PX4 Dev Call: February 23, 2022

📞 Coordination Calls PX4 Autopilot Coordination
1

February 23, 2022

Join us

Agenda

  • Community Q&A
  • Project Updates
  • High priority queue
  • Release
  • In-Depth discussions

Community Q&A

  • @tstastny The Omnibus board ran out of flash on master. This was resolved already with the latest change.

  • @rroche Brought up that when using multi-channel mode switch configuration and trying to configure it in QGC crashes the ground station. The issue is that multi-channel modes witch configuration is deprecated and got removed. The parameters are now gone and QGC in this case doesn’t deal with it gracefully. We should make sure PX4 advertises the parameters such that existing QGC versions don’t crash. Then we should remove it from QGC.

  • Muammer: Can a fixed-wing be controlled using offboard commanding yaw, pitch, roll, thrust?
    Yes, thrust, roll and pitch can be controlled on fixed-wing in offboard. Yaw is not controlled on fixed-wing and cannot be commanded. If you’re having further problems please ask on PX4 Slack (https://slack.px4.io/) and let’s follow up there.

  • Safy: Question about using Dshot ESC and having ability to passthrough PWM on the AUX at the same time. Dshot with AUX on PWM
    Yes, {I missed the detailed answer, check forum answer}.

  • Charles Cross: Noticed that the new actuator configuration does not work properly when the MAVLink connection goes through MAVproxy.
    That is probably caused by the component information not getting through MAVproxy. Most probably because the MAVLink definition of MAVproxy does not know these messages and uses the default forwarding where the CRC check fails for unknown messages. The fix would be to make MAVproxy forward unknown messages.

  • @Jaeyoung-Lim Should there be a separate trajectory_setpoint topic for offboard setpoints when used through ROS2? https://github.com/PX4/PX4-Autopilot/pull/18318
    We’ll discuss that more in detail at the end of the call.

Project Updates

  • @junwoo0914: Proposal for a follow-me mode refactor. It’s currently not working very well, @potaito has a pr open where the follow me implementation moves to its own flight task and uses an estimator for the follow target’s position and velocity state, it also steers the gimbal orientation to look at the target to follow: https://github.com/PX4/PX4-Autopilot/pull/18026
    The plan is to further improve the behavior for smooth following, allow for different follow behaviors like tight, loose, at a constant angle, close enough, … It should make the feature really useful so the goal is not to adhere to only possibilities MAVLink currently defines or make it unecessarily fancy but to cover ground functionality of estimating where the target is (can be possibly reused for precision landing) and achieving useful vehicle behavior such that it gets reliable and easy to use.

  • @potaito: Exploration to improve precision landing such that it’s a flight task instead of in navigator and doesn’t just wait until a landing target appears but can actively search for it.
    Currently open pr: https://github.com/PX4/PX4-Autopilot/pull/18973/
    The module for landing target estimation has to currently manually be compiled and run to be able to use precision landing. That is improved as well.

  • @MaEtUgR: Converted matrix library unit tests to gtest: https://github.com/PX4/PX4-Autopilot/pull/19250

High priority queue

Discussion based on board: https://github.com/orgs/PX4/projects/24

Release

In-Depth discussions

For smaller groups expanding technical discussions, stay until the end and follow up.

If you have any feedback or corrections please comment on this post.

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