PX4 Autopilot Software
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Matthias Grob b5f6699f2e mixer_module: send a last sample out after all outputs were disabled
This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.
2024-03-25 19:21:54 +01:00
.ci Jenkinsfile: correct typo, missing comma 2024-02-27 13:32:46 +01:00
.clusterfuzzlite Add clusterfuzzlite to fuzz in CI 2022-01-07 10:17:12 -05:00
.devcontainer vscode add Makefile extension to recommended and devcontainer.json 2023-09-25 12:26:29 -04:00
.github boards: new ARK Septentrio GPS CAN node(ark_septentrio-gps) 2024-02-09 10:26:09 -05:00
.vscode boards: new ARK Septentrio GPS CAN node(ark_septentrio-gps) 2024-02-09 10:26:09 -05:00
Documentation msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge 2022-10-19 19:36:47 -04:00
ROMFS ekf2-mag_auto: always use mag 3D after takeoff 2024-02-27 12:33:43 -05:00
Tools VOXL2: HRT updates for synchronization with Qurt time (#22881) 2024-03-22 15:24:51 -04:00
boards px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs 2024-03-25 19:21:54 +01:00
cmake cmake: fix kconfig cache when setting to 0 or n 2023-10-18 15:30:36 -04:00
integrationtests/python_src/px4_it integrationtests: MAVROS mission_test.py relax yaw estimate STD check for now (#22061) 2023-09-08 15:27:39 -04:00
launch rename 'gazebo' simulation to 'gazebo-classic' (#20936) 2023-01-15 11:36:12 -05:00
msg uavcan: publish new can interface status as uorb topic (#22873) 2024-03-20 12:38:47 -04:00
platforms VOXL2: HRT updates for synchronization with Qurt time (#22881) 2024-03-22 15:24:51 -04:00
posix-configs fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 17:00:04 +02:00
src mixer_module: send a last sample out after all outputs were disabled 2024-03-25 19:21:54 +01:00
srv Add srv/ folder and srv/VehicleCommand.srv 2023-11-14 11:29:17 -05:00
test MAVSDK tests: shorten Position, Altitude control flights 2024-02-22 15:29:13 +01:00
test_data lib/rc: Fix DSM2/DSMX guessing routine and DSM range checking (#18270) 2022-04-13 17:29:08 -04:00
validation GotoControl: add go-to control interface to mc position controller 2023-11-30 17:16:02 +01:00
.clang-tidy .clang-tidy: exclude some warnings 2022-07-20 01:14:04 -04:00
.editorconfig code: add more style options in `.editorconfig` 2024-03-25 09:48:09 -04:00
.gitattributes delete systemcmds/mixer 2022-09-09 09:14:09 -04:00
.gitignore .gitignore: ignore generate top level log/ folder (colcon) 2023-03-20 11:06:12 -04:00
.gitmodules VOXL2: HRT updates for synchronization with Qurt time (#22881) 2024-03-22 15:24:51 -04:00
CMakeLists.txt events: pass relative paths plus base path to source parser script (#22551) 2023-12-18 09:33:53 +01:00
CODE_OF_CONDUCT.md Create CODE_OF_CONDUCT.md 2017-07-30 19:18:49 +02:00
CONTRIBUTING.md Docs are now in user guide and main (#19977) 2022-08-01 11:39:39 +10:00
CTestConfig.cmake gather test results 2017-01-02 10:14:41 +01:00
Jenkinsfile Jenkinsfile: add 'git fetch' to failsafe target 2023-11-15 14:23:06 +01:00
Kconfig Add Zenoh pico support 2023-10-18 15:30:36 -04:00
LICENSE Update current year in LICENSE 2023-01-21 12:57:27 -05:00
Makefile Jenkins compile remove obsolete target nxp_fmurt1062-v1_default 2023-11-22 11:16:22 -05:00
README.md README.md spelling mistake corrected 2023-10-19 10:01:47 -04:00
SECURITY.md Security Vulnerability Reporting 2023-11-06 09:32:16 +01:00
package.xml initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689) 2022-12-08 23:03:44 -05:00


PX4 Drone Autopilot

Releases DOI

Nuttx Targets SITL Tests

Discord Shield

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.

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

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.

Supported Hardware

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.

Pixhawk Standard Boards

These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team

Manufacturer supported

These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.

Community supported

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.

Project Roadmap

Note: Outdated

A high level project roadmap is available here.

Project Governance

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

Dronecode Logo Linux Foundation Logo