Flight Core Firmware (Work in Progress)
Although Flight Core is supported in PX4 Mainline starting with 1.10, we’ve addressed several issues which didn’t make it into the release.
For v1.10, it’s recommended that you use the ModalAI build:
- v1.10 .px4 file(git hash: ea1e5b72be5c76bf14b7c1145ad16f7a811502ff)
- v1.10 .bin file(git hash: ea1e5b72be5c76bf14b7c1145ad16f7a811502ff)
This can be built for yourself as well:
git clone https://github.com/modalai/px4-firmware cd px4-firmware git checkout modalai-1.10 make modalai_fc-v1
Here are the
.px4 files generated from PX4’s CI servers, which are generated from the PX4 beta and master branches:
Flying Flight Core Indoors with VIO from VOXL
The modalai-1.10-ekf2-init-vio branch combines:
with an updated ECL library forked in our github:
This branch simply allows EKF2 to initialize without magnetometer data if there is
EV (external vision) data available instead. This is currently considered a test branch and we will try to get a pull reqeust into the ECL library.
Nearly identical besides start up configuration, the firmware for VOXL-Flight configuration is available PX4 mainline in the master branch. At this time, the only difference is to handle the physical serial port connection now routed in the PCB.
Changelog / Known Issues
The following describe known issues and changes that are related to the
Flight Core + VOXL or
VOXL-Flight systems with respect to PX4.
The following are known issues in the PX4 built 1.10, which are fixed in the master branch of PX4, and are fixed in the 1.10 build referenced above.
ROTATION_YAW_180orientation is required for the typical configuration when paired with VOXL (e.g. cameras in front on vehicle)
- Stack size issue with bmp388 driver
- SD Card logging issues
- In order for EKF to initialize, it requires magnetometer readings (still present in ModalAI built 1.10)
The ModalAI forks used for development are maintained here:
The two repos above have CI on the ModalAI GitLab servers here:
How to Build the Firwmare
This example uses the PX4 mainline repository.
git clone https://github.com/PX4/Firmware.git cd Firmware make modalai_fc-v1
Flashing Using SEGGER JLink
You can use
JFlash with a
.jlink file with command like so, where
deadbeef.bin is the name of the binary file: