Custom PX4 firmware for autonomous hybrid aerial-marine missions

2026-09-17

AI Summary

本文通过扩展PX4固件，为混合空中-水面任务引入手动和自主导航模式，以实现对水生环境的测绘与监测。

Abstract

Mapping and monitoring aquatic environments can benefit from hybrid aerial-amphibious drones able to combine flight and water-surface navigation within the same mission. This paper presents a PX4 firmware extension for such platforms, introducing manual and autonomous marine navigation modes integrated with the standard PX4 mission pipeline and QGroundControl interface. The proposed framework preserves existing flight functionalities and safety mechanisms while enabling unified planning and execution of hybrid aerial-marine missions with differentiated aerial and marine waypoints. Simulated case studies validate the implementation and demonstrate stable surface navigation under calm and wavy conditions.

Problem

• PX4 firmware
• hybrid aerial-marine missions
• aquatic environments
• navigation modes

Innovation

• PX4 firmware
• autonomous hybrid missions
• marine navigation modes
• unified planning and execution