PX4 Firmware Secondary Development Course

PX4 consists of two main parts: the flight stack, which mainly includes state estimation and flight control systems; and the middleware, which is a general robotics application layer that supports any type of autonomous robot and is mainly responsible for the robot's internal/external communication and hardware integration.

All drone models supported by PX4 (including other platforms such as unmanned ships, unmanned vehicles, and unmanned underwater vehicles) share the same code base. The entire system adopts a reactive design, which means that

all functions can be divided into several replaceable and reusable components.
Communication is carried out through asynchronous messaging.
The system can cope with different workloads.

• Chapter 1：Flight control hardware and software system introduction 1 (35 minutes and 41 seconds)

• Chapter 2：Flight control hardware and software system introduction 2 (19 minutes and 57 seconds)

• Chapter 3：Sensor Characteristics (14 minutes and 57 seconds)

• Chapter 4：Flight control hardware bootloader introduction 1 (19 minutes and 15 seconds)

• Chapter 5：Flight control hardware BootLoader introduction 2 (36 minutes and 19 seconds)

• Chapter 6：Flight control hardware bootloader introduction 3 (13 minutes and 54 seconds)

• Chapter 7：Native firmware compilation 1 (5 minutes and 6 seconds)

• Chapter 8：Native firmware compilation 2 (1 minutes and 58 seconds)

• Chapter 9：Native firmware development environment download address (26 seconds)

• Chapter 10：Source code framework (19 minutes and 4 seconds)

• Chapter 11：PIX compile script analysis and debugging methods (33 minutes and 56 seconds)

• Chapter 12：UORB message subscription and publishing basics (2 minutes and 42 seconds)

• Chapter 13：Detailed explanation of UORB message API interface (19 minutes and 36 seconds)

• Chapter 14：Analysis of UORB message subscription routine (19 minutes and 5 seconds)

• Chapter 15：UORB message customization practice (28 minutes and 8 seconds)

• Chapter 16：Summary of practical operation (8 minutes and 40 seconds)

• Chapter 17：Summary of practical operation (8 minutes and 10 seconds)

• Chapter 18：Replenish (2 minutes and 44 seconds)

• Chapter 19：MAVLINK Protocol Analysis (29 minutes and 41 seconds)

• Chapter 20：Flight control source code analysis (13 minutes and 34 seconds)

• Chapter 21：Custom MAVLINK Messages (20 minutes and 0 seconds)

• Chapter 22：Custom MAVLINK message writing (11 minutes and 40 seconds)

• Chapter 23：Experimental observation and data reception (10 minutes and 34 seconds)

• Chapter 24：PID theory understanding and C language code (14 minutes and 17 seconds)

• Chapter 25：PID practical operation differential term modification (18 minutes and 42 seconds)

• Chapter 26：PID practical operation proportional term modification (7 minutes and 19 seconds)

• Chapter 27：Modification of the integral term in PID practical operation (3 minutes and 7 seconds)

• Chapter 28：Modification and summary of PID practice integral term (9 minutes and 12 seconds)

• Chapter 29：Effect of debugging PID parameters (1 minutes and 2 seconds)

• Chapter 30：comprehensive (6 minutes and 28 seconds)

• Chapter 31：Several ways to download APM firmware and native firmware (26 minutes and 23 seconds)