中间件及架构

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.

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