Research on the Hardware Structure Characteristics and EKF Filtering Algorithm of the Autopilot PIXHAWK

PIXHAWK is a low-cost and high-performance autopilot, which inherits the advantages of APM and PX4, and makes improvements on the basis of it. PIXHAWK is a dual processor Flight Controller with a strong computing power of 32 bit STM32f427 Cortex M4 MHz/256 core 168KB RAM/2MB Flash bit processor. There is also a major position in the industrial use of the co-processor 32bit STM32F103, and it is safe and stable. So it can support the operation requirements of various algorithms, EKF algorithm can be perfect in the PIXHAWK, so it can satisfy the further optimization operation of the attitude detection. Moreover, PIXHAWK has dual sensor that is dual GPS, dual compass, dual accelerometer and dual gyro.