# Which branch of px4-firmware should we build against?

Source: https://forum.modalai.com/topic/2264/which-branch-of-px4-firmware-should-we-build-against
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-06-14 13:31:39 UTC by Aidan Dempster
Replies: 3 · Views: 818

## Aidan Dempster · 2023-06-14 13:31:39 UTC

The current published px4 firmware (built from this [repo](https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4/-/tree/sdk-0.9) on the sdk-0.9 branch) appears to be building from a [px4-firmware](https://github.com/modalai/px4-firmware/tree/voxl-dev-1.12) branch similar to `voxl-dev-1.12`. When building custom PX4 firmware should we fork off of this branch to ensure compatibility with the voxl-suite?

We are also using HITL testing for this drone, but the branch specified by the documentation is `voxl-master` which appears to be updated frequently and no longer has the files required in the instructions. Again, these files can be found in the `voxl-dev-1.12` branch, but this branch also has errors when attempting to build the `px4_sitl gazebo` target so I am not sure which branch I should be using for that build. Is there a single branch that works for both uploading the HITL configuration files and also building the simulator plugins?

Thank you!

## Reply by Eric Katzfey (ModalAI staff) · 2023-06-14 16:49:36 UTC

@Aidan-Dempster Yes, for SDK 0.9 and 0.9.5 you want to be using voxl-dev-1.12 branch. You can look at the tags to see how it aligns with the released versions. Starting with SDK 1.0.0 (Coming very soon) the branch will be voxl-dev. voxl-master has been deprecated and has stale content.

## Reply by Aidan Dempster · 2023-06-14 17:23:37 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Thank you. Do you know if the HITL configuration files and the `voxl-px4-hitl` script will be moved into voxl-dev at that point or will those files be left in the voxl-dev-1.12 branch?

## Reply by Eric Katzfey (ModalAI staff) · 2023-06-15 16:13:36 UTC (in reply to Aidan Dempster)

@Aidan-Dempster Yes, HITL support will be migrated to the voxl-dev branch as well.