Module Index
VisionFlow-PX4 contains 51 PX4 modules, divided into standard modules and custom modules.
Module Categories
| Category | Module Count | Description |
|---|---|---|
| Control | 12 | Attitude, position, rate, auto-tuning, etc. |
| State Estimation | 6 | EKF2, LPE, landing point estimation, etc. |
| Simulation | 8 | Gazebo bridges, sensor simulation, etc. |
| Communication | 4 | MAVLink, Zenoh, uXRCE-DDS, muORB |
| Sensors | 3 | Sensor initialization, calibration, temperature compensation |
| System Management | 6 | Commander, logger, load monitoring, etc. |
| Other | 12 | Battery, events, data management, etc. |
Custom Modules
The following modules are the core contributions of this project:
| Module | Description |
|---|---|
pregme_att_control | PreGME sliding mode prescribed performance attitude control |
pregme_pos_control | PreGME sliding mode prescribed performance position control |
mc_nn_control | Neural network control based on TensorFlow Lite Micro |
rover_differential | Differential drive rover controller |
zenoh | Zenoh DDS alternative middleware |
uxrce_dds_client | uXRCE-DDS client |
muorb | micro-ORB aggregator |
camera_feedback | Camera feedback processing |
Standard PX4 Modules (Partial)
| Module | Description |
|---|---|
ekf2 | Extended Kalman Filter v2 |
commander | Flight mode and manager |
navigator | Mission navigation |
control_allocator | Actuator allocation |
gimbal | Gimbal manager |
logger | ULog data logging |
mavlink | MAVLink protocol processing |
Detailed Documentation
- PreGME Controllers — Prescribed performance control details
- Gamma Arm Integration — Arm dynamics and plugins
- Neural Network Control — TFLite integration
- Rover Controller — Ground robot control
- Zenoh Middleware — Lightweight DDS alternative