rroche
January 19, 2021, 5:10pm
1
Jan 26, 2021
Call Moderators
Agenda Items
UAVCAN v0 & v1 PX4 implementation roadmap/plan (@LorenzMeier )
Time
9am PST
Dail In
Direct link to the meeting:
https://meet.jit.si/pixhawkweekly
Meeting Minutes
Attendance
Jinger Zeng (Dronecode Foundation)
Ramón Roche (Dronecode Foundation)
Lorenz Meier (Auterion)
Igor Misic (Auterion)
Iain Galloway (NXP)
Peter van der Perk (NXP)
Gerald Peklar (NXP)
Andrew Smith (Gumstix)
Carl Olsson (Wingtra)
Daniel Agar (PX4 Developer Team)
David Sidrane (PX4 Developer Team)
Pavel Kirienko (UAVCAN/Zubax)
Dmitry Ramrnsky (Zubax)
Jacob Crabill (Volansi)
Ken Thompson (Volansi)
Max Elfgen (HTW Berlin )
Kalyan Sriram (AmadorUAV)
Jacob Christ (Apium)
Marcel Welter (Maxon Motors)
Documentation for UAVCAN messages
Action item for @LorenzMeier @PavelKirienko DS-015 GoogleDoc
From NXP
https://github.com/PX4/PX4-Autopilot/tree/pr-uavcan-v1_bms_minimal/src/drivers
Resources
# The electronic speed controller (ESC) service is designed for controlling and monitoring electric drives.
# From the standpoint of this standard, an electric drive is just a special case of a servo. For generality,
# COTS electric drives are recommended to also support the servo interface defined in the adjacent namespace.
#
# ESCs (drives) are segregated into groups. Each ESC in a group has an index that is unique within the group.
# Drives in a group are commanded synchronously by publishing a message containing an array of setpoints.
# There are several subjects defined:
#
# - Setpoint array subject. Every participant subscribes to the same setpoint subject.
# Every message is consumed by all participants according to their index in the group.
# The setpoint subject defines the group. There may be an arbitrary number of such groups in the network.
#
# - Readiness subject. Every participant subscribes to the same readiness control subject which is used to command
# the state of the group: sleep, standby, or engaged. In many cases there will be one global subject controlling
# the state of the entire system; in other cases there will be dedicated controls on a per-subsystem basis.
#
# - Individual subjects, whose subject-ID is offset from the setpoint subject-ID `S` as a function of
# group member index `i` as specified below.
#
# SUBJECT
show original
Current v0 implementation
Errata and Feedback
Let me know below if I failed to capture anything the right way, and if there are any updates, or you have feedback on the call format.
