NextPilot Flight Control System

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NextPilot是一款的高性能高可靠的自动驾驶仪，支持多旋翼、复合翼、固定翼等。软件框架(param/workq)、通信中间层（uorb/mavlink）、控制算法等参考或移植于PX4 V1.14.2项目，并基于国产RT-Thread V5.0.2实时操作系统进行打造。

1. 采用国产RT-Thread实时嵌入式操作系统，拥有高可靠和自主可控等特性；
2. 支持MATLAB/Simulink工具链，应用MBD进行飞控算法设计、仿真、验证；
3. 支持模型在环(MIL)、软件在环(SIL)、硬件在环(HIL)、仿真在环(SIH)等各种飞行验证。

System Architecture

Supported Vehicle

• Multirotor: quad, six, oct, hex
• Fixed Wing: plane
• Hybrid VTOL: standard, tailsitter, tiltrotor

NextPilot use airframe set Vehicle parameters and start modules.

Supported Function

Peripheral

• sensors: gnss/gps/rtk, IMU(gyro, accel), baro, mag, airspeed
• actuator: pwm, can
• battery: smart, analog
• radio control: s.bus
• notification: led, tunes, safety_button
• payload:

Controller

• Flight Mode: manul, arco, att, alt, pos; takeoff, land, mission, loiter, rtl, follow; offboard
• Safety: geofence, low power, gnss loss, rc loss, datalink loss, engine failure, etc

Estimator

• Gyro fft:
• Sensor Vote:
• Wind estimator:

Telemetry

• mavlink
• uavcan

Simulation

• SITL: qemu + SIH
• HITL: SIH

Supported Hardware

目前 NextPilot 支持 PX4 FMUv5 系列开源硬件，以及 NextPilot 自主开发的飞控硬件。

Document

User Manual

Getting Started | Flight Mode | Simulation

Develeop Guide

Getting Started | System Startup | Build Tools

The main IDE/compilers supported by NextPilot are:

• MDK KEIL
• ARM GCC + VSCode

License

NextPilt follows the BSD 3-Clause License. It's completely open-source, can be used in commercial applications for free, does not require the disclosure of code, and has no potential commercial risk.

Contribution

If you are interested in NextPilot and want to join in the development of NextPilot and become a code contributor, please refer to the Code Contribution Guide.

Thanks for the following contributors!