Flight Core Firmware - PX4 Flight Controller Firmware

Table of contents

  1. Summary
  2. PX4 v1.11
    1. Firmware Files - PX4 Stable Release
    2. Firmware Files - ModalAI Test Builds
    3. Update Procedure
    4. v1.11 Change Log
  3. PX4 v1.10
    1. Firmware Files
    2. Update Procedure
    3. v1.10 Change Log
  4. How to Build the Firwmare
  5. Flashing Using SEGGER JLink

Summary

The PX4 firmware discussed here applies to both Flight Core and VOXL Flight. We are currently shipping a minor fork of PX4 v1.10, but have tested unmodified versions v1.11.1 and v1.11.2 successfully. We expect an unmodified v1.11.x to be included in production soon.

PX4 v1.11

PX4 v1.11.1 and v1.11.2 stable have been tested and are expected to be included in Flight Core and VOXL Flight production.

Firmware Files - PX4 Stable Release

With PX4 v1.11, you can update Flight Core or VOXL Flight using QGroundControl by selecting the current stable release.

Firmware Files - ModalAI Test Builds

We’re constantly testing new stuff, and we’ve taken v1.11 and added some tweaks (see changelog below). You can get the ModalAI Test v1.11 files here:

Update Procedure

The firmware update procedure can be found here

v1.11 Change Log

The goal is to have PX4 mainline support for Flight Core, although occasionally fixes or enhancements are introduced and released by ModalAI faster than PX4 releases.

Version Type Change Description Status
v1.11.2-0.0.1 ModalAI Enhancement - UART ESC Support
- EKF init w/o mag
In test


PX4 v1.10

When using PX4 v1.10, it is recommended that you use the ModalAI v1.10 build, which fixes some bugs present in the PX4 v1.10 release affecting this hardware (see changelog below for details).

Firmware Files

You can get the v1.10 files here:

Update Procedure

The firmware update procedure can be found here

v1.10 Change Log

The goal is to have PX4 mainline support for Flight Core, although occasionally fixes or enhancements are introduced and released by ModalAI faster than PX4 releases.

NOTE: in v1.10, to find the version, run ver all from nsh and find the fw-hash

Version (fw-hash) Type Change Description PR / Commit Status
Latest, 782a54bf Enchancement Add support for VOXL PM v3 (INA231) 782a54bf Merged into Master, likely in v1.12 or v1.11 maintenance
  Bug Fix Fix for timer config bug resulting in chan5 output being overwritten 65c2b4d7 Fixed in ModalAI v1.10, Mainlined in v1.11
  Enchancement Support velocity odometry with MAV_FRAM_LOCAL_FRD 1cbbfffc stale - no longer required by voxl-vision-px4
  Enchancement Allow EKF2 to intialize without mag if VIO valid 2d7ff3c6 Not mainlined, PR rejected
  Enchancement HW detection of Flight Core vs VOXL Flight 589c4a46 and 0f6ffc53 Fixed in ModalAI v1.10, Mainlined in v1.11
  Bug Fix Fixes issue with Flight Core HW rev detection 589c4a46 Fixed in ModalAI v1.10, Mainlined in v1.11
  Bug Fix Fix for SD card writing failures ea1e5b72 and dbd065ab and fd0a00f9 Fixed in ModalAI v1.10, Mainlined in v1.11
  Bug Fix Fix for timer config bug resulting in chan5 output being overwritten 65c2b4d7 Fixed in ModalAI v1.10, Mainlined in v1.11
  Enchancmeent Add Support for VOXL-Flight 5ffab958 Fixed in ModalAI v1.10, Mainlined in v1.11
  Bug Fix rotate default orientation 180° yaw dc816a5c Fixed in ModalAI v1.10, Mainlined in v1.11
  Bug Fix Various stack size and defconfig bug fixes a37c028a and 5dd4c0dc and ff994390 Fixed in ModalAI v1.10, Mainlined in v1.11
  PX4 Release PX4 v1.10.0 production release 4f6faac2  

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

You can use JFlash with a .jlink file with command like so, where deadbeef.bin is the name of the binary file:

loadbin modalai_fc-v1.bin,0x08008000