The following research papers use the Pixhawk 2.4.8 and detail its firmware implementation:
In the rapidly evolving world of open-source drone autopilots, remains a gold standard. However, within the vast ecosystem of ArduPilot and PX4 firmware versions, a specific term has gained traction among racers, industrial UAV operators, and tinkerers alike: Pixhawk 248 firmware . pixhawk 248 firmware
If you have a Pixhawk running 2.4.8 today: The following research papers use the Pixhawk 2