ad26499a36
* refactor(ina226): rewrite driver for robustness and clarity Mirrors the INA238 rewrite (#27359): - Non-blocking UNINITIALIZED -> RESET -> CONFIGURE -> MEASURE state machine. Each transition is its own RunImpl tick with an explicit ScheduleDelayed; init failures retry without losing the driver instance. - Tolerate ~2 s of consecutive collect() failures (MAX_CONSECUTIVE_FAILURES = DISCONNECT_DEBOUNCE_US / SAMPLE_INTERVAL_US) before a full reinit. Isolated I2C glitches just skip a cycle instead of dropping battery_status. - SAMPLE_INTERVAL_US = 100 ms, comfortably above the default ADC period of ~75.3 ms (588 us * 2 channels * 64 avg). MEASURE compensates for in-tick I2C time so each tick is exactly one interval apart. - CONFIGURE waits SAMPLE_INTERVAL_US + 5 ms before the first MEASURE read so the first averaged sample is ready. - checkConfigurationRotating() reads one of {CONFIGURATION, CALIBRATION} per cycle and compares it against the value we wrote, so an externally reset device is detected within two cycles. - '-t' arg validated against 1-3 at parse time; out-of-range values now exit with an error. - New perf counters ina226_bad_register and ina226_reinit for field diagnosis; current driver state is surfaced in 'ina226 status'. File layout: ina226_main.cpp folded into ina226.cpp. Constants/enums namespaced under ina226. Params switched to DEFINE_PARAMETERS, and the INA226_CONFIG raw-register override is removed in favor of a hardcoded continuous-conversion config. AuterionAutostarter::ina226_probe() updated to the new namespaced ina226::Register and ina226::MANFID / ina226::DIEID constants. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ina226): mask reserved bits when verifying CONFIGURATION register The INA226 CONFIGURATION register has D15 (RST) self-clearing and D14:D12 reserved, with D14 reading back as 1 regardless of what is written. The verify step compared the raw read-back to the value we wrote, so the check failed on every cycle and the driver re-initialized itself every ~2 s. Mask the non-R/W bits before comparing. 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.
