PX4 Dev Call: August 31, 2022

rroche · August 24, 2022, 5:00pm

August 31, 2022

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Q.1 :

Project Updates

P.1 : GPS Driver - baud rate configurability + modes

github.com/PX4/PX4-Autopilot

ZED-F9P UART2 Baudrate Configurability and New UBX Mode. (#20133)

main ← sseshan7:SS220830-f9p-features

opened 04:47AM - 31 Aug 22 UTC

sseshan7

+31 -2

## Describe problem solved by this pull request When using the U-blox ZED-F9P G…PS module, users may want to use the GPS module's UART2 port to send or receive RTCM corrections using a Telemetry Radio, rather than hard wiring this port to another module. These radios commonly operate at 57600 baud out of the box. But the UART2 baudrate is hard coded to 230400 baud. This PR allows us to configure the Baud Rate of the ZED-F9P's UART2 port through a QGC param. Additionally, the existing modes that the **GPS_UBX_MODE** param covers misses one potential mode -- when a user is sending RTCM corrections from a _static_ base, or other _static_ correction source, directly to UART2. The wording and documentation of the existing modes that enable UART2 assume a moving base configuration. I've called this new mode **Rover With Static Base on UART2**. This mode is functionally equivalent to Rover with moving base on UART2 (Heading mode). ## Describe your solution Added a new param called **GPS_F9P_BAUD2**. Added a new mode to **GPS_UBX_MODE** called **Rover With Static Base on UART2**. This new mode is mapped to value 1. Other modes have been incremented. ## Describe possible alternatives Hard code a different baud rate. ## Test data / coverage ## Additional context This PR must be merged alongside the corresponding PR to PX4-GPSDrivers: https://github.com/PX4/PX4-GPSDrivers/pull/112

https://github.com/PX4/PX4-GPSDrivers/pull/112

Maybe in the future we should confine the baud rate configuration to each hardware ports, instead of the GPS

General Discussions

D.1 : Gazebo aerodynamics simulation

Gazebo : Tutorial : Aerodynamics
SITL Gazebo is currently more advanced than upstream Gazebo Aerodynamics plugin - Jay
gz-sim/src/systems/lift_drag at ign-gazebo6 · gazebosim/gz-sim · GitHub : The implementation
Who maintains Gazebo? How do we talk with them?

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PX4 Dev Call: August 31, 2022

August 31, 2022

Join us

Agenda

Community Announcement

Community Q&A (No deep technical discussions)

Guideline for asking a Question

Q.1 :

Project Updates

P.1 : GPS Driver - baud rate configurability + modes

General Discussions

D.1 : Gazebo aerodynamics simulation

Weekly Overview

Github

Slack

Last Dev-Call

High priority queue

Release

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