## PX4 Flight Core and PX4 Middleware ##

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This repository contains the PX4 Flight Core, with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones. 

*   Official Website: http://px4.io
*   License: BSD 3-clause (see LICENSE.md)
*   Supported airframes (more experimental are supported):
  * [Multicopters](http://px4.io/platforms/multicopters/start)
  * [Fixed wing](http://px4.io/platforms/planes/start)
  * [VTOL](http://px4.io/platforms/vtol/start)
*   Binaries (always up-to-date from master):
  * [Downloads](http://px4.io/firmware/downloads)
*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)

### Users ###

Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with the PX4 flight stack.

### Developers ###

Contributing guide:
  * [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
  * [PX4 Contribution Guide](http://px4.io/dev/contributing)

Developer guide:
http://px4.io/dev/

Testing guide:
http://px4.io/dev/unit_tests

This repository contains code supporting these boards:
  * FMUv1.x
  * FMUv2.x
  * AeroCore (v1 and v2)
  * work in progress to support [Trifle, DIY board](https://github.com/jodersky/trifle).

#### Trifle Support Roadmap

  - [x] Port basic NuttX functionality to the Kinetis K20 SoC family.
  - [x] Integrate new board into PX4 build system.
  - [x] Get shell and demo apps running.
  - [x] Implement basic modules: CXX, driver abstraction.
  - [x] PWM, motor control.
  - [x] Port systemlib, enable uORB.
  - [ ] High resolution timer
  - [ ] I2C
  - [ ] ADC
  - [ ] Sensors
  
## NuttShell (NSH) ##

NSH usage documentation:
http://px4.io/users/serial_connection