PX4 Dev Call: January 11, 2023

January 11, 2023

Join us

Agenda

  • Community Announcement
  • Community Q&A
  • Project Updates
  • General Discussions
  • Weekly Overview
  • High priority queue
  • Release

:loudspeaker: Community Announcement


:people_holding_hands: Community Q&A (No deep technical discussions)


:exclamation: 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!
  5. 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/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

:construction_worker_woman: 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.

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.

:thinking: 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.

:calendar: Weekly Overview


:mouse2: Github

Recently updated Issues / PRs in PX4-Autopilot Link

Pull Requests
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Issues
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:computer: Slack

:phone: Last Dev-Call

PX4 Dev Call: April 27, 2022

:exclamation: High priority queue


Discussion based on: High-Priority Queue · GitHub

:ear_of_rice: Release


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