How to understand the architecture of the code？

PX4 Autopilot System Architecture 🏗
1

Hi，I am new in this open source project.
I’m wandering how to make myself clear about the whole code, do you have any instruction book for developers?
I have read the the Dev Guide but it seems not enough for me. For example, I want to know how the control topic transmit from rc-input to actuators? I have to find answer from the code myself right?

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2

I am digging around the source code as well, I wrote some blogs and hope it will be helpful. It is very rough at the moment, I will polish it and update it with new contents after I finish with my current px4 application.

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4

many thanks! I will follow your blog!

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I will try to update it as frequent as possible, the next blog will feature how to add a new flight mode.

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Hello, a bit late but if your still looking, PX4 has a dev guide;

http://dev.px4.io/

The particular topic you’re looking for is called UORBs, which is the messenger service between different “application/daemon” running on the PX4 unit.

Regards,
Phoenix

7

thanks~
I am much more familiar with the code now
But there are still some questions and I will make it

8

Hello Maoquan232!
Tell me please did you find any sites describing architecture of autopilot except blog pointed earlier or you was just watching source code?
Especially i am interested in mathematical model of copter used in PX4 autopilot and control algorithms realized in it.

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No I havent find anything expect the DEV GUIDE and the blog
If I find something useful I will tell you here

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Hello, have you updated your blog?