PX4 Dev Call: January 11, 2023

rroche · January 4, 2023, 6:01pm

January 11, 2023

Join us

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

Specify what you are trying to achieve
Specify what environment / platform you are using
Prepare a Link or Document to help understand if possible
First, ask the question on the Slack or create a Github Issue!
If you take over 5 minutes for the question, please continue in Slack or a Github Issue.

Q.1 : Iridium change streams?

Possible by adding streams at runtime on the console using something like mavlink stream -d /dev/ttyS5 -r 50 -s POSITION_TARGET_LOCAL_NED or hardcoding them in PX4-Autopilot/src/modules/mavlink/mavlink_main.cpp at main · PX4/PX4-Autopilot · GitHub

Q.2 : Via MAVSDK get all parameters and change some of them?

There is an example on how to fetch parameters but the issue is that the data type of the parameter is not clear. The only current way to go about it is to cache all parameters to know the type and manage that on the user side. It could be done within MAVSDK but that would be more heavy-weight. Otherwise the MAVLink parameter protocol would need to be changed.

It would be cool to have a unified parameter file format that could just be sent over via MAVLink. Also there should be a full export and full import for parameters that’s intuitively available.

Q.3 : ROS Foxy the supported version?

Should documentation get moved to ROS Humble LTS? Humble possibly works but we should move over and update the documentation. @JulianOes just went through and got it all working. Let’s update the docs with these findings.

This helped to get things working:

Suggestion to bring it in the PX4 repo. But the colcon build system requires a certain directory structure. We should double check. The idea is that ROS 2 being another platform you can run PX4 on/with. See PX4-Autopilot/platforms/ros2 at main · PX4/PX4-Autopilot · GitHub, PX4-Autopilot/package.xml at main · PX4/PX4-Autopilot · GitHub

Project Updates

P.1 : Mission feasibility checks

Goal: Mission gets checked immediately upon upload and not even saved if it’s not feasible. Current pr refactors the checks into a library and unit tests it. Let’s get it rebased and merged.

github.com/PX4/PX4-Autopilot

Refactor of Mission Feasibility Checks

PX4:main ← PX4:pr-mission_feasibility

opened 03:09PM - 13 Dec 22 UTC

RomanBapst

+1529 -881

**Refactor the mission feasibility checks to make them more efficient and for pr…eparation to run them direction on incoming mavlink mission items.** Previously every check would iterate through the mission items, reading from the SD card every single time. This is unnecessary as it's sufficient to read the items just once and each check can store whatever information is needed after. Furthermore, the checks are moved into a library which should enable the checks to eventually be implemented directly in the mavlink module. Doing so we can evaluate mission feasibility on the fly without even reading anything from the SD card. This will allow us to signal to the QGC right away if a misson is not feasible.

P.2 : Bidirectional Dshot

It’s working on a side-branch in a hard-coded way not supporting all chips but some H7. You get one rpm telemetry per set out command back. So after e.g. 4 cycles you get the telemetry for all motors on a quad. It’s currently work in progress.

General Discussions

D.1 : Gazebo classic vs gz / command with model

Commands to start simulation are now make px4_sitl gazebo_iris
Now the discussion is to change everything to gazebo_classic.

make px4_sitl sitl_gazebo to just build sitl gazebo.

Weekly Overview

Github

Recently updated Issues / PRs in PX4-Autopilot Link

Pull Requests
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Issues
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Slack

Last Dev-Call

PX4 Dev Call: April 27, 2022

High priority queue

Discussion based on: High-Priority Queue · GitHub