0bc69038da
* fix(uavcan): report FlexCAN bus state and error counters on SocketCAN The SocketCAN platform driver returned 0 from getErrorCount(), getRxQueueOverflowCount() and isInBusOffState(), so a controller sitting error-passive or bus-off was invisible from `uavcan status` and the can_interface_status topic on every i.MX RT board. Read them through NuttX's SIOCGCANERRORS instead, and print fault confinement, TEC/REC and RX overruns per interface. Builds without the ioctl keep the old zeros. * fix(uavcan): apply UAVCAN_BITRATE on SocketCAN CanDriver::init() ignored its bitrate argument, so the controller stayed at the Kconfig rate and a bus configured for anything but 1 Mbit/s never came up. Program the nominal rate through SIOCSCANBITRATE when it differs from what the driver reports, keeping the data-phase settings untouched. The driver applies the timing at the next ifup, so the interface is taken down around the request. Older PX4/NuttX restarted a running controller from inside the ioctl instead, which on FlexCAN with ECC RAM initialisation is a bus fault; against that NuttX the rate is left as configured with a warning. * fix(boards): switch SocketCAN defconfigs to NETDEV_CAN_IOCTL PX4/NuttX#401 merges the per-command CAN ioctl options into a single NETDEV_CAN_IOCTL, so the old BITRATE/FILTER/ERROR names no longer exist there and would be silently dropped, disabling the whole CAN ioctl block. Requires the NuttX gitlink to include PX4/NuttX#401; until that bump the option is dropped against the old tree and the bitrate/error ioctls are inert at runtime (the code builds either way). mr-canhubk3 is included so its bitrate ioctl survives the bump. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * chore(nuttx): bump NuttX to the px4_firmware_nuttx-10.3.0+ tip Picks up PX4/NuttX#401 so SIOCGCANERRORS, SIOCSCANBITRATE-requires-ifdown and NETDEV_CAN_IOCTL are in the tree the SocketCAN changes need. Also includes PX4/NuttX#399 (STM32F412VG/CG chip selections), which landed between main's gitlink and #401. Assisted-by: Grok:grok-4.6 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
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.
