zebulon-86
36ef9fd72c
* feat(drivers): add ST LSM6DSV16X IMU driver Add a new SPI driver for the ST LSM6DSV16X 6-axis IMU with FIFO-based accel, gyro, and temperature acquisition. The driver supports continuous FIFO mode with tagged sample parsing, DRDY interrupt triggering via FIFO threshold, and dynamic watermark configuration based on the selected sample rate. It also falls back to scheduled polling when a GPIO interrupt is not available. To improve robustness, the driver periodically validates critical register settings and limits FIFO draining per cycle. Tested on Pixhawk6C with ground testing and flight validation. * feat(boards/px4_fmu-v6c): add LSM6DSV16X support for Pixhawk6C Enable the ST LSM6DSV16X as an alternative probe-based IMU on Pixhawk6C. The sensor is configured on SPI1 with chip-select PC13 and shares the same CS and DRDY lines as the ICM42688P across all supported hardware revisions. Board startup first probes the ICM42688P and then the LSM6DSV16X, so only the IMU populated on a given board is started. This change enables the LSM6DSV16X driver in the board configuration, registers the device type in `spi.cpp`, and adds board sensor probing for the new IMU. Use rotation `-R 26` (`ROTATION_PITCH_180_YAW_90`) to match the sensor orientation on the Pixhawk6C PCB. * fix(drivers/lsm6dsv): address review comments - add missing #include <cstddef> for size_t - check FIFO status transfer() return value - fix FIFO word count to sample period conversion (DIFF_FIFO reports words, not sample periods; each sample period is 2 words) - fix drv_sensor.h macro alignment (spaces to tab) * drv_sensor: move LSM6DSV devtype into IMU range * fmu-v6c: use quiet LSM6DSV fallback probe
PX4 Drone Autopilot
This repository holds the PX4 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.
PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
- Official Website: http://px4.io (License: BSD 3-clause, LICENSE)
- Supported airframes (portfolio):
- Multicopters
- Fixed wing
- VTOL
- Autogyro
- Rover
- many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
- Releases: Downloads
Releases
Release notes and supporting information for PX4 releases can be found on the Developer Guide.
Building a PX4 based drone, rover, boat or robot
The PX4 User Guide explains how to assemble supported vehicles and fly drones with PX4. See the forum and chat if you need help!
Changing Code and Contributing
This Developer Guide is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
Developers should read the Guide for Contributions. See the forum and chat if you need help!
Weekly Dev Call
The PX4 Dev Team syncs up on a weekly dev call.
Note
The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the Dronecode calendar.
Maintenance Team
See the latest list of maintainers on MAINTAINERS file at the root of the project.
For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under LFX Insights. For information on how to update your profile and affiliations please see the following support link on how to Complete Your LFX Profile. Dronecode publishes a yearly snapshot of contributions and achievements on its website under the Reports section.
Supported Hardware
For the most up to date information, please visit PX4 User Guide > Autopilot Hardware.
Project Governance
The PX4 Autopilot project including all of its trademarks is hosted under Dronecode, part of the Linux Foundation.
