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53 lines
3.9 KiB
Markdown
53 lines
3.9 KiB
Markdown
# PX4 System Architecture
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The sections below provide high-level overview of the PX4 hardware and software stack for two "typical" PX4 systems; one that has just a flight controller, and another that has a flight controller and a companion computer (also known as a "mission computer").
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::: info
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The [PX4 Architectural Overview](../concept/architecture.md) provides information about the flight stack and middleware.
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Offboard APIs are covered in [ROS](../ros/index.md) and [MAVSDK](https://mavsdk.mavlink.io/main/en/).
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:::
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## Flight Controller (only)
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The diagram below provides a high level overview of a typical "simple" PX4 system based around a flight controller.
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<!-- Source for drawing: https://docs.google.com/drawings/d/1_2n43WrbkWTs1kz0w0avVEeebJbfTj5SSqvCmvSOBdU/edit -->
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The hardware consists of
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- [Flight controller](../flight_controller/index.md) (running the PX4 flight stack). This often includes internal IMUs, compass and barometer.
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- [Motor ESCs](../peripherals/esc_motors.md) connected to [PWM outputs](../peripherals/pwm_escs_and_servo.md), [DroneCAN](../dronecan/escs.md) (DroneCAN allows two-way communication, not single direction as shown) or some other bus.
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- Sensors ([GPS](../gps_compass/index.md), [compass](../gps_compass/index.md), distance sensors, barometers, optical flow, barometers, ADSB transponders, etc.) connected via I2C, SPI, CAN, UART etc.
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- [Camera](../camera/index.md) or other payload. Cameras can be connected to PWM outputs or via MAVLink.
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- [Telemetry radios](../telemetry/index.md) for connecting to a ground station computer/software.
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- [RC Control System](../getting_started/rc_transmitter_receiver.md) for manual control
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The left hand side of the diagram shows the software stack, which is horizontally aligned (approximately) with the hardware parts of the diagram.
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- The ground station computer typically runs [QGroundControl](../getting_started/px4_basic_concepts.md#qgc) (or some other ground station software).
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It may also run robotics software like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](../ros/index.md).
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- The PX4 flight stack running on the flight controller includes [drivers](../modules/modules_driver.md), [comms modules](../modules/modules_communication.md), [controllers](../modules/modules_controller.md), [estimators](../modules/modules_controller.md) and other [middleware and system modules](../modules/modules_main.md).
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## FC and Companion Computer
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The diagram below shows a PX4 system that includes both a flight controller and a companion computer (here referred to as a "mission computer").
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<!-- source for drawing: https://docs.google.com/drawings/d/1zFtvA_B-BmfmxFmAd-XIvAZ-jRqOydj0aBtqSolBcqI/edit -->
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The flight controller runs the normal PX4 flight stack, while a companion computer provides advanced features that utilise [computer vision](../computer_vision/index.md).
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The two systems are connected using a fast serial or IP link, and typically communicate using the [MAVLink protocol](https://mavlink.io/en/).
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Communications with the ground stations and the cloud are usually routed via the companion computer (e.g. using the [MAVLink Router](https://github.com/mavlink-router/mavlink-router) (from Intel)).
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PX4 systems typically run a Linux OS on the companion computer.
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Linux is a much better platform for "general" software development than NuttX; there are many more Linux developers and a lot of useful software has already been written (e.g. for computer vision, communications, cloud integrations, hardware drivers).
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Companion computers sometimes run Android for the same reason.
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::: info
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The diagram shows a cloud or ground station connection via LTE, an approach that has been used a number of PX4-based systems.
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PX4 does not deliver software specifically for LTE and/or cloud integration (this requires custom development).
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:::
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