PX4 autopilot

PX4 autopilot is an open-source autopilot system oriented toward inexpensive autonomous aircraft.[1]

PX4 AutoPilot
Developer(s)PX4 Development Team and Community
Initial releaseMarch 2012
Repositoryhttps://github.com/PX4/Firmware
Written inC++
Operating systemNuttX, ROS
LicenseBSD-3-Clause
Websitehttp://px4.io

Low cost and availability enable hobbyist use in small remotely piloted aircraft. The project started in 2009[2] and is being further developed and used at Computer Vision and Geometry Lab of ETH Zurich (Swiss Federal Institute of Technology) and supported by the Autonomous Systems Lab and the Automatic Control Laboratory. Several vendors are currently producing PX4 autopilots and accessories.[3]

Overview

An autopilot allows a remotely piloted aircraft to be flown out of sight. All hardware and software is open-source and freely available to anyone under a BSD license. Free software autopilots provide more flexible hardware and software. Users can modify the autopilot based on their own special requirements.

The open-source software suite contains everything to let airborne system fly including

  • QGroundControl[4] and MAVLink Micro Air Vehicle Communication Protocol[5]
  • 2D/3D aerial maps (with Google Earth support)
  • Drag-and-drop waypoints

Other open-source robotics projects similar to PX4 include:

Supported hardware

List of autopilot hardware supported by PX4 autopilot flight stack.

Autopilot hardware name FMU version IO coprocessor External SPI External I²C CAN interface ADC interface UART interface PWM output PWM / GPIO / PWM input S.BUS / PPM / Spektrum input S.BUS output Type of Connectors Weight [g] Opensource hardware
Pixhawk 1 v2 yes 1 1 1 1 4 8 6 yes yes Molex Hirose DF13 38 yes
mRo Pixhawk Flight Controller v3 yes 1 1 1 1 5 8 6 yes yes Molex Hirose DF13 38 yes
mRo-X2.1 Autopilot v2 yes - 1 1 1 4 8 6 - - JST-GH 11 yes
HKPilot32 v3 yes 1 1 1 1 5 8 6 yes yes Molex Hirose DF13 33 no
Pixfalcon Flight Controller v2 yes 1 1 1 1 2 8 6 yes yes Molex Hirose DF13 16 no
DroPix Flight Controller v2 yes 0 1 0 1 1 8 4 yes no Pin header 15 no
Pixracer v3 no 0 1 1 0 2 6 - yes no JST-GH 10 no
Cube Flight Controller v3 yes 0 1 2 1 4 8 6 yes no JST-GH - yes
Pixhawk Mini v2 yes 0 1 1 0 2 8 - yes no Micro JST 16 no
Pixhawk 3 Pro v4 yes 2 2 2 0 4 8 6 yes no JST-GH 83 no
Pixhack V3 v3 yes 0 0 1 0 2 8 5 yes no JST-GH 63 partially
Pixhawk 4 v5 yes 1 2 2 1 2 8 8 yes yes JST-GH - no
CUAV v5 v5 yes 1 2 2 1 4 8 6 yes yes JST-GH 90 partially
CUAV v5+ v5 yes 1 2 2 1 4 8 6 yes yes JST-GH 90 partially
CUAV v5 nano v5 no 0 2 2 1 4 8 - yes no JST-GH 41 partially
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See also

References
  1. PX4 and 3D Robotics present Pixhawk: An Advanced, User-Friendly Autopilot
  2. "pixhawk Project". Archived from the original on 2017-06-11. Retrieved 2013-12-07.
  3. Uavrobotics
  4. QGroundControl
  5. "MAVLink". Archived from the original on 2018-08-18. Retrieved 2013-12-07.
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