PX4 Dev Call: February 19, 2020

rroche · February 12, 2020, 6:09pm

February 19, 2020

Agenda

Status update by component
Open section for the community (Please add your agenda items)
- Anyone can propose topics for discussion

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Meeting ID: 946 175 205
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Call in using your phone, find your local number: https://zoom.us/u/aetSYKbiMF

Component update

Documentation

No Update

Flight Testing

Thanks to @Tony3dr for weekly report

System Architecture

no longer reaching I/O limits. Thanks to @dagar

OS / NuttX

No changes from last week.

Comms

Support mission transfer cancel MAVLink message
TODO: @JulianOes please ping @DonLakeFlyer about this message implementation in QGC

github.com/PX4/PX4-Autopilot

mavlink: support mission transfer cancellation (#14139)

master ← pr-mavlink-mission-transfer-cancel

opened 10:38AM - 12 Feb 20 UTC

julianoes

+10 -3

This adds support for MAV_MISSION_OPERATION_CANCELLED which can be used to canc…el an ongoing upload or download of mission/geofence/rally items. Tested in SITL against MAVSDK integration test: ``` cmake --build build -j8 && build/src/integration_tests/integration_tests_runner --gtest_filter="SitlTest.Mission*Cancellation" ``` As added in: https://github.com/mavlink/mavlink/pull/1044

Driver

Switch to InvenSense drivers for fmu-v4pro by @dagar

github.com/PX4/PX4-Autopilot

fmu-v4/v4pro: switch to new InvenSense icm20602/icm20608g drivers (#14184)

master ← pr-fmu-v4_v4pro_new_icm_driver

opened 04:05AM - 19 Feb 20 UTC

dagar

+9 -13

Based on recent testing results (https://github.com/PX4/Firmware/pull/14175) I t…hink it's time to start gradually switching to the new InvenSense IMU drivers. - 8 kHz gyro, 4 kHz accel - DLPF disabled - scheduled using data ready interrupts where possible (most boards) - FIFO is emptied at 1 kHz, but can adjusted via `IMU_GYRO_RATEMAX` from 250 Hz - 2000 kHz. ### Comparison with Master (pixracer multicopter 4001) - small cpu decrease depending on setup - the actual transfer is done with DMA, but each DMA transaction is relatively expensive to setup and start (I'd estimate ~ 50 us), then once it's complete we have significantly more data to process (filter and integrate) - cpu usage decreases by about 2% with the default rate (1 kHz like current master) - cpu usage decreases by about 5% with IMU_GYRO_RATEMAX = 400 Hz - due to the current hardcoded integration time this causes the attitude controller to now run at 400 Hz, but it's still a good cpu decrease overall - sensor pipeline is effectively unchanged at the moment, but these drivers also publish raw `sensor_accel_fifo` and `sensor_gyro_fifo` for logging/analysis and will be used directly later. - control latency increase due to FIFO transfer time - IMU_GYRO_RATEMAX 2000 Hz: 205 us (master) --> 271 us (PR) (NOTE: master limited to 1 kHz) - IMU_GYRO_RATEMAX 1000 Hz (default): 205 us (master) --> 360 us (PR) - IMU_GYRO_RATEMAX 400 Hz: 205 us (master) --> 639 us (PR) - The icm20602 on the pixracer is a particularly bad case because the sensor is 10 MHz max, but due to the board clock configuration it's actually running at closer to 5.5 MHz. In other cases it's not quite as bad (eg mpu9250 @ 20 MHz). - If anyone views this as a problem we could probably shave off some latency by emptying the FIFO more intelligently as it fills rather than conservatively checking the number of samples, then transferring only that many. ``` Console nsh> listener sensor_accel_fifo TOPIC: sensor_accel_fifo sensor_accel_fifo_s timestamp: 21640837 (0.002277 seconds ago) timestamp_sample: 21640175 device_id: 3607306 (Type: 0x37, SPI:1 (0x0B)) dt: 250.0000 scale: 0.0047 x: [-52, -56, -55, -55, -56, -56, -47, -59, -45, -54, 0, 0, 0, 0, 0, 0] y: [363, 357, 356, 369, 356, 359, 361, 375, 357, 363, 0, 0, 0, 0, 0, 0] z: [-2006, -2009, -2007, -2007, -2005, -2013, -2023, -2017, -2013, -2007, 0, 0, 0, 0, 0, 0] samples: 10 nsh> listener sensor_gyro_fifo TOPIC: sensor_gyro_fifo sensor_gyro_fifo_s timestamp: 216006743 (0.002315 seconds ago) timestamp_sample: 216006122 device_id: 3672842 (Type: 0x38, SPI:1 (0x0B)) dt: 125.0000 scale: 0.0010 x: [2, 4, -6, -18, 14, -4, 2, 7, 3, 1, -6, 17, -12, 0, 2, -12, -2, 2, -3, -2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] y: [36, -52, -119, -11, 35, -48, -74, -5, 10, -70, -64, -3, 10, -60, -72, 3, 6, -52, -61, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] z: [7, -12, 8, -9, 6, 6, -4, 14, -9, 3, -2, 2, 8, 0, 5, 5, -25, 14, 2, -11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] samples: 20 ``` ### TODO: - [x] review rotation change (comment below) - [x] test px4_fmu-v4 (pixracer) - [x] test px4_fmu-v4pro (pixhawk 3 pro)

Commander

No update this week.

Estimation

Emergency yaw recovery using EKF-GSF estimator by @Paul_Riseborough

https://github.com/PX4/ecl/pull/754

VTOL

No update

Fixed Wing

No update

Multicopter

Use velocity_setpoint for feedforward instead of constraint @jkflying

https://github.com/PX4/Firmware/pull/14155

MAVROS / RTPS / ROS2

Improvements to CI for px4_ros_com
Improvements for build scripts for px4_ros_com

Avoidance

No update this week.

MAVSDK

Feature: added mission transfer
Bugfixes
CI checks with PX4 v1.9, v1.10

Simulation

Feature: added multi-vehicle support
Allow update rates of multiple of 250 Hz

https://github.com/PX4/Firmware/pull/14178

https://github.com/PX4/sitl_gazebo/pull/415

Community Q&A

no questions from the community this week

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.

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