# PX4 Dev Call: January 18, 2023 **URL:** \ **Category:** PX4 Autopilot\ **Created:** [January 11, 2023, 6:01pm UTC](https://discuss.px4.io/t/px4-dev-call-january-18-2023/30377 "2023-01-11T18:01:38Z")\ **Posts on this page:** 1\ **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:** [January 11, 2023, 6:01pm UTC](https://discuss.px4.io/t/px4-dev-call-january-18-2023/30377/1 "2023-01-11T18:01:38Z")
# January 18, 2023 ## Join us > **[Discord - Group Chat That’s All Fun & Games](https://discord.com/channels/1022170275984457759/1022185721450213396/1065287189791002776)** > > Discord is great for playing games and chilling with friends, or even building a worldwide community. Customize your own space to talk, play, and hang out. ## 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 : @mcsauder needs help bringing this PR trough the finish line CI fails on two boards > > > \## Describe problem solved by this pull request > This PR extends the thermal com…pensation to include magnetometers. Sensor ordering following the convention \`accel, gyro, mag, baro\` is also standardized across files in this PR. > > \## Describe your solution > Data taken from an IST8310 magnetometer standard with the pixhawk4 and pixhawk4 mini shows a change in measured values from 0C to 45C by almost ~10uTesla (0.1Gauss). The typical earth magnetic field strength is ~60uTesla, so the observed shift is significant against what is being measured and more significant in areas of the earth with weaker magnetic field strength. > !\[image\](https://user-images.githubusercontent.com/2497951/191872184-0bfe2c8f-9938-47a7-9831-dd947abe2224.png) > > \## Test data / coverage > Flight tested with calibration values applied at ambient (~21C): https://review.px4.io/plot\_app?log=6335c430-828b-4f7e-8404-ba7832585ada > After cold soaking to ~7C and temperature climbing to ~17C: https://review.px4.io/plot\_app?log=6335c430-828b-4f7e-8404-ba7832585ada > > \## Additional context > Most magnetometers do not have an integrated temperature sensor, so this PR utilizes the primary barometer temperature value as the magnetometer temperature. If there is a better alternative we can certainly use a different source (such as the IMU). > > Let me know if you have questions or feedback on this PR. Thanks! > > \-Mark ### Q.2 : Is Gazebo running on Apple-M chips? Once you install make doesn’t work, there are some `gstreamer` errors. @farhang is going to check if there’s any PX4 related issues ### Q.3 : Is there a timeline for releases we can follow? The backstory is we don’t want to take a lot of risk, and would like to schedule our releases. Response from @dagar we don’t have a set schedule, syncing regularly with main branch would work best ### Q.4 : @AWilkins_Ascend has a PR that needs review > > > Pull request for feature request #20366. > > > \- \[x\] test in hold with a do\_repos…ition (make sure do\_change\_speed does not affect the up and down speed in hold mode) > \- \[x\] post logs of this working > \- \[x\] Be smarter about when to return for \_getMaxZSpeed in PositionSmoothing.cpp instead of a conditional. EDIT: don't need to modify PositionSmoothing.cpp > \- \[x\] right now doing "do\_change\_speed" in QGC changes vertical and horizontal speeds. Functionality to separate those out is in the code, just need to pass in the correct parameters to get them. Want to create script or QGC change to test this functionality properly. > \- \[x\] Uncomment lines that pull from cruise\_speed so they pay attention to the up and down variables we set in the .plan file > \- \[x\] Ensure when -2 is sent, speed type that is specified is reverted > !\[image\](https://user-images.githubusercontent.com/16963678/198845656-4665cf01-90b6-4df7-ab1b-901506051305.png) > \- \[x\] What happens when you send DO\_CHANGE\_SPEED in Hold mode during a do\_reposition > \- \[x\] Test with real world UAV > \- \[x\] rebase on main ### Q.5 : Weird behaviour while enabling VIO on CubeOrange+ > > > So I'm using a VIO source which provides very accurate odometry messages sent to… the px4 via. MAVROS. It does fly well, but occasionally the state estimator flips out completely which has the potential to lead to some pretty nasty crashes. > > A flight log of this happening: https://review.px4.io/plot\_app?log=b3cfc2fb-83ef-431a-890c-e9b905b5fb6f > > I've been experimenting with all kinds of values in the parameter list, like the EKF2\_AID\_MASK, but the issue prevails. > I've noticed when looking at my rosbag, that the VIO data i feed is always correct, and the "local\_position/odom" message, which i assume to be after EKF2 fusion, is never quite as precise, and sometimes completely trusts the GPS position (which is very inaccurate). > > How can I tune the EKF to trust the external vision system more than it currently does? ## 👷‍♀️ Project Updates * * * ### P.1 : ## 🤔 General Discussions * * * ### D.1 : ## 📅 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 v1.14.beta is meant for testing and there will be a new beta tag soon. * * *