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@Jacob_Crabill has the pull request to support sending uORB over UAVCAN close to ready.
uavcan_v1: Add PublicationManager and uORB Publisher by JacobCrabill · Pull Request #17863 · PX4/PX4-Autopilot �
A lot of functionality to bridge the interfaces is in the pr e.g. listing available topics, getting the data based on subject IDs. There’s some discussion about resource constraints on CAN compared to possibly large uORB messages.
His goal is to get a drone flying using this and the output configuration pull request.
It’s far developed but not yet flying because of timing/scheduling issues. There needs to be a discussion with Peter from NXP about figuring the remaining things out e.g. SocketCAN.
Current test branch for bandwidth/latency analysis: GitHub - volansi/PX4-Autopilot-Public at dev/uavcan_v1_test
Output configuration/control allocation
There’s a shared design document about a new design. Everyone interested should review it. And the next step is to check @Jacob_Crabill 's output configuration pr:
Configurable Actuator Output Control by JacobCrabill · Pull Request #16808 · PX4/PX4-Autopilot · GitHub
such that we can get it in and continue with adaption and building on top. There will probably be a parallel output pipeline to the existing one with control allocation and new configuration possibilities and we’ll test and port more and more functionality/vehicle types to it.
@david_s5 Stack sizes of the modules have to be fixed. There was a certain amount of bytes subtracted instead of added which lead to low margins on stacks. The fix should go onto the 1.12.2 point release that @dagar is currently collecting fixes for.
Discussion based on board: Roadmap · GitHub
Discussion based on board: High-Priority Queue · GitHub
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