Firmware for the Piksi GNSS receiver.
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ChibiOS @ ee3813d Updated ChibiOS to support building on Windows Jun 13, 2016
data SIMULATOR: Generates real observation data - pseudoranges and carrier… Apr 9, 2014
docs update NMEA notes message for documentation Dec 15, 2015
ext Remove libopencm3 dependency. Use ChibiOS/HAL. Mar 29, 2016
gdb_chibios @ 0859809 ChibiOS thread support from GDB Jul 9, 2015
libsbp @ 991fc97 pull in new SBP and adjust uartA message mask for new ephem group May 26, 2016
libswiftnav @ f82b1f4 Update libswiftnav May 24, 2016
scripts Remove pyinstaller makefile. Apr 21, 2015
setup/ansible Fix Travis Ubuntu ARM toolchain installation May 26, 2016
src Added windows msys compatible linker arguements Jun 13, 2016
stm32 Removed RTCM support. Jun 26, 2015
tests look up PRN code by sid Dec 14, 2015
.gdbinit ChibiOS thread support from GDB Jul 9, 2015
.gitignore Port to ChibiOS/RT 3 Mar 29, 2016
.gitmodules Update ChibiOS Mar 29, 2016
.travis.yml Make travis build v2 and v3 Apr 8, 2016
LICENSE Correcting license Sep 27, 2013
Makefile v3 target in Makefile. Apr 29, 2016 Add Readme note about compatibility with piksi v2 only Aug 15, 2017 SBP: Fix ephemeris TOC week number sent over SBP Nov 20, 2015
Vagrantfile Remove utopic and raring which are no longer available from http://cl… Mar 25, 2016
ansible.cfg Fixes to provisioning script. Jan 12, 2015 Document ANSIBLE_SUDO_OPTION option Jan 16, 2016


Build status

Firmware for the Swift Navigation Piksi v2.3.1 GPS receiver. This firmware is not compatible with Piksi Multi or Duro.

Documentation available online at

Checking Out Submodules

ChibiOS, libopencm3, libsbp and libswiftnav are submodules of this git repository. Check them out using:

git submodule update --init

Remember to run git submodule update after pulling in the latest changes to ensure all the submodules are in sync.


There are a few options:

  • Normal usage. If you're only using the Piksi console, binary installers (Windows and OS X) are here and source for the console can be found in piksi_tools.

  • Development (native). To install dependencies for the development tools on your platform (OS X, Ubuntu, or Debian), run the setup script in this repository via bash -x install. If you're also building the firmware, you'll need to checkout the submodules as well.

  • Development (VM). The Vagrant file is currently used for testing installation, but can also be used to provision a development VM. To do so, you will need to download VirtualBox and Vagrant, and then run vagrant up trusty in this repository.

For additional details about the toolchain installation, please see .