1. PX4 Autopilot
Open-Source

2. ~200 developers @ ETH Zurich
PX4 Autopilot
BSD Open-source license
Community of developers and supporting companies
Weekly Calls - ~20ppl on average per call
Online Resources ~ documentation, forums, services to support development
Test Team, 6 pilots flying daily, and pull requests
Continuous Integration pipeline on the cloud
PX4 Developer Summit
~200 ETH Zurich

3. Regulation - Dronecode FAA Type Certification
Type Certify a sUAS based upon the PX4 stack, and supporting systems
Use new "streamlined" Performance Based Means of Compliance
Create a Dronecode doc set that can be refactored by DC members for their own TCs
FAA TCs are recognized worldwide, for example: EASA will approve
FAA TC with validation
What can you do with a TC
Part 91: Access to controlled airspace essentially on demand, same as a Cessna
Part 135: Ability to carry people or goods for hire, package delivery
Access to airspace in and around critical and sensitive infrastructure
BVLOS, OOP: proven mitigations or known limitations written into operations

4. Regulation - Dronecode FAA Type Certification
Status
3DR H520-G test vehicle is working its way through approval process right now
G-1 has been approved and will be published in Federal Registry in a matter of weeks
1st sUAS worldwide to gain regulatory approval for new
Performance Certification Basis
Target TC and PC end of October

5. YUNEEC ENTERPRISE SOLUTION ON TOP OF PX4
Dennis Mannhart
Software Engineer, Yuneec Research

6. Agenda About Yuneec PX4-Stack PX4 @ Yuneec Differentiators
Contribution and example Release Cycle
Wrap up

7. Yuneec
1999: Yuneec founded in Hong Kong as radio-controlled model aircraft manufacturer
2010: Development and production of UAVs
2016: Yuneec Research founded in Zurich
R&D from ETH Zurich
PX4 autopilot as Yuneec’s main Autopilot
2017: First enterprise-grade PX4 solution with the launch of H520

8. PX4-stack Integrated System
QGC
MAVSDK
PX4-stack
Integrated System
MAVLINK
Flight Controller
(pixhawk-project standard)
PX4-Autopilot (PX4-AP)
Telemetry Radio
MAVLINK
Ground Control Station (GCS)
QGroundControl (QGC)
MAVSDK (Developer API)
Companion computer
MAVSDK
PX4-Avoidance
PX4-AP
Pixhawk
MAVSDK
PX4-
Avoidance
MAVLINK
pixhawk is an independent open-hardware project that aims to provide the standard for readily-available, hiqh-quality and low-cost autopilot hardware designs for the academic, hobby and developer communities. Pixhawk supports multiple flight stack

9. PX4-Stack H520 MAVSDK PX4-Autopilot Pixhawk FMUv4 2.4 GHz RC Gimbal
Camera
MAVLINK
5.8 GHz
Wifi
QGC

10. PX4-Autopilot Software Layer
CUAV V5+ based on Pixhawk project FMUv5 design standard
Middleware / Driver Layer
Device drivers
GPS, IMU, RC input, ...
External communication
MAVLINK, FastRTPS
Storage
SD card, FLASH, EEPROM
Internal communication
uORB publish-subscribe message
Flight Stack
Collection of Modules for autonomous guidance
State Machine, Estimator, Controllers
Configuration for different airframes
Fixed wing, multirotor, VTOL

11. PX4-Autopilot Middleware / Driver Layer Device drivers
GPS, IMU, RC input, ...
External communication
MAVLINK, FastRTPS
Storage
SD card, FLASH, EEPROM
Internal communication
uORB publish-subscribe message
Flight Stack
Collection of Modules for autonomous guidance
State Machine, Estimator, Controllers
Configuration for different airframes
Fixed wing, multirotor, VTOL

12. PX4 @ Yuneec Yuneec Upstream Upstream Yuneec PX4 PX4 PX4
Upstream: open source px4 version that can be downloaded at any time

13. Yuneec
Yuneec
PX4

14. Differentiator ? PX4 Avoidance Computer Vision VIO PX4 Flow Mission
Manual Attitude
Manual Position
Auto Position
Mission
VIO
PX4 Flow
Computer Vision
Avoidance ?
PX4
differentiator

15. Differentiator Differentiator (owned by Yuneec)
Manual Attitude
Manual Position
Auto Position
Mission
VIO
PX4 Flow
Computer Vision
Avoidance
Differentiator (owned by Yuneec)
5 rotor mode for hexacopter
Confidential Partner (Intel Releasense integration)
Avoidance
Yuneec specific features / Customization (ownded by Yuneec)
Yuneec remote control stick mapping
Failsafe behavior
Thirdparty-process:
Architectural changes
Library for Position control
Library for Position modes (FlightTasks)
General Bug fixes
YuneecSDK -> mavsdk
Third party process:
Custom firmware build for third party developers, academic institution
Unlocked firmware parameters
Specialized behavior

16. Contribution 2018

17. Release Cycle

18. How to get help Website: https://px4.io/ Documentation
PX4 dev guide:
PX4 user guide:
Slack (
Dev call
Every Tuesday
Discuss open PRs
PX4 devsummit

19. Summary Pros: Large developer community
Software defects can be found early
Work can be distributed between developers more easily
Affordable (since its free)
BSD license
No restriction other than to include te BSD copyright and license notice
Modularity
Open source is attractive to developers
Simple to find new employees
Security: source code which is visible strengthens its security
More flight-hours
Standardization within Dronecode community
Cons:
No collaboration with upstream community can lead to sync nightmare
Customization can generate conflicts
No one is legally required to help or provide support (Yuneec, Auterion)

20. Join our Community Appreciation Night!
Scan using your phone camera or a QR code reader app to take you to the registration link

21. Thank you
Dennis Mannhart