PX4 Vision Autonomy Development Kit



The kit contains a near-ready-to-fly carbon-fiber quadcopter equipped with a Pixhawk 4 flight controller, a UP Core companion computer (4GB memory & 64GB eMMC), and a Occipital Structure Core depth camera sensor.

This vehicle comes with no pre-installed software. A pre-imaged USB stick that contains a reference implementation of the PX4/Avoidance local planner software is provided by Auterion. This software provides only a very basic example of what you can do with the PX4 Vision Autonomy Kit. Developers can use the kit to try out other features provided by the PX4 Avoidance project, modify the existing code, or experiment with completely new computer vision-based functionality.

该指南阐述了无人机准备飞行所需的最少附加步骤(安装遥控器系统和电池等)。 也包括如何起飞,以及如何修改计算机视觉代码。

PX4 Vision 自主无人机开发套件(先行者版)



  1. 不要直接使用电源为 UP Core 计算机供电(可能会摧毁计算机)。 UP Core 只能使用电池供电。
  2. 该开发包使用前置摄像头,(它没有向下或后置深照相机)。 因此,它不能用于测试 安全着陆 或其他需要下方摄像头的功能。
  3. 只有在 GPS 工作正常时才能测试任务模式中的自主避障(飞行任务需要使用 GPS 配合)。 防撞功能需要在可获得位置的模式下进行测试,比如GPS或光流有比较好的定位。
  4. UP Core 只能使用电池供电(请勿卸下 UP Core 电源安全盖)。

    警告 - 不连接电源端口


Whats inside



  • Core Components:
    • 1x Pixhawk 4 flight controller (with custom PX4 firmware)
    • 1x PMW3901 optical flow sensor
    • 1x TOF Infrared distance sensor (PSK‐CM8JL65‐CC5)
    • 1x Structure Core depth camera
      • 160 deg wide vision camera
      • Stereo infrared cameras
      • Onboard IMU
      • Powerful NU3000 Multi-core depth Processor
    • 1x UP Core computer (4GB memory & 64GB eMMC with Ubuntu and PX4 avoidance)
      • Intel® Atom™ x5-z8350 (up to 1.92 GHz)
      • Compatible OS: Microsoft Windows 10 full version, Linux (ubilinux, Ubuntu, Yocto), Android
      • FTDI UART connected to flight controller
      • USB1: USB3.0 A port used for booting PX4 avoidance environment from a USB2.0 stick (connecting a USB3.0 peripheral may jam GPS).
      • USB2: USB2.0 port on a JST-GH connector. Can be used for second camera, LTE, etc. (or keyboard/mouse during development).
      • USB3: USB2.0 JST-GH port connected to depth camera
      • HDMI: HDMI out
      • SD card slot
      • WiFi 802.11 b/g/n @ 2.4 GHz (attached to external antenna #1). Allows computer to access home WiFi network for Internet access/updates.
  • Mechanical Specification:
    • Frame: Full 5mm 3k carbon fiber twill
    • Motors: T-MOTOR F60 PROⅢ KV1750
    • ESC: BEHEli-S 20A ESC
    • Propellers: T6045
    • GPS: Pixhawk4 GPS module
    • Power module: Holybro PM07
    • Wheelbase: 286mm
    • Weight: 854 grams without battery or props
    • Telemetry: ESP8266 connected to flight controller (attached to external antenna #2). Enables wireless connection to the ground station.
  • A USB2.0 stick with pre-flashed software provided by Auterion that bundles:
    • Ubuntu 18.04 LTS
    • ROS Melodic
    • Occipital Structure Core ROS driver
    • MAVROS
    • PX4 Avoidance
  • Assorted cables, 8x propellers, 2x battery straps (installed) and other accessories (these can be used to attach additional peripherals).



  • Battery:
    • 4S LiPo with XT60 female connector
    • Less than 115mm long (to fit between power connector and GPS mast)
  • Radio control system
    • Any PX4-compatible RC System can be used.
    • An FrSky Taranis transmitter with R-XSR receiver is one of the more popular setups.
  • An H2.0 Hex Key (to unscrew the top plate so that an RC receiver can be connected)



  1. 将接收机(套件中不包含)固定在无人机上,

    • 使用 H2.0 头的内六角螺丝刀移除/取消顶部板块(在电池进入的地方)。
    • 将接收器连接到飞控
    • 重新安装上面的外壳。
    • 在无人机背部安装RC 接收器(使用双面胶或其他)。
    • 确保天线无障碍物阻挡并将天线和机架电隔离。例如,在减震板下方或机臂上。
  2. 遥控和接收机配对(如果尚未完成的话)。 配对方法程序取决于接收机和遥控器(读取接收器手册)。

  3. GPS需要高于无人机,并固定到底板。


  4. 将套件中预先烧录好镜像的U盘插入 UP Core 的端口 USB1 (下面高亮的)

    UP Core:USB1 端口

  5. 用充好电的电池的为无人机供电。


  6. 使用以下默认凭据将地面站连接到无人机WiFi网络(几秒钟后):

    • SSID: pixhawk4
    • 密码: pixhawk4

    WiFi网络 SSID、密码和其他凭据可以在连接后更改(如果需要), 使用 web 浏览器打开 URL: http://192. 68.4.1 波特率不得从921600更改。

  7. 在地面站启动 QGroundControl

  8. 配置/校准 无人机:

    无人机要进行预先校准(例如使用固件、机架、电池和传感器所有安装)。 您需要校准无线电系统 (您刚刚连接) 并且进行以下的基本检查。

  1. 螺旋桨按照下面的方向安装:

    Modes can also be changed using QGroundControl

    We recommend RC controller switches are define for:

    • 默认情况下,PX4 Vision Kit运行 localplanner ,这是您自己的软件的推荐起点。
    • globalplanner 尚未用这个工具包测试。
    • 降落计划器 需要一个向下的摄像头,并且必须先修改相机的安装座才能使用。
  1. 连接电池来给无人机供电

    Motor Order Diagram

    • The propellers directions can be determined from the labels: 6045 (normal, counter-clockwise) and 6045R (reversed, clockwise).

      Propeller identification

    • Screw down firmly using the provided propellor nuts:

      Propeller nuts



  1. Connect the battery to power the vehicle.

  2. 找到一个安全的户外位置进行飞行,最好是用树或其他方便的障碍测试PX4视觉。

    The boot/startup process takes around 1 minute from the supplied USB stick (or 30 seconds from internal memory).

  3. Check that the avoidance system has started properly:

    • 使用套件中的 USB-JST电缆获取一个 USB A 连接器

      USB 转 JST 线

    • 如果键盘和鼠标具有单独的接口,则可以将USB集线器连接到电缆。
  4. Wait for the GPS LED to turn green. This means that the vehicle has a GPS fix and is ready to fly!
  5. 将预先烧录的USB驱动器插入标有 USB1UP Core 端口中。
  6. Find a safe outdoor location for flying, ideally with a tree or some other convenient obstacle for testing PX4 Vision.

  7. To test collision prevention, enable Position Mode and fly manually towards an obstacle. The vehicle should slow down and then stop within 6m of the obstacle (the distance can be changed using the CP_DIST parameter).

  8. To test obstacle avoidance, create a mission where the path is blocked by an obstacle. Then switch to Mission Mode to run the mission, and observe the vehicle moving around the obstacle and then returning to the planned course.



PX4 避障概述

PX4 避障 系统由计算机视觉软件组成,这种软件运行在一个配套的计算机上(附着的深度摄像头),为运行在一个 飞控上的 PX4 飞行堆栈提供障碍和/或航线信息

关于配套计算机视觉/规划软件的文档可以在 github 上找到: PX4/avoidcen。 该项目提供了许多不同的规划程序实现(打包为ROS节点):

  • 您需要通过 USBQGroundControl 连接到套件的 Pixhawk 4 来更新固件。
  • 加载新固件后选择 PX4 Vision DevKit 机架:
  • The landing planner requires a downward facing camera, and cannot used without first modifying the camera mounting.

PX4 和配套的计算机使用如下接口通过 MAVLink 交换数据:


您可以在 UP Core 上安装镜像,并从内部内存启动(而不是U盘)。

建议这样做是因为从内部内存启动得更快。 释放USB端口,也能提供比U盘更多的内存。

飞行无人机(带避障) 另外解释了如何验证避障系统是否有效。

将USB镜像刷新到UP Core:

  1. Insert the pre-flashed USB drive into the UP Core port labeled USB1.
  2. Login to the companion computer (as described above).
  3. Open a terminal and run the following command to copy the image onto internal memory (eMMC). The terminal will prompt for a number of responses during the flashing process.

    cd ~/catkin_ws/src/px4vision_ros
    sudo ./flash_emmc.sh

    All information saved in the UP Core computer will be removed when executing this script

  4. Pull out the USB stick.

  5. Restart the vehicle. The UP Core computer will now boot from internal memory (eMMC).

Boot the Companion Computer

首先插入所提供的 USB2.0 盘 UP 核心 端口标签 USB1 然后用4S电池给无人机供电。 避障系统应在大约1分钟内启动(这取决于所提供的U盘)。

Fly the Drone with Avoidance additionally explains how to verify that the avoidance system is active.

如果您已经在机载计算机上安装了 镜像 您只需为该无人机供电(即不需要U盘)。 避障系统应在30秒内启动并运行。




  1. Connect a keyboard and mouse to the UP Core via port USB2:

    UP Core: USB2

    • Use the USB-JST cable from the kit to get a USB A connector

      USB to JST cable

    • A USB hub can be attached to the cable if the keyboard and mouse have separate connectors.
  2. Connect a monitor to the UP Core HDMI port.

    UP Core: HDMI port

    The Ubuntu login screen should then appear on the monitor.

  3. Login to the UP Core using the credentials:
    • Username: px4vision
    • Password: px4vision

开发/扩展 PX4 避障功能

PX4 视觉的 UP Core 计算机为扩展PX4规避软件(以及更广泛地用于使用ROS2开发新的计算机视觉算法)提供了完整且配置完整的环境。 您可以在无人机上开发和测试您的软件,将其同步到自己的git存储库,并在github PX4/Avoidance 存储库上与更广泛的PX4社区共享所有修复和改进。

Catkin工作区是 ~/catkin_ws,并且已预先配置为运行PX4避障本地计划程序。 引导启动文件 (撤销.launch) 位于 px4vision_ros 软件包中(修改此文件以更改启动计划程序的文件)。

避障程序包在引导时启动。 要集成其他规划,需要禁用此功能。

  1. Disable the avoidance process using the following command:

    systemctl stop avoidance.service

    You can simply reboot the machine to restart the service.

    Other useful commands are:

    # restart service
    systemctl start avoidance.service
    # disable service (stop service and do not restart after boot)
    systemctl disable avoidance.service
    # enable service (start service and enable restart after boot)
    systemctl enable avoidance.service
  2. The source code of the obstacle avoidance package can be found in https://github.com/PX4/avoidance which is located in ~/catkin_ws/src/avoidance.

  3. Make changes to the code! To get the latest code of avoidance pull the code from the avoidance repo:

    git pull origin
    git checkout origin/master
  4. Build the package
    catkin build local_planner

ROS工作区位于 ~/catkin_ws。 关于在 ROS中开发和使用 catkin 工作区,请参阅 ROS catkin教程

开发 PX4 固件


您也可以修改 PX4 本身,然后 将其安装为自定义固件

  • You will need to connect QGroundControl to the kit's Pixhawk 4 via USB in order to update firmware.
  • Select the PX4 Vision DevKit airframe after loading new firmware: Airframe Selection - PX4 Vision DevKit

Modification of PX4 code is not needed to meet most computer vision use cases. To discuss the interfaces or how to integrate other features join the PX4 slack channel: #computer-vision.


硬件问题,请联系 Holybro: productservice@holybro.com


How to get Technical Support

软件问题,请使用以下 社区支持频道

For software issues, use the following community support channels:

© PX4 Dev Team. License: CC BY 4.0            Updated: 2020-10-26 12:32:28

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