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PX4 Pro Drone Autopilot

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Gitter

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.

Users

Please refer to the user documentation and user forum for flying drones with the PX4 flight stack.

Developers

Maintenance Team

Supported Hardware

This repository contains code supporting these boards:

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

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Languages

  • C++ 59.6%
  • C 26.5%
  • Python 6.1%
  • CMake 5.8%
  • Shell 1.1%
  • Makefile 0.5%
  • Other 0.4%