미들웨어와 아키텍쳐

This section explains the PX4 middleware and architecture, including device drivers, mechanisms for communicating with offboard companion computers and GCS (e.g. MAVLink, RTPS), and the uORB publish-subscribe message bus.

It also contains the Modules & Commands Reference, which documents most PX4 modules, drivers and commands.

For a detailed overview of the platform architecture see the Architectural Overview.