Skip to main content

PX4 features

Useful PX4 features for specific use-cases

ARM conditioning​

  • Use case: User should never be able to directly control the UAV, always only through Companion computer
    • If companion computer fails to boot, px4 is ready to fly and nothing prevents user to arm
  • Option 1:
    • ARM authorization - if COM_ARM_AUTH_MET is enabled, px4 always requests an authorization to allow arming.
  • Option 2:
    • ARMABLE parameter - COM_ARMABLE - globally allow/deny arming
    • Used in H&M project as combination of ROS1 and MAVROS doesn't support easy implementation of Option 1
    • Simpler solution, but not that clean
      • if companion computer fails to set Armable parameter to false after mission, px4 will be armable on boot