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.

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