PX4 Software

The PX4 Automatic Control System provides hardware and vehicle controls abstraction layer for your Unmanned Vehicle, making it able to operate fully autonomous.

The system has distributed architecture, all nodes are connected together through Controller Area Network (CAN) interface. There may be several boards of the same type connected to the same system, making multiple levels of redundancy.

Sophisticated Features

Autopilot is capable to control almost any possible vehicle configuration (VTOLs, USVs, UGVs, etc.), including non-standard aircraft concepts. The flight control algorithm relies on Total Energy Control System (TECS) for improved reliability and sustainability to failures. Automatic landing with engine failures and auto-rotation for helicopters is fully supported.

Flexibility & Scalability

Thanks to its distributed architecture, the APX system can be used in vehicles from as small as quad-copter to big converted manned aircraft. The redundancy layers are provided as basic functionality. Ground Control software is multi-platform and is capable to manage multiple workstations in a wide or local area network. Any specific sensor or payload can be integrated by scripting custom protocols through onboard VMs.

Customization

The Ground Control software is supplied with SDK to create plugins or communicate with the UAV from user programs. The UI is fully customizable and uses modern Qt framework with exported QML and JavaScript engine. APX framework still keeps the ability to develop your own algorithms to control vehicle operations or specific payload, running your code onboard.

Supported Configurations

  • Standard airplane

  • VTOL UAVs (helicopter, or any kind of rotary-wing aircraft, multi-rotors, etc.)

  • Atmospheric Satellite or HAPS (formation)

  • Blimps

  • USVs (boats)

  • UGVs (cars)

  • Programmable logic controller functionality

Data Storage

The GCS app stores all data in databases. Telemetry data and vehicle configuration could be shared through XML files, exported from the GCS.

GCS Server

Server capabilities include:

  • Provide data-link stream to other GCS components
  • Control any particular Mandala variable
  • Execute JavaScript commands
  • Return any or all Mandala variable values
  • Google Earth real-time flight visualization and analysis of telemetry data.

VPN Support

Datalink server (part of GCS Software) has the capability to establish connection through internet with another GCS.

Two or more GCS interfaces could be connected to one or more datalink modems. the connection requires static ip, thus VPN connection is recommended.

Simulation

X-plane and APEX autopilot exchange data via x-plane plugin and TCP/IP network. The plugin and aircraft models are installed automatically by the GCS when you launch the simulation from the menu.

Multiple GCS Operation

The GCS software upon startup will look for available servers and try to connect with the following order:

  • Local server
  • Auto connects last connected server
  • Scans network for available server

THE SKY IS THE LIMIT