Difference between Px4

Some directions say to clone a repo called “Firmware” like so:

 git clone https://github.com/PX4/Firmware.git

As in these directions:

And other directions say to clone a repo called PX4-Autopilot like so:

git clone https://github.com/PX4/PX4-Autopilot.git --recursive

As in these directions:

What is the difference between these two repos? Do they actually point to the same exact repo somehow?

Or, is the Firmware one for development on user controlled aircraft, while the PX4-Autopilot one is for development on totally autonomous aircraft? If that’s the case, and we want both options, do I need to clone both?

Thanks!

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