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Aerial Autonomy Stack

  • Software
  • Drones and boats
  • Framework

A batteries-included, flight-tested open framework for developing, simulating, and deploying multi-drone autonomy with PX4, ArduPilot, Betaflight, and ROS2, including perception-based simulation and…

Source on GitHub: github.com/JacopoPan/aerial-autonomy-stack (opens in a new tab). Facts read at commit 31cc705 (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 31cc705 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Simulates multi-vehicle quadrotors, quadplane VTOLs and tailsitters under PX4, ArduPilot, and Betaflight, with faster-than-real-time and multi-instance runs.
  • Offers ROS2 action-based autopilot control via XRCE-DDS, MAVROS, or MSP, plus offboard controllers and behavior-tree missions.
  • Provides perception in simulation: YOLO detection with ONNX GPU runtimes and LiDAR odometry via KISS-ICP, with 3D simulation worlds.
  • Includes a steppable Gymnasium environment for reinforcement learning experiments.
  • Runs in Docker images for simulation and deployment, with hardware-in-the-loop testing on Jetson boards.
  • Supports inter-vehicle communication over a Zenoh ROS2 bridge and separate simulated-sensor and air networks.

Written by Robotheca from the project's README (opens in a new tab) at commit 31cc705.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Developed on Ubuntu 24.04 with an NVIDIA open driver (nvidia-driver-615-open) on an i7-11 with an RTX 3060; deployment is tested on a Holybro Jetson Baseboard with Pixhawk 6X and NVIDIA Orin NX 16GB. Windows 11 is supported via WSL.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
22 Oct 2026 on main
Latest release
Betaflight Release (18 Oct 2026)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.