rroche
August 5, 2020, 5:00pm
1
Status update by component/project
Roadmap, and Release discussion
Community Q&A
In-Depth discussions
Meeting ID : 946 175 205Join using your mobile/desktop
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FMU Release Process : We are trying to understand better how to help manufacturers adopt the standards, we have a few ideas but we feel need more data. (we are launching a quick survey)
FMUv5X / FMUv6X : Recent changes need to be verified and published
96Boards CE Board : They are building a compatible board that will be using the PAB and PPB standards to connect directly to Pixhawk. Looking for comments
Manufacturer Survey : what’s the best way to release FMU? what’s the best release schedule?
Aug 11, 2020
Call Moderators
@rroche
Agenda Items
FMU
Payload
BMS
Dail In
Direct link to the meeting
https://bit.ly/3gNLZ4F
Meeting Notes
FMUv6X
Updated pin charts, but can’t tell on the content of the Spec.
FMUv5X
Double check doc and cook spec revision
PX4:master ← PX4:pr-calibration_improvements
opened 01:32AM - 29 Jun 20 UTC
This pull request combines a few mag sensor pipeline and calibration related imp… rovements and fixes that started to overlap.
### New functionality
1. sensor mag drop all remaining IOCTLS, move calibration downstream to sensors module entirely with parameters, and perform aggregation in standalone WorkItem rather than voted_sensors_update
- mag calibration is never cleared, only updated after a new successful calibration
- this largely mirrors the changes down for accel & gyro recently.
2. magnetometer calibration automatically set the rotation of external magnetometers relative to the first internal (see https://github.com/PX4/Firmware/pull/15120 for more detail).
3. per sensor instance configurable priority (CAL_ACCx_PRIO/CAL_GYROx_PRIO/CAL_MAGx_PRIO)
- this replaces the existing enable/disable parameters (CAL_ACCx_EN/CAL_GYROx_EN/CAL_MAGx_EN) and the uORB priority concept
4. ~~new helper `systemcmds/mag_test` that simply runs and prints the heading of each sensor_mag instance until you quit~~ I'll bring this in later.
5. remove conservative subscription interval during data acquisition
- this allows you to go through the full mag cal quite a bit faster (I've compared data before and after on a couple setups)
6. store and use full soft iron calibration matrix (new parameters CAL_MAGx_{X, Y, Z}ODIAG)
- currently in master we only keep the diagonals
- https://github.com/PX4/Firmware/issues/8265, https://github.com/PX4/Firmware/pull/9136, etc
Along the way I discovered a number of potential bugs and the need to properly carry forward additional data in calibration "slots" that led to the consolidation of these changes. One problem was again the potential inconsistency between sensor instances (uORB, /dev/magX, calibration slots) that can shift if sensor ordering changes (external mags changed or startup script).
EDIT (@MaEtUgR): fixes #14829
PX4:master ← PX4:master-pr-TXDMA-fix
opened 07:45PM - 10 Aug 20 UTC
This fixes https://github.com/PX4/Firmware/issues/14659#issuecomment-617035607
…
It requires https://github.com/PX4/NuttX/pull/113
Work on-going to get CUAV Nora into the next v1.11 RC to try to fit this into the release, tracking can be followed below.
https://github.com/PX4/Firmware/projects/35
PX4:master ← PX4:pr-estimator_heading
opened 07:47PM - 07 Aug 20 UTC
@bresch how about something like this?
Followup to https://github.com/PX4/Fir… mware/pull/15512.
PX4:master ← PX4:pr-commander_prearm_power
opened 03:06PM - 12 Aug 20 UTC
- this check isn't relevent during bench testing
PX4:master ← PX4:pr-ekfSymPyYawEstimator
opened 11:32AM - 23 Jul 20 UTC
Tested in SITL with horizontal position changes using standard gazebo MC model. … Replay of the log was then used to compare the behaviour of the EKF-GSF yaw estimator before and after. There was no visible difference in outputs. note that this includes two patches from https://github.com/PX4/ecl/pull/870 that add the custom ecl::powf function
EKF-GSF estimates and weights before:
<img width="1146" alt="Screen Shot 2020-07-23 at 9 26 44 pm" src="https://user-images.githubusercontent.com/3596952/88281711-7cd76480-cd2b-11ea-8c04-d2298d9c61b4.png">
After changes:
<img width="1154" alt="Screen Shot 2020-07-23 at 9 30 55 pm" src="https://user-images.githubusercontent.com/3596952/88281906-d9d31a80-cd2b-11ea-84a8-bd4e75fb4dcb.png">
PX4:master ← PX4:pr-ekfSymPyMagFusion
opened 05:04AM - 30 Jul 20 UTC
This PR replaces the Matlab generated equations with sympy generated equations. … Continues on from #870.
Modifies the methods used for fusion of 3-axis magnetometer data, declination angle and yaw angle.
Includes comparison test scripts that compare the observation Jacobians and Kalman gain equations generated for the Matlab symbolic toolbox and SymPy.
**Testing**
3Dmag_fusion_generated_compare.cpp output:
Pass: Magnetomer X axis Hfusion max diff fraction = 0.000000e+00
Pass: Magnetomer X axis Kfusion max diff fraction = 7.846418e-08
Pass: Magnetomer Y axis Hfusion max diff fraction = 0.000000e+00
Pass: Magnetomer Y axis Kfusion max diff fraction = 1.035609e-07
Pass: Magnetomer Z axis Hfusion max diff fraction = 0.000000e+00
Pass: Magnetomer Z axis Kfusion max diff fraction = 0.000000e+00
mag_decl_fusion_generated_compare.cpp output:
Pass: Mag Declination Hfusion max diff fraction = 0.000000e+00
Pass: Mag Declination Kfusion max diff fraction = 1.228912e-07
yaw_fusion_generated_compare.cpp output:
Pass: 321 yaw option A Hfusion max diff fraction = 2.090426e-07
Pass: 321 yaw option B Hfusion max diff fraction = 1.139841e-07
Pass: 312 yaw option A Hfusion max diff fraction = 1.333159e-07
Pass: 312 yaw option B Hfusion max diff fraction = 1.998272e-07
Comparison of mag fusion innovations and field estimates before and after the change:
Before:
<img width="1338" alt="Screen Shot 2020-07-30 at 2 59 46 pm" src="https://user-images.githubusercontent.com/3596952/88882463-5bb7cc00-d275-11ea-93d3-faef5fff6cea.png">
After:
<img width="1338" alt="Screen Shot 2020-07-30 at 3 00 37 pm" src="https://user-images.githubusercontent.com/3596952/88882500-75591380-d275-11ea-9bb9-167c477afffa.png">
Comparison of yaw innovations and innovation variances before and after the change:
Before:
<img width="1333" alt="Screen Shot 2020-07-30 at 3 35 12 pm" src="https://user-images.githubusercontent.com/3596952/88884616-56a94b80-d27a-11ea-93cb-c18fd5893e3f.png">
After:
<img width="1341" alt="Screen Shot 2020-07-30 at 3 33 40 pm" src="https://user-images.githubusercontent.com/3596952/88884504-1a75eb00-d27a-11ea-8cd9-6132b02e160d.png">
https://github.com/PX4/Firmware/pull/15531 https://github.com/PX4/Firmware/pull/15503
TODO : Make sure CI for tailsitter is enabled
No updates.
https://github.com/PX4/Firmware/pull/15509
No updates.
https://github.com/PX4/sitl_gazebo/pull/565
No updates.
No updates.
No updates.
Final release checklist tracking
https://github.com/PX4/Firmware/issues/15537
v1.11-RC2 Release Testing
Community
Release Tags Links
Let me know below if we failed to capture anything the right way, and if there are any updates (not present here), or you have feedback you would like to share with the dev-team.
FMU Release Process: We are trying to understand better how to help manufacturers adopt the standards, we have a few ideas but we feel need more data. (we are launching a quick survey)
FMUv5X / FMUv6X: Recent changes need to be verified and published
96Boards CE Board: They are building a compatible board that will be using the PAB and PPB standards to connect directly to Pixhawk. Looking for comments
Manufacturer Survey: what’s the best way to release FMU? what’s the best release schedule?
TODO: Make sure CI for tailsitter is enabled
Final release checklist tracking