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8ea0b2d3c5
Move into functions. Reset probation time and recalculate checks if a mode change is demanded to give the operator ability to regain control as soon as possible after nav performance is regained. (+11 squashed commits) Squashed commits: [a4bb800] commander: enable pilot to quickly recover from loss of position accuracy [19e16a0] commander: rework postal probation time [f96284e] commander: rework bad pos and vel test probation time [00d5f0c] commander: Allow EKF preflight checks to pass with moving vehicle Separates the 'is using GPS' and the GPS quality checks. Uses a reasonable subset of the GPS quality checks which allows checks to pass if the vehicle is moving. [4cdfb5c] commander: remove unused variable [349385a] commander: add EKF GPS quality checks to pre-arm checking Only perform check if GPs checking is activated by parameter setting. Display fault messages that makes it clear if EKF quality checks are failing or the EKF is not using GPS for another reason. We do not want to confuse this with GPS lock. [340ae29] commander: make position invalid fail-safe more sticky Require check to pass for 7 seconds before exiting failsafe. This is required because if GPs is failing innovation tests for a prolonged period, the EKF will periodically reset to the GPS and report good accuracy at the time of reset. Adding this delay gives time for an underlying error condition (eg bad IMU or compass) to be re-detected. [b04ac95] commander: Increase RAM allocation to eliminate low stack warnings [9dca12f] commander: add missing position invalid fail-safe responses [69f264d] commander: Update position invalid fail-safe responses Replace separate logic for each case with a generic function Add velocity checks. [8e8cef1] commander: rework position validity checks Consolidate existing checks for global and local position validity and add checking of velocity accuracy. Enable checks to be bypassed using the CBRK_VELPOSERR parameter.
PX4 Pro Drone Autopilot
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.
- Official Website: http://px4.io (License: BSD 3-clause, LICENSE.md)
- Supported airframes:
- Multicopters
- Fixed wing
- VTOL
- many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
- Releases: Downloads
Please refer to the user documentation and user forum for flying drones with the PX4 flight stack.
Weekly Dev Call
The PX4 Dev Team syncs up on a weekly dev call.
- Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time
- Uber conference (dial-in or web client)
- The agenda is announced in advance on the PX4 Discuss
- Issues and PRs may be labelled devcall to flag them for discussion
Developers
Maintenance Team
- Project / Founder - Lorenz Meier
- Dev Call - Ramon Roche
- Communication Architecture - Beat Kueng, Julian Oes
- UI / UX - Gus Grubba
- Multicopter Flight Control - Dennis Mannhart, Matthias Grob
- VTOL Flight Control - Roman Bapst, Andreas Antener, Sander Smeets
- Fixed Wing Flight Control - Daniel Agar, Paul Riseborough
- Racers - Anton Matosov
- OS / drivers - David Sidrane
- UAVCAN / Industrial - Pavel Kirienko
- State Estimation - James Goppert, Paul Riseborough
- VIO - Mohammed Kabir, Christoph Tobler
- Obstacle Avoidance - Vilhjalmur Vilhjalmsson
- Snapdragon - Mark Charlebois
- Intel Aero - Lucas de Marchi, Simone Guscetti
- Raspberry Pi / Navio - Beat Kueng
- Parrot Bebop - Michael Schaeuble
- Airmind MindPX / MindRacer - Henry Zhang
Supported Hardware
This repository contains code supporting these boards:
- Snapdragon Flight
- Intel Aero
- Raspberry PI with Navio 2
- Parrot Bebop 2
- FMUv1.x
- FMUv2.x
- FMUv3.x (Pixhawk 2 / 2.1 Cube)
- FMUv4.x
- Pixracer
- Pixhawk 3 Pro
- FMUv5.x (ARM Cortex M7, future Pixhawk)
- STM32F4Discovery (basic support) Tutorial
- Gumstix AeroCore (v1 and v2)
- Airmind MindPX V2.8
- Airmind MindRacer V1.2
- Bitcraze Crazyflie 2.0
Project Milestones
The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.