Download - PX4 Seminar 01
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PX4 Autopilot• Independent, open-source, open-hardware autopilot
system oriented toward autonomous aircraft
• BSD License
• Started in 2009
• Be being developed and used at Computer Vision and Geometry Lab of ETH Zurich and supported by the Autonomous Systems Lab and the Automatic Control Laboratory
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Main Software Modules• PX4 Flight Stack
• Flight control modules (Controller, Attitude estimator, MAVLink and etc)
• PX4 Middleware
• Drivers, uORB
• PX4 ESC Firmware
• PX4 Bootloader
• Operating System
• NuttX OS
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Pixhawk• 168 MHz Cortex M4F CPU (256 KB RAM, 2 MB
Flash)
• Sensors: 3D ACC / Gyro / MAG / Baro
• Integrated backup, override and failsafe processor with mixing
• microSD slot, 5 UARTs, CAN, I2C, SPI, ADC, etc
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PX4General
Structure
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Entire Systemwith
Comm. Modules
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Dependency Package
python-serial python-argparse openocd flex bison libncurses5-dev autoconf texinfo build-essential libftdi-dev libtool zlib1g-dev genromfs git-core wget zip python-empy
gcc-arm-none-eabi
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Building1. git clone https://github.com/PX4/Firmware
2. git submodule init
3. git submodule update
4. sudo make distclean
5. sudo make archives
6. sudo make
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Flashing
• /Images/px4fmu-v2_default.px4
• make upload px4fum-v2_default
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Reference• http://en.wikipedia.org/wiki/PX4_autopilot
• https://pixhawk.org/start
• https://pixhawk.org/firmware/source_code
• https://github.com/PX4
• https://pixhawk.org/dev/nuttx/building_and_flashing_console
• https://pixhawk.org/dev/toolchain_installation_lin