Saibernard
f19558335b
* test(commander): pin the estimator checks before restructuring them Sixteen cases on EstimatorChecks driven through its topics, one per behaviour of the file that the next commit moves: the preflight innovation and magnetic interference checks, GNSS fusion starting and stopping, spoofing and jamming, a failing GNSS check under each COM_ARM_WO_GPS setting, the sensor bias check, the compass fault and heading reference checks, the imminent position failure warning, low position accuracy, and the attitude, angular velocity and altitude validity flags. They observe the health report of a cycle and the events it sends. All pass on the file as it is. Assisted-by: Claude:claude-fable-5-1 Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> * refactor(commander): one function per estimator status check checkEstimatorStatus ran four hundred lines through eight levels of nesting, covering the preflight innovation checks, the magnetic interference check and everything about GNSS. Each of those is its own function now, named for what it checks, with an early return where a condition used to wrap the whole block, and the GNSS part is split further into the fusion change, the spoofing and jamming latches and the preflight quality check. In setModeRequirementFlags the one nested block, the warning of an imminent position failure, is extracted the same way, and the rest is left as flat sections. Three small simplifications on the way: the mavlink severity of a failed GNSS check follows the log level chosen for it instead of a second switch on the parameter, the spoofing and jamming latches are one comparison each, and the heading innovation flag that setModeRequirementFlags never read is no longer passed to it. The ITCM lists of the i.MX RT boards name setModeRequirementFlags by its new signature and take the functions split out of checkEstimatorStatus, so the same code stays in ITCM there. No event, message, condition or order of side effects changes. The extracted events are identical, and the twenty seven functional tests pass before and after. Assisted-by: Claude:claude-fable-5-1 Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> --------- Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu>
The autopilot stack the industry builds on.
About
PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on NuttX, Linux, and macOS. Licensed under BSD 3-Clause.
Why PX4
Modular architecture. PX4 is built around uORB, a DDS-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
Wide hardware support. PX4 runs on a wide range of autopilot boards and supports an extensive set of sensors, telemetry radios, and actuators through the Pixhawk ecosystem.
Developer friendly. First-class support for MAVLink and DDS / ROS 2 integration. Comprehensive SITL simulation, hardware-in-the-loop testing, and log analysis tools. An active developer community on Discord and the weekly dev call.
Vendor neutral governance. PX4 is hosted under the Dronecode Foundation, part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
Supported Vehicles
 Multicopter |
 Fixed Wing |
 VTOL |
 Rover |
…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the full airframe reference.
Try PX4
Run PX4 in simulation with a single command. No build tools, no dependencies beyond Docker:
docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest
Open QGroundControl and fly. See PX4 Simulation Quickstart for more options.
Build from Source
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot
make px4_sitl
Note
See the Development Guide for toolchain setup and build options.
Documentation & Resources
| Resource | Description |
|---|---|
| User Guide | Build, configure, and fly with PX4 |
| Developer Guide | Modify the flight stack, add peripherals, port to new hardware |
| Airframe Reference | Full list of supported frames |
| Autopilot Hardware | Compatible flight controllers |
| Release Notes | What's new in each release |
| Contribution Guide | How to contribute to PX4 |
Community
- Weekly Dev Call — open to all developers (Dronecode calendar)
- Discord — Join the Dronecode server
- Discussion Forum — PX4 Discuss
- Maintainers — see
MAINTAINERS.md - Contributor Stats — LFX Insights
Contributing
We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the Contribution Guide to get started.
Citation
If you use PX4 in academic work, please cite it. BibTeX:
@software{px4_autopilot,
author = {Meier, Lorenz and {The PX4 Contributors}},
title = {{PX4 Autopilot}},
publisher = {Zenodo},
doi = {10.5281/zenodo.595432},
url = {https://px4.io}
}
The DOI above is a Zenodo concept DOI that always resolves to the latest release. For a version-pinned citation, see the Zenodo record or our CITATION.cff.
Governance
The PX4 Autopilot project is hosted by the Dronecode Foundation, a Linux Foundation Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the BSD 3-Clause license, so you are free to use, modify, and distribute it in your own projects.
