PX4 Dev Call: January 05, 2022

Coordination Calls PX4 Autopilot
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January 05, 2022

Join us

Agenda

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

Community Q&A

  • Question about an airframe for a coaxial quadrotor with tiltable motor planes. Example: Eachine Racer 180 Tilt Rotor FPV Racing Quadcopter - YouTube
    This should be well doable with dynamic control allocation now since every actuator has an actuation direction and it can even change mid-flight. With the old mixer system, it was only possible with workarounds.

    Such a vehicle is useful if you have a sensor fixed to the frame that needs to be pointing straight forward or if you want to optimize air resistance in fast forward flight.

    Until there’s a dedicated airframe Patrick is trying to tilt the motors by directly setting the servo signal having them connected to the AUX1 channel.

  • @bresch When commanding vertical velocity for a multicopter we now use the same velocity limits for the setpoints and hard limits in the controller. That means if the setpoint is already at the cmaximum the veritcal position controller has no authority to correct anymore.

    Suggestion: Add a parameter for vertical “cruise speed” and have the limits higher than that. The cruise speed is then used for trajectory generation in autonomous as well as manual modes.

Project Updates

  • @MaEtUgR Slight improvement in offtrack logic during mission gotos when altitude is not met:

High priority queue

Discussion based on board: High-Priority Queue · GitHub

Release

No news at the moment.

In-Depth discussions

There were no in-depth topics.

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

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@rroche This event is not in the dronecode calendar. Is the Dev call still happening today?