Korean Regional Dev Call: November 18, 2020

Jaeyoung-Lim · November 12, 2020, 11:33am

Agenda

PX4 Dev Call Update
QGC / Dev Guide / User guide 한글화
커뮤니티 QnA
In-Depth Discussion

Join Meeting

일시: 2020년 11월 18일 4 pm (KST)
Meeting Link: https://meet.jit.si/PX4KoreanSIGDevCall

세번째 한국어 지역 Devcall을 진행합니다!

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Agenda
지난주 PX4 Dev Call Update

github.com/PX4/PX4-Autopilot

In-air home position

PX4:master ← PX4:in-air-home

opened 09:28AM - 21 Oct 20 UTC

bresch

+149 -47

**Describe problem solved by this pull request** When taking off without a home… position, RTL is impossible, even if good GPS data is obtained just after takeoff. **Describe your solution** If another horizontal aiding source is available, the original home location can be back-computed as soon as a GPS lock is available. If no aiding source is available, a home position can be set at the current location. Given that this will only occur when flying LOS, doing an RTL to this position is a reasonable choice. Enable the functionality by setting `COM_HOME_IN_AIR = 1` **Describe possible alternatives** Always set the home position to the current position as back-computing could be worse if the local estimate wasn't good. **Test data / coverage** Gazebo SITL tests with the Iris optical flow: takeoff with flow, move, enable GPS fusion (EKF2_AID_MASK), trigger RTL -> the vehicle goes back to the takeoff location. ![Screen Capture_select-area_20201020132824](https://user-images.githubusercontent.com/14822839/96596091-a41edd00-12ec-11eb-9736-e7f7e40d4832.png)

github.com/PX4/PX4-Autopilot

Fixed-wing position control: remove manually triggered climbout mode

PX4:master ← PX4:pr-climbout-param-master

opened 06:35PM - 02 Nov 20 UTC

sfuhrer

+8 -16

**Describe problem solved by this pull request** Currently, there is a hard-cod…ed limit of 85% on the pitch stick (pulling) setpoint that triggers the climbout mode when flying in fixed-wing position or altitude controlled mode. The vehicle will then give max throttle and try to climb as fast as physics allow. This prevents a precise, but still dynamic control of the vehicle, as it is impossible to climb fast without entering the climbout mode, that was (I believe) originally implemented rather as a safety feature. **Describe your solution** ~Add parameter to disable climbout mode via sticks (boolean).~ Remove the manually triggered climbout mode (pitch stick below 85% in altitude/position controlled flight). Note that this doesn't have any impact on the automatically triggered climbouts during fixed-wing handlaunch or runway takeoff. **Describe possible alternatives** - ~Instead of a boolean "climbout enabled" the parameter could be a float, specifying the threshold where the climbout mode is entered (currently that would be 0.85).~ - We could also change the trigger for the climbout: Instead of only pulling on the throttle stick, the user would have to push the airspeed stick to the maximum for example. Then the user could still climb fast without entering climbout mode if he wants that. **Test data / coverage** Flight tested, felt much nicer, especially on vehicles with a lot of excessive power (e.g. tiltrotor).

QGC / Dev Guide / User guide 한글화
한글화 프로젝트 관련 메인테이너 필요

QGroundControl 한글화 프로젝트
- 진행사항 81% (지난주 43%)
PX4 Dev Guide 한글화 프로젝트
- 진행사항 46%
PX4 User Guide 한글화 프로젝트
- 진행사항 7%

번역중 용어가 틀린경우 표 업데이트하고 커멘트로 남기기로 하였습니다 PX4 한글화 메뉴얼 - Google Sheets @TaeyeonK

Community QnA

How does Target Tracking work? @TaeyeonK
- Follow me mode is not part of target tracking
- Target tracking related mavlink messages: Messages (common) · MAVLink Developer Guide

In-Depth Discussion

Gazebo SITL based simulation integration into an autonomous fixedwing landing with vision