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

• Developer Forum
• Guide for Contributions
• Developer guide

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)
• Erle-Brain 2
• PXFmini

Project Milestones

The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.

WORK GUIDE UNDER OSX

Dependencies

• Installing brew, link.

brew tap PX4/homebrew-px4
brew tap osrf/simulation
brew update
brew install git bash-completion genromfs kconfig-frontends gcc-arm-none-eabi
brew install astyle cmake

• Python packages:

sudo easy_install pip
sudo pip install pyserial empy

• Raspberry Pi Toolchain link, download the arm-linux-gnueabihf-raspbian 4.9 2014.05 for Mac OS X (5687) package.

Compile

• Clone the repo:

git clone https://github.com/erlerobot/Firmware_private cd Firmware_private

• Set the environment:

export RPI_TOOLCHAIN_DIR=/usr/local/linaro/arm-linux-gnueabihf-raspbian

• Compile for Erle-Brain2:

make posix_erlebrain2_default

• Compile for PXFmini:

make posix_pxfmini_default

SIMULATION

Install simulator (OS X instructions)

brew tap PX4/homebrew-px4
brew tap osrf/simulation
brew update
brew cask install xquartz
brew install homebrew/science/opencv
brew install gazebo7

Quadcopter (Iris):

make posix_sitl_default gazebo_erlecopter
commander takeoff # take off the drone
commander land

Quadcopter with optical flow (Iris):

make posix_sitl_default gazebo_iris_opt_flow

Standard VTOL :

make posix_sitl_default gazebo_standard_vtol

Tailsitter VTOL:

make posix_sitl_default gazebo_tailsitter