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    • Auterion Mission Control
      • Installation
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      • UI Breakdown
        • Navigating between the views
        • Fly View
          • Fly View UI Overview
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          • Using Offline Maps
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        • Track GCS as Smart Asset in Suite
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      • Skynav Remote Controller
        • Installing Mission Control
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    • Settings & Maintenance
      • Vehicle Setup
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      • Remote ID
        • How Remote ID works
        • Remote ID indicators in AMC
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    • Precise Flight
  • App development
    • Getting Started
      • Development environment Setup
      • Connecting to a device
      • Application Development
    • App Framework
      • Building your First App
      • Apps API
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        • How to log Time Series Data
        • How to log basic Text Output
      • How to store an App's Binary Data on Skynode
      • User Web Interfaces
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      • PX4 Messages in ROS 2
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    • Auterion SDK
      • Installation
      • Write Your First App
      • SDK API
      • Flight Mode API
        • Flight Mode API
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    • Simulation
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      • Cross Compilation - Faster Builds
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      • Skynode Vision Kit S
        • Set up the Vision Kit
        • Install and test a simple vision app
    • Legacy app workflow
      • App Development
      • MAVLink
      • Using the App Template
      • Example Applications
        • Autopilot Telemetry (C++)
        • Autopilot Telemetry (Python)
        • Photo Gallery
  • Hardware Integration
    • Getting started
      • Required Sensors
      • Wiring Skynode to the Vehicle
      • Actuators Setup
      • Sensors Setup
        • Set Orientations
        • Compass Calibration
        • Gyroscope calibration
        • Accelerometer calibration
        • Level horizon calibration
        • Airspeed calibration
      • Bench Test
      • Tuning
      • Creating Airframe Configurations for APX4
    • Skynode
      • Skynode X
      • Skynode ENT/GOV
      • Skynode X Integration and Development Kit
        • Get Skynode ready
        • Power Skynode
        • Register Skynode
        • Connect Skynode to AMC
        • Sensors and Peripherals
        • Next steps
      • Payloads
        • Generic USB Webcams (UVC)
        • Workswell Wiris Pro
        • Trillium HD40-LV
        • NextVision Gimbals (with TRIP2)
        • Sony Alpha a7R IV
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      • Connectivity
        • USB-C Network Connection
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        • Ethernet Interface Configuration
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      • Peripherals
        • Power Module
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        • Airspeed Sensor
        • LIDAR
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    • Skynode S
      • Datasheet
      • Interfaces
      • Basic Vehicle Integration
      • Add LTE to Skynode S
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    • AI Node
      • Datasheet
      • Evaluation Kit
        • Power AI Node
        • Wiring AI Node to Skynode
        • Internet sharing with Skynode
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      • Dimensions and CAD model
      • Interfaces
      • Connectivity
        • USB Network Connection
        • Serial Debug Connection
        • AI Node as Network Bridge
        • Standalone Internet Access
      • Updating AuterionOS
    • Advanced Airframe Integration
      • Custom power setup
      • Wiring without Breakout Boards
      • Gripper Integration
        • Setting up Payload Delivery with Gripper
      • ESC Calibration
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        • Camera Calibration on a Computer
        • Camera Calibration on Skynode
      • Serial Port Configuration
    • Flight controller customization
      • AMC's Advanced Mode
      • Flight Controller Shell
      • Micro XRCE-DDS
    • AuterionOS Customization
      • OEM Tools Installation
      • Adding SSH keys
      • Changing the Root Password
      • Modifying Environment Variables
      • Pre-install Applications
      • Suite Manufacturer Tools
    • AuterionOS System Guide
      • Introduction
      • Flashing PX4 Binary and Vehicle Config
      • Building and Flashing PX4 Firmware
      • SSH Access
      • Filesystem and partitions
      • Environment Variables Reference
      • Types of AuterionOS Images
      • Mavlink Routing and Endpoints
      • Packaging AuterionOS Image
    • Additional Resources
      • Remote ID
        • How Remote ID works
        • Vehicle Serial Number
        • Communication Diagram
        • Remote ID configuration
        • How Auterion tested
      • Auto-Tuning
  • Release Notes
    • APX4
      • APX4 3.2
        • APX4 3.2.10
        • APX4 3.2.1
      • APX4 3.1
        • APX4 3.1.1
        • APX4 3.1.0
      • APX4 3.0
        • APX4 3.0.8
        • APX4 3.0.5
      • APX4 2.7
        • APX4 2.7.37
        • APX4 2.7.25
        • APX4 2.7.20
        • APX4 2.7.12
        • APX4 2.7.7
        • APX4 2.7.6
      • APX4 2.6
        • APX4 2.6.1
      • APX4 2.5
        • APX4 2.5.14
        • APX4 2.5.13
        • APX4 2.5.8
        • APX4 2.5.7
        • APX4 2.5.5
        • APX4 2.5.4
        • APX4 2.5.0
      • APX4 2.4
        • APX4 2.4.2
        • APX4 2.4.1
      • APX4 2.3
        • APX4 2.3.0
      • APX4 2.2
        • APX4 2.2.2
        • APX4 2.2.0
      • APX4 2.1
        • APX4 2.1.1
        • APX4 2.1.0
      • APX4 2.0
        • APX4 2.0.2
        • APX4 2.0.0
    • AuterionOS
      • AOS for AI Node
        • AI Node AOS 1.1.0
        • AI Node AOS 1.0.2
        • AI Node AOS 1.0.0
        • AI Node AOS 0.7.0
        • AI Node AOS 0.6.1
        • AI Node AOS 0.6.0
        • AI Node AOS 0.5.0
        • AI Node AOS 0.4.0
      • AOS for Skynode
        • AOS 3.7
          • AOS 3.7.25
          • AOS 3.7.9
        • AOS 3.6
          • AOS 3.6.14
        • AOS 3.5
          • AOS 3.5.13
        • AOS 3.3
          • AOS 3.3.9
        • AOS 3.2
          • AOS 3.2.9
        • AOS 2.19
          • AOS 2.19.14
        • AOS 2.15
          • AOS 2.15.10
          • AOS 2.15.7
        • AOS 2.12
          • AOS 2.12.8
        • AOS 2.10
          • AOS 2.10.2
        • AOS 2.8
          • AOS 2.8.1
        • AOS 2.7
          • AOS 2.7.15
        • AOS 2.6
          • AOS 2.6.1
        • AOS 2.5
          • AOS 2.5.14
          • AOS 2.5.13
          • AOS 2.5.8
          • AOS 2.5.7
          • AOS 2.5.5
          • AOS 2.5.4
          • AOS 2.5.0
        • AOS 2.4
          • AOS 2.4.1
        • AOS 2.3
          • AOS 2.3.0
        • AOS 2.2
          • AOS 2.2.2
          • AOS 2.2.0
        • AOS 2.1
          • AOS 2.1.1
          • AOS 2.1.0
        • AOS 2.0
          • AOS 2.0.2
          • AOS 2.0.0
    • Auterion Mission Control
      • AMC 1.34
        • AMC 1.34.21
        • AMC 1.34.14
      • AMC 1.33
        • AMC 1.33.13
      • AMC 1.32
        • AMC 1.32.7
      • AMC 1.30
        • AMC 1.30.17
      • AMC 1.29
        • AMC 1.29.7
      • AMC 1.26
        • AMC 1.26.8
      • AMC 1.22
        • AMC 1.22.3
      • AMC 1.19
        • AMC 1.19.5
      • AMC 1.18
        • AMC 1.18.3-1
        • AMC 1.18.3
      • AMC 1.17
        • AMC 1.17.10
        • AMC 1.17.9
      • AMC 1.15
        • AMC 1.15.0
      • AMC 1.14
        • AMC 1.14.6
        • AMC 1.14.0
      • AMC 1.13
      • AMC 1.12
      • AMC 1.11
      • AMC 1.10
        • AMC 1.10.1
        • AMC 1.10.0
      • AMC 1.9
        • AMC 1.9.1
        • AMC 1.9.0
      • AMC 1.8
    • Hardware
      • Skynode Rev 11 (Jan 2022)
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On this page
  • Preparations
  • Customizing Auterion PX4 (APX4)
  • Work with open source PX4
  • Building and uploading Firmware
  • Restoring the Default Skynode APX4 Firmware
  1. Hardware Integration
  2. AuterionOS System Guide

Building and Flashing PX4 Firmware

How to build PX4 firmware from source and flash it directly onto a local Skynode

PreviousFlashing PX4 Binary and Vehicle ConfigNextSSH Access

Last updated 16 days ago

Preparations

In order to build PX4 locally, you first need to .

Customizing Auterion PX4 (APX4)

SLA required to get access to source code

Please contact 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).

SSH and TAR are needed to use these upload targets, but are expected to be present by default on Ubuntu and Ubuntu running on Windows in WSL2. On macOS you should first install .

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
make px4_fmu-v5x upload_skynode_wifi

Skynode X/GX

make px4_fmu-v6x upload_skynode_usb
make px4_fmu-v6x upload_skynode_wifi

Skynode S

make auterion_fmu-v6s upload_skynode_usb

For Auterion PX4 3.2 based releases the previous target name has to be used:

make px4_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

For Auterion PX4 3.1 and 3.2 based releases the command is:

./Tools/auterion/ssh_upload.sh --revert
./Tools/auterion/upload_skynode.sh --revert --wifi

For Auterion PX4 3.1 and 3.2 based releases the command is:

./Tools/auterion/ssh_upload.sh --revert --wifi
set up the PX4 toolchain
success@auterion.com
gnu-tar