PX4 Dev Call: July 1, 2020

rroche · July 1, 2020, 2:57pm

July 1, 2020

Agenda

Component update
Release
Community Q&A
Any in-depth talks

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Meeting ID: 946 175 205
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Component update

System Architecture

github.com/PX4/PX4-Autopilot

accumulated calibration fixes and improvements (mostly magnetometer)

PX4:master ← PX4:pr-calibration_improvements

opened 01:32AM - 29 Jun 20 UTC

dagar

+3670 -3288

This pull request combines a few mag sensor pipeline and calibration related imp…rovements and fixes that started to overlap. ### New functionality 1. sensor mag drop all remaining IOCTLS, move calibration downstream to sensors module entirely with parameters, and perform aggregation in standalone WorkItem rather than voted_sensors_update - mag calibration is never cleared, only updated after a new successful calibration - this largely mirrors the changes down for accel & gyro recently. 2. magnetometer calibration automatically set the rotation of external magnetometers relative to the first internal (see https://github.com/PX4/Firmware/pull/15120 for more detail). 3. per sensor instance configurable priority (CAL_ACCx_PRIO/CAL_GYROx_PRIO/CAL_MAGx_PRIO) - this replaces the existing enable/disable parameters (CAL_ACCx_EN/CAL_GYROx_EN/CAL_MAGx_EN) and the uORB priority concept 4. ~~new helper `systemcmds/mag_test` that simply runs and prints the heading of each sensor_mag instance until you quit~~ I'll bring this in later. 5. remove conservative subscription interval during data acquisition - this allows you to go through the full mag cal quite a bit faster (I've compared data before and after on a couple setups) 6. store and use full soft iron calibration matrix (new parameters CAL_MAGx_{X, Y, Z}ODIAG) - currently in master we only keep the diagonals - https://github.com/PX4/Firmware/issues/8265, https://github.com/PX4/Firmware/pull/9136, etc Along the way I discovered a number of potential bugs and the need to properly carry forward additional data in calibration "slots" that led to the consolidation of these changes. One problem was again the potential inconsistency between sensor instances (uORB, /dev/magX, calibration slots) that can shift if sensor ordering changes (external mags changed or startup script). EDIT (@MaEtUgR): fixes #14829

OS / NuttX

Working on NuttX upgrade

Driver

Commander

https://github.com/PX4/Firmware/pull/14766

Estimation

https://github.com/PX4/ecl/pull/846/files

VTOL / Fixed-Wing

No Update. (No spoilers)

Multicopter

No Update.

MAVSDK

No Update.

MAVROS / DDS / ROS2

Fast-DDS and ROS2 support added to the microRTPS bridge:

https://github.com/PX4/Firmware/pull/15227

Avoidance

Simulation

https://github.com/PX4/sitl_gazebo/pull/534

UAVCAN

Hardware call

Release

Land detector issues continue, needs testing
mag rotation

Release follow-up from the last call

Community Q&A

IMPORTANT: we are canceling next week’s call in favor of the dev call.

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.

hannuaa · July 3, 2020, 9:03am

Would you links a v11.0 Release timetable?