Architecture Overview
This section provides a high-level overview of the system architecture. For detailed information on each subsystem, refer to the following chapters:
- Control Stack — Flight control algorithms and data flow
- Simulation Stack — Gazebo simulation and plugin architecture
- Communication Stack — uORB, MAVLink, DDS middleware
System Components
VisionFlow-PX4 consists of the following major subsystems:
| Subsystem | Directory | Description |
|---|---|---|
| Flight Control Core | src/modules/ | 47 PX4 modules |
| Custom Controllers | src/modules/pregme_* | PreGME prescribed performance control |
| Arm Dynamics | src/lib/gamma_arm_dynamics/ | Gamma series arm models |
| Simulation Assets | Tools/simulation/gz/ | Gazebo worlds and models |
| Toolchain | windshape_dev/ | Control GUI, log review, data streaming |
| Docker Environment | docker/ | Containerized workflow |
| Board Support | boards/ | Hardware configurations for 10 vendors |
| Communication Messages | msg/ | 180+ uORB message definitions |