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Overview
How to change Aerostack2, contribute it back, and extend it with your own components.
This section is for working on Aerostack2 itself, whether that's fixing a bug, contributing a feature, or writing a component of your own for your drone or research.
Aerostack2 is made to be extended. Most of what a drone does comes from plugins and nodes built on a few base classes, so you can add a new platform, controller, estimator or behavior without touching the rest of the stack. The guides walk through each of them.
Getting set up
Setting up
A source checkout, the git hooks that check style, and your editor.
Creating a package
How a package is laid out and where to register it.
Contributing
Opening an issue
Report a bug or ask for a feature.
Opening a pull request
Get a change into Aerostack2, from the first commit to the merge.
Guides
Developing with Pixi
Build Aerostack2 from your clone, change it and run your changes.
Your project with Pixi
Build a package of your own on top of the released Aerostack2.
Aerial platform
Connect a new drone or simulator.
Behavior
Add a new skill the drone can perform.
Controller plugin
Add a control law to the motion controller.
Estimator plugin
Add a way to estimate the drone's state.
Follow reference plugin
Change how the follow reference behavior tracks its target.
Trajectory generation plugin
Add a planner that turns waypoints into trajectories.
Gazebo assets
Add worlds, drone models and sensors to the simulation.
Last updated on November 3, 2026