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, Spacecraft, etc)
• Releases: Downloads

Releases

Release notes and supporting information for PX4 releases can be found on the Developer Guide.

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

See the latest list of maintainers on MAINTAINERS file at the root of the project.

For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under LFX Insights. For information on how to update your profile and affiliations please see the following support link on how to Complete Your LFX Profile. Dronecode publishes a yearly snapshot of contributions and achievements on its website under the Reports section.

Supported Hardware

For the most up to date information, please visit PX4 User Guide > Autopilot Hardware.

Project Governance

The PX4 Autopilot project including all of its trademarks is hosted under Dronecode, part of the Linux Foundation.

Contributing to PX4 Firmware

We follow the Github flow development model.

Fork the project, then clone your repo

First fork and clone the project project.

Create a feature branch

Always branch off main for new features.

git checkout -b mydescriptivebranchname

Edit and build the code

The developer guide explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our coding style when editing files.

Commit your changes

Always write descriptive commit messages and add a fixes or relates note to them with an issue number (Github will link these then conveniently)

Example:

Change how the attitude controller works

- Fixes rate feed forward
- Allows a local body rate override

Fixes issue #123

Test your changes

Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.

Push your changes

Push changes to your repo and send a pull request.

Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to Flight Review and link the resulting report.