PX4 Project Status Update April 2019

By April 16, 2019Announcements

This post is derived from the January PX4 2019 roadmap webinar, and provides a high-level overview of features that are currently under active development in the PX4 community.

Architecture

Flight stack – improving robustness

Failsafes
Contextual failsafe thresholds
Control performance failsafe
Failsafe controller: parachute trigger
Airspeed fault detection
Multi-stage fallback behaviour

Multi-estimator framework
A matrix of estimators utilizing all available sensors
Multiple EKF’s with selection using median and/or innovation failures

Overhauled sensor pipeline
Higher throughput and lower latency
Raw sensor logging for vibration analysis, clip detection

Middleware – future proof hybrid system communications

Native communication with ROS2:

 

Developer Tools

Fully supported IDE (vscode)
Free cross platform IDE
Single click board select
Debug simulator or hardware

Computer Vision

Obstacle Avoidance
Smoother trajectories for more stable airframe
Higher flight speeds
Support for platforms with less computational power
Utilize additional data sources

Vision Based Navigation
Integration with hardware tracking sources
More robust integration with software VIO

Reliability

Improve bench test & flight test procedures (view weekly test reports here)
Airspace integration
Failure mode analysis
Functional safety standards references

Hardware

Pixhawk autopilot standard

PX4FMU reference designs:
FMUv5X (Flight Management Unit Gen. 5 High Reliability, F7 MCU)
FMUv6 (Flight Management Unit Gen. 6, H7 MCU)
FMUv6X (Flight Management Unit Gen. 6, H7 MCU, with automotive powersupply)

Pixhawk quality standards
Testing of autopilots and manufacturing standards

Pixhawk autopilot bus (PAB)
Pixhawk payload bus (PPB)

 

For more info, please feel free to post on Discuss, and join conversations in our Slack.

Jinger Zeng

Author Jinger Zeng

More posts by Jinger Zeng

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