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

github.com/PX4/PX4-Autopilot

Extend Failure Detector functionalities

PX4:master ← PX4:pr-failure-detector

opened 05:31PM - 26 Apr 20 UTC

cmic0

+133 -23

**Describe problem solved by this pull request** Main goal of this PR is to ext…end Failure Detector logic to handle ESC arming state. Some types of ESC require that you send them an arm command before they can actually spin. If they succeed transitioning to the armed state, they will send back an acknowledgment to PX4. This PR extends Failure Detector logic to handle this kind of information: after the vehicle is armed Failure Detector will wait `300_ms` to get an answer from the ESCs. If within this time window all the ESCs do not report to be armed Failure Detector will auto disarm the vehicle. Checks are performed using `esc_status.esc_armed_flags` . During the development of this PR i've also addressed the following points: - Added autodisarm if system is in lockdown. Having the vehicle in lockdown but still armed can be really misleading from a UX standpoint. - Avoid triggering flight termination if vehicle is already in a lockdown state - Introduced a parameter COM_LKDOWN_TKO to extend/disable the "lockdown window". In some development cases it might be super useful having this logic disabled.

Estimation

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:

github.com/PX4/PX4-Autopilot

Feature: add support to FastRTPS 2.0.0 (Fast-DDS)

PX4:master ← PX4:pr-add_FastDDS_support

opened 06:24PM - 27 Jun 20 UTC

TSC21

+9 -1

This adds support to FastRTPS release v2.0.0, or the new called FastDDS. The cha…nges on the RTPS API are minimal, and so this allows a simple port. Further iterations on the bridge might consider the complete support for DDS features and API, or simply explore the usage of Micro-XRCE DDS, which shares also some common API on the client proxy/agent side. As an extra, this also allows bridging with ROS 2 Foxy. Functionality tested with PX4 SITL and Gazebo. All working as expected.

Avoidance

Simulation

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?

Topic		Replies	Views
PX4 Dev Call: October 28, 2020 PX4 Autopilot	0	822	October 21, 2020
PX4 Dev Call: November 13, 2019 PX4 Autopilot	1	683	November 12, 2019
PX4 Dev Call: March 25, 2020 PX4 Autopilot	0	670	March 18, 2020
PX4 Dev Call: June 17, 2020 PX4 Autopilot	1	600	June 18, 2020
PX4 Dev Call: May 27, 2020 PX4 Autopilot	0	945	May 20, 2020

PX4 Dev Call: July 1, 2020

July 1, 2020

Agenda

Join Meeting

Component update

System Architecture

OS / NuttX

Driver

Commander

Estimation

VTOL / Fixed-Wing

Multicopter

MAVSDK

MAVROS / DDS / ROS2

Avoidance

Simulation

UAVCAN

Hardware call

Release

Community Q&A

Errata and Feedback

Related topics