Drone Firmware

Flight Controller (Autopilot) Hardware

• https://docs.px4.io/main/en/flight_controller/
• 
• Main System-on-Chip: STM32F427VIT6 rev.3
  • CPU: 180 MHz ARM Cortex® M4 with single-precision FPU
  • RAM: 256 KB SRAM (L1)

Source Code (Firmware)

• PX4 Drone Autopilot: Source code for the whole project, including bootloader, RTOS, flight mode code
• PX4 Drone Autopilot (Waterloo Fork)
• The RTOS running the drone code is NuttX
• NuttX Applications

Build

$ git clone https://github.com/roemvaar/PX4-Autopilot
$ cd PX4-Autopilot
$ make px4_fmu-v4

• You can add a version of the firmware at the end, e.g., make px4_fmu-v4

Load Firmware

Make sure that the drone is plugged into the dev machine using a serial ttl to USB adapter.

Two options:

• Recommended:

$ make px4_fmu-v4 upload

• Using

Firmware Versions

• Get specific release

• Stable firmware version: v1.13.2

46a12a09bf (HEAD, tag: v1.13.2, powerfuzzer/v1.13.2-stable, origin/stable, v1.13.2-stable) fmu-v2: make optional sensor startup quiet

The lab drone is known to boot correctly using this firmware.

• PX4 GitHub fork with custom firmware (branches):

  • main - mirrors PX4 main repo
  • waterloo - custom commands