# How can i reach the control program in pixhawk?

**URL:** <https://discuss.px4.io/t/how-can-i-reach-the-control-program-in-pixhawk/1773>\
**Category:** Uncategorized\
**Created:** [November 22, 2016, 10:21am UTC](https://discuss.px4.io/t/how-can-i-reach-the-control-program-in-pixhawk/1773 "2016-11-22T10:21:44Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![xxxx01](https://discuss.px4.io/letter_avatar_proxy/v4/letter/x/74df32/32.png) [@xxxx01](https://discuss.px4.io/u/xxxx01)\
**Post date:** [November 22, 2016, 10:21am UTC](https://discuss.px4.io/t/how-can-i-reach-the-control-program-in-pixhawk/1773/1 "2016-11-22T10:21:44Z")

</div>

I am working on my thesis about Pixhawk controller in Ubuntu. I installed PX4 toolchain and QtCreater and I am trying to reach the control program in Pixhawk for improvement. I calibrated all sensors and radio but couldn’t find the mean program doing all the system controller.  
I can see programs in QtCreator coming from PX4 toolchain in src file but I’m not sure that programs which I’m searching for.  
Can somebody help me with this? I must finish the school this term.

---

<div class="post-metadata">

**Author:** ![dagar](https://discuss.px4.io/user_avatar/discuss.px4.io/dagar/32/22_2.png) [@dagar](https://discuss.px4.io/u/dagar)\
**Post date:** [November 22, 2016, 9:25pm UTC](https://discuss.px4.io/t/how-can-i-reach-the-control-program-in-pixhawk/1773/2 "2016-11-22T21:25:44Z")

</div>

Here’s a brief overview of the architecture - [http://dev.px4.io/concept-architecture.html](http://dev.px4.io/concept-architecture.html)

What specifically are you looking for?  
multicopter attitude controller - [https://github.com/PX4/Firmware/tree/master/src/modules/mc\_att\_control](https://github.com/PX4/Firmware/tree/master/src/modules/mc_att_control)  
multicopter position controller - [https://github.com/PX4/Firmware/tree/master/src/modules/mc\_pos\_control](https://github.com/PX4/Firmware/tree/master/src/modules/mc_pos_control)  
state machine - [https://github.com/PX4/Firmware/tree/master/src/modules/commander](https://github.com/PX4/Firmware/tree/master/src/modules/commander)  
mission handling - [https://github.com/PX4/Firmware/tree/master/src/modules/navigator](https://github.com/PX4/Firmware/tree/master/src/modules/navigator)

We’re happy to help point you in the right direction if you provide more detail.

---

<div class="post-metadata">

**Author:** ![xxxx01](https://discuss.px4.io/letter_avatar_proxy/v4/letter/x/74df32/32.png) [@xxxx01](https://discuss.px4.io/u/xxxx01)\
**Post date:** [November 23, 2016, 9:13am UTC](https://discuss.px4.io/t/how-can-i-reach-the-control-program-in-pixhawk/1773/3 "2016-11-23T09:13:31Z")

</div>

I can see this codes in QtCreator. If i change the codes and upload the system, can i change the firmware in pixhawk?

---

<div class="post-metadata">

**Author:** ![dagar](https://discuss.px4.io/user_avatar/discuss.px4.io/dagar/32/22_2.png) [@dagar](https://discuss.px4.io/u/dagar)\
**Post date:** [November 23, 2016, 6:27pm UTC](https://discuss.px4.io/t/how-can-i-reach-the-control-program-in-pixhawk/1773/4 "2016-11-23T18:27:08Z")

</div>

> [@xxxx01](#):
>
> I can see this codes in QtCreator. If i change the codes and upload the system, can i change the firmware in pixhawk?

Yes you definitely can!

---

<div class="post-metadata">

**Author:** ![Deafro](https://discuss.px4.io/letter_avatar_proxy/v4/letter/d/53a042/32.png) [@Deafro](https://discuss.px4.io/u/Deafro)\
**Post date:** [November 28, 2016, 8:43pm UTC](https://discuss.px4.io/t/how-can-i-reach-the-control-program-in-pixhawk/1773/5 "2016-11-28T20:43:52Z")

</div>

If you make a account on [github.com](http://github.com), you can create a forked repository. That makes a separate copy of the firmware that you can modify.