I have a question about px4firmware for Pixhawk 2.1. As i see on the picture here http://ardupilot.org/dev/docs/learning-ardupilot-introduction.html that there is nuttx under px4firmware, so that means nuttx is included already in px4firmware?

I need also some more information about software structure of Pixhawk 2.1 for my thesis. Maybe someone has more informations about it and could help me a little.

Best regards


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