# PX4 Dev Call: January 29, 2020

**URL:** <https://discuss.px4.io/t/px4-dev-call-january-29-2020/14805>\
**Category:** PX4 Autopilot\
**Created:** [January 22, 2020, 6:02pm UTC](https://discuss.px4.io/t/px4-dev-call-january-29-2020/14805 "2020-01-22T18:02:21Z")\
**Posts on this page:** 2\
**Page:** 1

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**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 22, 2020, 6:02pm UTC](https://discuss.px4.io/t/px4-dev-call-january-29-2020/14805/1 "2020-01-22T18:02:21Z")

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# January 29, 2020

## Agenda

- Status update by component
- Open section for the community (Please add your agenda items)
  - Anyone can propose topics for discussion

## Join Meeting

**Meeting ID** : 946 175 205  
**Join using your mobile/desktop**

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**Call in using your phone, find your local number** : [https://zoom.us/u/aetSYKbiMF](https://zoom.us/u/aetSYKbiMF)

### Component update

#### Documentation

- MAVSDK testing update: [https://github.com/PX4/Devguide/pull/931](https://github.com/PX4/Devguide/pull/931)
- Gitbook updates @hamishwillee ?

#### Flight Testing

- 96 flights
- PRs:
  - [https://github.com/PX4/Firmware/pull/13837](https://github.com/PX4/Firmware/pull/13837)
  - [https://github.com/PX4/Firmware/pull/13969](https://github.com/PX4/Firmware/pull/13969)
  - [https://github.com/PX4/Firmware/pull/14004](https://github.com/PX4/Firmware/pull/14004)
  - [https://github.com/PX4/Firmware/pull/13981](https://github.com/PX4/Firmware/pull/13981) -\> retesting
  - [https://github.com/PX4/Firmware/pull/13436](https://github.com/PX4/Firmware/pull/13436) -\> issues with Pixhawk 4, CUAV Mini

#### System Architecture

- Simplification of sensor pipeline -\> single flow of data
  - Calibration parameters applied later in sensors module
  - (can also be temperature calibration)

- Work towards multiple estimators
  - Revisit module base linked list: [https://github.com/PX4/Firmware/pull/12191](https://github.com/PX4/Firmware/pull/12191)

#### OS / NuttX

- Upstreamed iMX RT
  - Backported for now to merge

- Timer PR: @david_s5 reviewed it: beautiful, makes the RT configuration nicer: [https://github.com/PX4/Firmware/pull/13871](https://github.com/PX4/Firmware/pull/13871)

#### Comms

- If `RADIO_STATUS` is injected additional throttling was automatically configured and could lead to problems with non-SiK radios: [https://github.com/PX4/Firmware/pull/14032](https://github.com/PX4/Firmware/pull/14032)
  - @david_s5: fmu-v5 Tx DMA is in, has that been tested end to end?

- new `OrbSubscription` usage in mavlink module to review: [https://github.com/PX4/Firmware/pull/14051](https://github.com/PX4/Firmware/pull/14051)

#### Driver

- See System Architecture above.

#### Commander

- Fixed preflight checks not
- @bkueng started nicer architecture for preflight checks

#### VTOL

- No update

#### Fixed Wing

- No update

#### Multicopter

- [https://github.com/PX4/Firmware/pull/14017](https://github.com/PX4/Firmware/pull/14017)
- Rate control changes: @dagar ?

#### MAVROS / RTPS / ROS2

- Verification of dependencies for avoidance -\>
- MAVROS SITL CI tests are now redundant.
- questions regarding dropping ROS

#### Avoidance

- No update

#### MAVSDK

- Release v0.24.0: [changelog](https://github.com/mavlink/MAVSDK/releases/tag/v0.24.0)

#### Simulation

- [https://github.com/PX4/sitl\_gazebo/pull/393](https://github.com/PX4/sitl_gazebo/pull/393)
- [https://github.com/PX4/sitl\_gazebo/pull/389](https://github.com/PX4/sitl_gazebo/pull/389)
- [https://github.com/PX4/sitl\_gazebo/pull/400](https://github.com/PX4/sitl_gazebo/pull/400)
- FastRTPs interface to be implemented with the Gazebo integration. To interface with Gazebo-ignition.

### Open section for the community

- [https://github.com/PX4/Firmware/issues/14053](https://github.com/PX4/Firmware/issues/14053)
- CI: GitHub workflows build times have the same speed but scale even better than the Jenkins runners, and are nicely integrated, and maintained by GitHub, not by us.
- PX4IO sometimes broken on startup: [https://github.com/PX4/Firmware/issues/13892](https://github.com/PX4/Firmware/issues/13892)
  - Should we dumb PX4IO down so it’s just a pass-through failsafe device?
  - Do we still need fixedwing manual mixing? Not sure. -\> Rather parachute/abort for regulations.
  - Maybe add developer mode with simple pass-through mode.
  - Low latency cross-fire input to FMU.
  - PWM outputs still need to be accessible for VTOL.

- @LorenzMeier: UAVCAN node: what is required?
  - Does it need direct RC interface or not?
  - Startup of UAVCAN is late in sequence.

* * *

## Errata and Feedback

Let me know below if I failed to capture anything the right way, and if there are any updates, or you have feedback on the call format.

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<div class="post-metadata">

**Author:** ![prajwal210798](https://discuss.px4.io/user_avatar/discuss.px4.io/prajwal210798/32/5481_2.png) [@prajwal210798](https://discuss.px4.io/u/prajwal210798)\
**Post date:** [January 24, 2020, 10:22pm UTC](https://discuss.px4.io/t/px4-dev-call-january-29-2020/14805/2 "2020-01-24T22:22:56Z")

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I am a beginner in this field but i have a deep interest in learning pixhawk architecture and its development.  
beginners faced difficulties in undersatnding how different modules of the flight stack can be modified and can be uploaded on board and other related things. So I would like to request to discuss more about firmware and its working if possible.