gazebo-classic
$ git remote set-url origin https://github.com/arplaboratory/PX4-SITL_gazebo-classic.git
$ git fetch
$ git checkout feature/thermals_ros2
or run the script:
$ cd /PX4-Autopilot-fw
$ chmod +x git_setup.bash
$ ./git_setup.bash
$ bash ./PX4-Autopilot-fw/Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx
$ cd ${HOME}/px4/PX4-Autopilot-fw
$ make px4_sitl
After the installation, to easy ryn other istances of PX4 and gazebo, it is advisable to add the following command to the bashrc:
make_plane() {
export PX4_SITL_WORLD=windy
export world=windy
PX4_UXRCE_DDS_NS="$1" make px4_sitl gazebo-classic_advanced_plane
}
save and do:
$ source ~/.bashrc
The PX4 User Guide explains how to assemble supported vehicles and fly drones with PX4. See the forum and chat if you need help!
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!
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.
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
| Sector | Maintainer |
|---|---|
| Founder | Lorenz Meier |
| Architecture | Daniel Agar / Beat Küng |
| State Estimation | Mathieu Bresciani / Paul Riseborough |
| OS/NuttX | David Sidrane |
| Drivers | Daniel Agar |
| Simulation | Jaeyoung Lim |
| ROS2 | Beniamino Pozzan |
| Community QnA Call | Ramon Roche |
| Documentation | Hamish Willee |
| Vehicle Type | Maintainer |
|---|---|
| Multirotor | Matthias Grob |
| Fixed Wing | Thomas Stastny |
| Hybrid VTOL | Silvan Fuhrer |
| Boat | x |
| Rover | x |
See also maintainers list (px4.io) and the contributors list (Github). However it may be not up to date.
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
For the most up to date information, please visit PX4 user Guide > Autopilot Hardware.
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
- FMUv6X and FMUv6C
- FMUv5 and FMUv5X (STM32F7, 2019/20)
- FMUv4 (STM32F4, 2015)
- FMUv3 (STM32F4, 2014)
- FMUv2 (STM32F4, 2013)
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
- ARK Electronics ARKV6X
- CubePilot Cube Orange+
- CubePilot Cube Orange
- CubePilot Cube Yellow
- Holybro Durandal
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Holybro Kakute F7
These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
Note: Outdated
A high level project roadmap is available here.
The PX4 Autopilot project including all of its trademarks is hosted under Dronecode, part of the Linux Foundation.
