# PX4 Dev Call: January 04, 2023 **URL:** \ **Category:** PX4 Autopilot\ **Created:** [December 28, 2022, 6:01pm UTC](https://discuss.px4.io/t/px4-dev-call-january-04-2023/30223 "2022-12-28T18:01:41Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![rroche](https://discuss.px4.io/user_avatar/discuss.px4.io/rroche/32/17635_2.png) [@rroche](https://discuss.px4.io/u/rroche)\ **Post date:** [December 28, 2022, 6:01pm UTC](https://discuss.px4.io/t/px4-dev-call-january-04-2023/30223/1 "2022-12-28T18:01:41Z")
# January 04, 2023 ## Join us > **[Jitsi Meet](https://meet.jit.si/PX4DeveloperCallWeekly)** > > Join a WebRTC video conference powered by the Jitsi Videobridge ## Agenda - Community Announcement - Community Q&A - Project Updates - General Discussions - Weekly Overview - High priority queue - Release ## 📢 Community Announcement * * * ## 🧑‍🤝‍🧑 Community Q&A (No deep technical discussions) * * * ### ❗ Guideline for asking a Question 1. Specify what you are trying to **achieve** 2. Specify what environment / **platform** you are using 3. Prepare a **Link** or **Document** to help understand if possible 4. First, ask the question on the **Slack** or [create a **Github Issue**](https://github.com/PX4/PX4-Autopilot/issues/new/choose)! 5. If you take over 5 minutes for the question, please continue in Slack or a Github Issue. ### Q.1 : Flying Tailsitter VTOL with Control Surfaces - Jay Fixed-wing commands were being used in MC mode, so control surfaces were acting like a plane (when it shouldn’t) [![](https://img.youtube.com/vi/axqcYFl4ewQ/maxresdefault.jpg "3D airplane tailsitter VTOL") ](https://www.youtube.com/watch?v=axqcYFl4ewQ) - Control surfaces are jittering a lot! > > > \### Solved Problem > I am trying to build a Tailsitter VTOL where attitude contro…l is only done with control surfaces. However, when a tailsitter VTOL is in multicopter mode, the control surfaces were not being properly actuated when using control allocation, (when the control surfaces were not locked) > > \- FW attitude control messages were being consumed while the vehicle was in MC mode, and therefore the setpoints were wrongly controlled > > \### Solution > \- Add case to use mc controller outputs for control surfaces when the vehicle is MC mode and the control surfaces are not locked > > \### Test coverage > \- Tested on a 3D airplane platform, where there is one motor and ailerons, rudder, and elevator > - \[Video of control surface deflection\](https://youtube.com/shorts/axqcYFl4ewQ) > \- Flight log of hand-held hover: \[flight log\](https://review.px4.io/plot\_app?log=5963fa16-16a0-4fa3-b019-1ca59882153c) > > !\[PXL\_20221025\_065159926 (1)\](https://user-images.githubusercontent.com/5248102/210601886-fe53a39c-8745-4a7e-9c45-8c9e078adab7.jpg) > > > \### Additional context > \- @tstastny @sfuhrer Am I right to conclude that the tailsitter was broken for control allocation? the current logic seems to control the attitude based on the fixed-wing attitude controller outputs, and not the \`mc\_att\_control\` outputs. Or is this actually correct that we want motors controlled by \`mc\_att\_control\` and control surfaces with the \`fw\_att\_control\`? (Confused whether the controller separation is based on vtol state (hover, fixed wing) or actuators) > > https://github.com/PX4/PX4-Autopilot/blob/315c075e5c7550a88182b42ff2e4f4a86f5f3cb3/src/modules/vtol\_att\_control/tailsitter.cpp#L364-L369 - Simulation: Flip stream? not modeled ### Q.2 : Iridium driver Parameter duplicate error - Ludovic ![image](https://discuss.px4.io/uploads/default/original/2X/0/028d6937406b832755169ac62f1ae3d145199bd2.png) Want to define the ‘port’ to use for telemetry for. Following Mavlink example: [PX4-Autopilot/src/modules/mavlink/module.yaml at main · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/module.yaml) Answer: Telem2 and all are generated for each board in a different file (?) by a python script, and that should be used, instead of defining in the parameters itself. ## 👷‍♀️ Project Updates * * * ### P.1 : FW Rate Control PR > > > \## Describe problem solved by this pull request > The \`fw\_att\_control\` module wer…e controlling both attitude and body rate setpoints. While this has been working great, this makes it hard to integrate other control methods on either side of the cascasded loop. > > Therefore, this PR proposes adding a separate \`fw\_rate\_control\` module that pulls out the rate control functionality from the \`fw\_att\_control\` module. > > \## Describe your solution > This PR adds a fixed wing rate control module, where we can potentially swap out the controller to other controllers(out of tree modules) > > Adding the rate controller as a separate module has the following advantages > \- We can run the rate controller at a faster rate, that is appropriate for attitude control > \- makes the control framework more modular, for example we can now switch the rate controller to different rate control methods (e.g. indi @kimnerd FYI) > \- Cleaner interface between rate control and attitude control so that the interface for each cascaded control is clearly defined > \- This moves us closer to a unified rate controller for VTOLs > > This is still a WIP, and I have noticed a few things that needs to be resolved before we can actually merge this approach > \- \[x\] This PR breaks the wheel controller - We need to decide on how to handle wheel controller (https://github.com/PX4/PX4-Autopilot/pull/20537) > - A lot of information is just getting passed to the attitude controller just for the wheel controller > \- \[x\] Decide on how to handle flap controls (Currently being passed through attitude setpoints) > - Why are flaps part of the attitude setpoint? > \- \[x\] The \`fw\_rate\_control\` still needs to subscribe to \`vehicle\_attitude\_setpoint\` message since the reset rate integral is included in the \`vehicle\_attitude\_setpoint\` (https://github.com/PX4/PX4-Autopilot/pull/20502) > > \## Test data / coverage > Tested in SITL > > \## Additional context > \- This is a continuation of https://github.com/PX4/PX4-Autopilot/pull/20080 - Wheel control: will be dealt with along with ECL ## 🤔 General Discussions * * * ### D.1 : X500 V2 Documentation - Farhang There’s 2 X500 V2 documentation. This is confusing. - [Holybro X500 V2 + Pixhawk 6C (PX4 Dev Kit) | PX4 Guide (main)](https://docs.px4.io/main/en/frames_multicopter/holybro_x500v2_pixhawk6c.html#holybro-x500-v2-pixhawk-6c-px4-dev-kit) - [Holybro X500 V2 (Pixhawk 5X Build) | PX4 Guide (main)](https://docs.px4.io/main/en/frames_multicopter/holybro_x500V2_pixhawk5x.html) We can merge these docs? Holybro sells X500 V2 with Pixhawk 6C. ### D.2: X500 V2 Actuators / Tuning - Farhang Discord thread: [Discord](https://discord.com/channels/1022170275984457759/1040156651585536070/1041998024206995508) For Pixhawk 6C, the IO vs FMU pinout can be confusing. ### D.3: PX4 IO & FMU output confusion IO and FMU are labeled ‘MAIN’ and ‘AUX’ in the products, this is confusing. Related to the thread above (regarding X500 V2). > > > \- disable events, forwarding, ftp > - HIGH\_LATENCY2 send raw GPS lat/lon/alt if …global position estimate isn't available ## 📅 Weekly Overview * * * ### 🐁 Github > [Recently updated Issues / PRs in PX4-Autopilot Link](https://github.com/PX4/PX4-Autopilot/issues?q=sort%3Aupdated-desc) **Pull Requests** \* **Issues** \* ### 💻 Slack ### ☎ Last Dev-Call > [PX4 Dev Call: April 27, 2022](https://discuss.px4.io/t/px4-dev-call-april-27-2022/27066) - ## ❗ High priority queue * * * Discussion based on: [https://github.com/orgs/PX4/projects/24](https://github.com/orgs/PX4/projects/24) ## 🌾 Release * * * ---
**Author:** ![man\_up](https://discuss.px4.io/user_avatar/discuss.px4.io/man_up/32/12104_2.png) [@man\_up](https://discuss.px4.io/u/man_up)\ **Post date:** [January 4, 2023, 1:45am UTC](https://discuss.px4.io/t/px4-dev-call-january-04-2023/30223/2 "2023-01-04T01:45:44Z")
At what time is the call tomorrow? ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [January 4, 2023, 7:43am UTC](https://discuss.px4.io/t/px4-dev-call-january-04-2023/30223/3 "2023-01-04T07:43:20Z")
I need to discuss about proposed changes by @DonLakeFlyer for X500 V2 in addition to docs pages to be organized for it!