# Overview

![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FHAOL2E3qny4ykGPrVTOi%2FPX4%20Vision%20v1.5.png?alt=media\&token=495d4cb6-24cd-432c-9bdf-a394625b64ee)

The *PX4 Vision Autonomy Development Kit* is a robust and inexpensive kit for enabling computer vision development on autonomous vehicles.

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**PX4 Vision Dev Kit v1.5** ships with Pixhawk 6C Flight Controller
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The kit contains a near-ready-to-fly carbon-fiber quadcopter equipped with a *Pixhawk 4* flight controller, a *UP Core* companion computer (4GB memory & 64GB eMMC), and a Occipital *Structure Core* depth camera sensor.

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This vehicle comes with no pre-installed software. A pre-imaged USB stick that contains a reference implementation of the [PX4/PX4-Avoidance](https://docs.px4.io/main/en/computer_vision/obstacle_avoidance.html) local planner software is provided by *Auterion*. This software provides only a very basic example of what you can do with the PX4 Vision Autonomy Kit. Developers can use the kit to try out other features provided by the [PX4 Avoidance ](https://github.com/PX4/PX4-Avoidance)project, modify the existing code, or experiment with completely new computer vision-based functionality.
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![What's Inside](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FBvXAICO4bAWDnfDB5IzB%2FPX4%20Vision%20v1.5%20Whats%20Inside.jpg?alt=media\&token=5714421e-c61f-4c91-8a14-e219687849c9)

### The PX4 Vision DevKit contains following components:

* Core Components:
  * 1x[ Pixhawk 6C flight controller ](https://docs.holybro.com/autopilot/pixhawk-6c)
  * 1x PMW3901 optical flow sensor (Thone ThoneFlow-3901U, connected via Telem3 Serial Port)
  * 1x TOF Infrared distance sensor (PSK‐CM8JL65‐CC5, connected via GPS 2 Port)
  * 1x Structure Core depth camera
    * 160 deg wide vision camera
    * Stereo infrared cameras
    * Onboard IMU
    * Powerful NU3000 Multi-core depth Processor
  * 1x *UP Core* computer (4GB memory & 64GB eMMC with Ubuntu and PX4 avoidance)
    * Intel® Atom™ x5-z8350 (up to 1.92 GHz)
    * Compatible OS: Microsoft Windows 10 full version, Linux (ubilinux, Ubuntu, Yocto), Android
    * FTDI UART connected to flight controller
    * `USB1`: USB3.0 A port used for booting PX4 avoidance environment from a USB2.0 stick (connecting a USB3.0 peripheral may jam GPS).
    * `USB2`: USB2.0 port on a JST-GH connector. Can be used for second camera, LTE, etc. (or keyboard/mouse during development).
    * `USB3`: USB2.0 JST-GH port connected to depth camera
    * `HDMI`: HDMI out
    * SD card slot
    * WiFi 802.11 b/g/n @ 2.4 GHz (attached to external antenna #1). Allows computer to access home WiFi network for Internet access/updates.
* Mechanical Specification:
  * Frame: Full 5mm 3k carbon fiber twill
  * Motors: T-MOTOR KV1750
  * ESC: BEHEli-S 20A ESC
  * Propellers: Gemfan 6030-3 (New with v1.5)
  * GPS: Pixhawk4 GPS module
  * Power module: Holybro PM07
  * Wheelbase: 286mm
  * Weight: 854 grams without battery or props
  * Telemetry: ESP8266 connected to flight controller (attached to external antenna #2). Enables wireless connection to the ground station.
* A USB2.0 stick with pre-flashed software provided by Auterion that bundles:
  * Ubuntu 18.04 LTS
  * ROS Melodic
  * Occipital Structure Core ROS driver
  * MAVROS
  * [PX4 Avoidance](https://github.com/PX4/PX4-Avoidance)
* Assorted cables, 8x propellers, 2x battery straps (installed) and other accessories (these can be used to attach additional peripherals).
* Propeller Guard (Purchased Separately)

![](https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FHagwc9zvCBPNUjdf5V1S%2FPX4%20Vision%20V.15%20Exploded%20view.jpg?alt=media\&token=4f9c0bc3-16f4-487b-92cd-9ce8bedc00b0)