f3cdf70732
Previously the condition was based on hard coded height rate estimate and setpoint values and an altitude error threshold. That showed to be leading to false positives when the vehicle doesn't tightly follow the altitdue ramp given by TECS to achieve a new altitude setpoint, and has become completely infeasibly with the latest TECS rework that leads to non-ramped altitude setpoint changes in the tecs_status message. The new check no longer checks the altitude error but only the height rate instead. It begins to integrate the height rate error once it detects an uncommanded descend condition (height rate negative while setpoint is positive). Integral threshold can be tuned by user (VT_QC_HR_ERROR_I). Signed-off-by: Silvan Fuhrer <silvan@auterion.com> |
||
|---|---|---|
| .ci | ||
| .clusterfuzzlite | ||
| .devcontainer | ||
| .github | ||
| .vscode | ||
| Documentation | ||
| ROMFS | ||
| Tools | ||
| boards | ||
| cmake | ||
| integrationtests/python_src/px4_it | ||
| launch | ||
| msg | ||
| platforms | ||
| posix-configs | ||
| src | ||
| test | ||
| test_data | ||
| validation | ||
| .ackrc | ||
| .clang-tidy | ||
| .gitattributes | ||
| .github_changelog_generator | ||
| .gitignore | ||
| .gitmodules | ||
| .travis.yml | ||
| .ycm_extra_conf.py | ||
| CMakeLists.txt | ||
| CODE_OF_CONDUCT.md | ||
| CONTRIBUTING.md | ||
| CTestConfig.cmake | ||
| Firmware.sublime-project | ||
| Jenkinsfile | ||
| Kconfig | ||
| LICENSE | ||
| Makefile | ||
| README.md | ||
| appveyor.yml | ||
| eclipse.cproject | ||
| eclipse.project | ||
| package.xml | ||
README.md
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, etc)
- Releases: Downloads
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
- Project: Founder
- Architecture
- Dev Call
- Communication Architecture
- UI in QGroundControl
- Multicopter Flight Control
- Multicopter Software Architecture
- VTOL Flight Control
- Fixed Wing Flight Control
- OS / NuttX
- Driver Architecture
- Commander Architecture
- UAVCAN
- State Estimation
- Vision based navigation and Obstacle Avoidance
- DDS/ROS2 Interface
See also maintainers list (px4.io) and the contributors list (Github).
Supported Hardware
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
Pixhawk Standard Boards
- FMUv6X and FMUv6U (STM32H7, 2021)
- Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
- FMUv5 and FMUv5X (STM32F7, 2019/20)
- FMUv4 (STM32F4, 2015)
- FMUv3 (STM32F4, 2014)
- FMUv2 (STM32F4, 2013)
Manufacturer and Community supported
- Holybro Durandal
- Hex Cube Orange
- Hex Cube Yellow
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Bitcraze Crazyflie 2.0
- Omnibus F4 SD
- Holybro Kakute F7
- Raspberry PI with Navio 2
Additional information about supported hardware can be found in PX4 user Guide > Autopilot Hardware.
Project Roadmap
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.
