Building and Flashing PX4 Firmware
How to build PX4 firmware from source and flash it directly onto a local Skynode
Preparations
In order to build PX4 locally, you first need to set up the PX4 toolchain.
Customizing Auterion PX4 (APX4)
SLA required to get access to source code
Please contact [email protected] to get access to the APX4 repository.
Work with open source PX4
Open source ("upstream") PX4 will generally work on Skynodes, with the following caveats:
Configuration and drivers for components of your exact product may not be present. You may encounter missing configuration or functionality for ESCs, batteries, sensors, and so on.
Some parameters might have different default values compared to APX4 releases.
Features accessed by vendor-specific customizations running on the companion computer may not be present in PX4.
Upstream PX4 is not supported on Skynode S.
Building and uploading Firmware
PX4 firmware binaries can be built with the PX4 developer environment and uploaded to Skynode via USB or Wi-Fi (if available).
If not already present, get the PX4 source code using the command:
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot
Then build and upload the binary using the matching command for your hardware and connection. You will need to enter the password for the Skynode developer image twice during upload.
Skynode ENT/GOV
make px4_fmu-v5x upload_skynode_usb
Skynode X/GX
make px4_fmu-v6x upload_skynode_usb
Skynode S
make auterion_fmu-v6s upload_skynode_usb
Restoring the Default Skynode APX4 Firmware
To reinstall the original version of Auterion PX4 that shipped with your Auterion OS release, run the following command in the root of the PX4 repository:
./Tools/auterion/upload_skynode.sh --revert
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