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PX4 Autopilot Software

Standard NuttX with current PX4 patches

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.

This repository contains different algorithms to calculate the optical flow. It can be used as input for a position estimator

An unofficial Ubuntu-based container building and running PX4 SITL (Software In The Loop) through gazebo.

ROS 2 messages that match the uORB messages counterparts on the PX4 Firmware

MPC implementations integrated with with PX4 on ROS2

Library to interface with PX4 from a companion computer using ROS 2

An open framework to simulate and deploy perception-based PX4/ArduPilot drone swarms with ROS2, YOLO, LiDAR, NVIDIA Jetson

Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.