PX4 is an independent, open-source, open-hardware project aiming at providing a high-end autopilot to the academic, hobby and industrial communities (BSD licensed) at low costs and high availability. It is a complete hardware and software platform, much like a computer, and can run multiple autopilot applications (e.g. the PX4 native flight stack or APM). It is supported by the PIXHAWK Project of the Computer Vision and Geometry Lab of ETH Zurich (Swiss Federal Institute of Technology) and by the Autonomous Systems Lab and the Automatic Control Laboratory as well from a number of excellent invididuals (Contact and Credits) and available from 3D Robotics and international 3DR distributors.

We are always looking for new developers! Get in touch via Google+ or use the Freenode #px4 chat channel (web client) or the PX4 Users Forum (Web View) to get help and propose new ideas (subscribe). PX4 has a very active development community. Last GIT commit:

Software Stack

The PX4FMU autopilot module runs a very efficient real-time operating system (RTOS), which provides a POSIX-style environment (i.e. printf(), pthreads, /dev/ttyS1, open(), write(), poll(), ioctl(), etc). The software can be updated with an USB bootloader. PX4 communicates to ground control stations via MAVLink and can be operated with QGroundControl 2.0. All software is open-source and BSD licensed.

Our autopilot hardware always runs the PX4 / NuttX operating system, but can run different flight control stacks. If you have questions on vehicle setup, please head to your software choice.

Autopilot Modules

PIXHAWK is the all-in-one unit, combining FMU and IO into a single package. With hardware floating point unit and SIMD. Details.

  • 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
  • Order from 3D Robotics Store
  • Order from Unmanned Tech
  • Order from BYOD
  • Order from UAV store
  • Order from onDrone UK

The PX4 project has a lot more hardware units to offer, including an optical flow sensor board. Check out all PX4 hardware modules.

Contact and Credits

If you want to contact us, please write to the mailing list (preferred) at the PX4 Users Forum or to the project maintainer Lorenz Meier, lm@inf.ethz.ch. A list of previously asked questions and answers is here, or contact the people listed on the Contact and Credits page. We also have partners supporting this effort and you can add your own project to the list of projects using PX4.

Issue Reports

If you encounter bugs, mishaps or have any other comment that might help us improving our software or hardware, please submit a bug report via Github. We will follow these up!

If you have any problems in flight, please attach the log to the bug report. Logs can be found on SD card in log directory. Log can tell developers much more than words and video. Also, you can try to analyze logs yourself using FlightPlot.

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