PX4 Seminar I – Overview / Building / Flashing

Jungtaek Kim


Summary

  1. PX4 Seminar – Big Picture, Building and Flashing
  2. 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
  3. 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
  4. 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
  5. PX4 General Structure
  6. Entire System with Comm. Modules
  7. 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
  8. Building 1. 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
  9. Flashing • /Images/px4fmu-v2_default.px4 • make upload px4fum-v2_default
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