# Modalai PX4 Branch vs main PX4 branch

Source: https://forum.modalai.com/topic/3746/modalai-px4-branch-vs-main-px4-branch
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: voxl-sdk
Posted: 2024-08-28 15:55:49 UTC by jmltt
Replies: 3 · Views: 807

## jmltt · 2024-08-28 15:55:49 UTC

Can someone give me a high-level explanation of the main differences between modalai's branch of the PX4 firmware and whatever the release it was forked from? 

The next release of PX4 (v1.15) has some features I'd like to test on the Sentinel and I'm wondering if when it's released I could rebuild voxl-px4 linking to that branch or if there's voxl specific stuff I'd be missing in terms of drivers or board specific set-up stuff

## Reply by Eric Katzfey (ModalAI staff) · 2024-08-29 15:57:59 UTC

@jmltt Our fork was started from commit e8d12e26c2cea24d63c7657c7dbecbfd2c82fb0f. We added lots of things since then! But the most important things have been brought back into mainline PX4, although often in a somewhat different format to appease the PX4 development community. I have test flown v1.15 RC 1 on my Starling 2 like drone. I think you should be able to fly a Sentinel with it. In terms of what is missing I'd say most of it was specific things requested by various customers for their particular needs. One note: The RB5 drone is not supported.

## Reply by Jetson Nano · 2024-11-13 18:25:41 UTC (in reply to Eric Katzfey)

@Eric-Katzfey I'm planning to test PX4 1.15v on my Starling 2. With the newer update of SDKs `1.3.0 or higher` is the PX4 1.1.5v available for testing?

In ModalAI's git fork of PX4 also I'm able to find only till [PX4 1.14V](https://github.com/modalai/px4-firmware). How can I build **PX4 1.15V** from ModalAI's fork for Starling2 drone?

## Reply by Eric Katzfey (ModalAI staff) · 2024-11-13 21:18:00 UTC (in reply to Jetson Nano)

@Jetson-Nano If you want v1.15 then you just build from mainline, not from our fork.