I. Introduction
The PIXHAWK2.4.6 as a flight controller that is the world's most popular open source control hardware vendors 3DR introduced a new generation of flight control system. Its predecessor is APM. Due to the APM processor has been close to full load, and there is no way to satisfy more complex processing, so hardware vendors used the latest standard 32-bit ARM processor. The first generation of products is Px4 series that includes flight control processor PX4FMU and input and output interface board PX4IO. Px4 series can use PX4FMU alone, but wiring is complex, it can also use by supporting the input and output interface board PX4IO, but there is no uniform shell, not fixed, coupled with the use of complex, so it is also treated as a generation of experimental version. Through the PX4 series of experience, the company finally simplified the structure, the PX4FMU and PX4IO integrated into a board, and added a bone shape of the shell, and optimize the hardware and the line, which is the second generation of products PIXHAWK.