PX4 Dev Call: July 13, 2022

rroche · July 6, 2022, 5:01pm

July 13, 2022

Join us

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

Specify what you are trying to achieve
Specify what environment / platform you are using
Prepare a Link or Document to help understand if possible
First, ask the question on the Slack or create a Github Issue!
If you take over 5 minutes for the question, please continue in Slack or a Github Issue.

Q.1 :

@mwbb has issues with CubeOrange as of this issues. Added screenshot from Radio connection. However as in serial connection logger and Mavlink shell seems not to be working.

github.com/PX4/PX4-Autopilot

Mavlink console does not appear to be working

opened 04:17PM - 23 Jun 22 UTC

closed 03:50AM - 29 May 23 UTC

BAI-djohnson

bug-report

## Describe the bug I am not able to access the mavlink console in QGroundContr…ol or through the python script in 1.13.0. ## To Reproduce Steps to reproduce the behavior: 1. Flashed newest firmware (1.13.0) 2. Open QGC 3. Click analyze tools 4. Click console and hit enter 5. No response ## Expected behavior Expect nsh> to appear. No response ## Drone (please complete the following information): - Cube Blue, Standard carrier board Thank you Dane Johnson

Project Updates

P.1 :

General Discussions

D.1 : Interesting PR / Issues which were sitting in the dust (for discussion)

I would like to open discussion on these PR / Issues, as they can be useful if we review / merge them, but hasn’t been touched in ~2 years! - @junwoo0914

github.com/PX4/PX4-Autopilot

[WIP] Smart RTL from @samuelsadok

PX4:main ← PX4:pr-smart-rtl

opened 08:05AM - 06 Jun 17 UTC

mhkabir

+7857 -12

This adds graph-based "smart" RTL capabilities from @samuelsadok : Adds Smart …Return To Home capability by recording the flight path in a memory optimimized format. This means the UAV can return to home by using only known-good flight paths. The flight graph is stored as a series of delta elements at 1m resolution and a list of nodes. Both lists share the same buffer. Each delta element takes up 2 bytes or sometimes 6 bytes if the delta is large. The path can consist of multiple disconnected segments, in which case the gaps are stored as delta elements with a jump-bit set. Once in a while or when required the graph is consolidated, which means: - Points that lie roughly in a line are replaced by a single line - Points that lie close to previously recorded lines are pruned - For lines that pass close to each other a node element is created Furthermore: - The graph is recorded at a higher precision closer to home - If the graph becomes full, the overall precision is reduced and the whole graph is re-consolidated - If the graph becomes full once more, all data is removed except for the shortest path home at that moment. One of these actions is repeated at each subsequent fill-up. Path finding information is generated/refreshed on demand and stored in the nodes. During return-to-home, the best direction to home is continuously evaluated by using the information stored in the nodes. The graph recording and path finding is implemented in navigator/tracker.cpp. The graph based return-to-home is implemented in navigator/smart_rtl.cpp. by Samuel Sadok

github.com/PX4/PX4-Autopilot

commander rewrite

opened 04:38PM - 15 Apr 17 UTC

dagar

enhancement (improvement) 💡 pinned discussion

Commander has become unmanageable. After the next stable release goes out let's …decide on a path forward for a rewrite or major restructuring. @LorenzMeier @bkueng I believe https://github.com/PX4/Firmware/pull/6750 is the only major commander work in progress. Relevant - https://github.com/PX4/Firmware/pull/6955 **Notes and Ideas** * do a pass and remove everything that doesn't belong in commander * define what commander should and shouldn't be responsible for * ~~create new commander c++ class using blocklib for params and subscriptions, publications~~ * subsystem_info still used? * Find a better home for ROI - see VEHICLE_CMD_DO_SET_ROI * Calibration switch to matrix and move out of commander - https://github.com/PX4/Firmware/pull/6513 * FW engine failure new home - https://github.com/PX4/Firmware/issues/6958 * Consider generating or verifying the various state machines? https://github.com/PX4/Firmware/issues/2463 * move all handling of manual_control to the stick_mapper. Stick mapper can publish vehicle commands to change modes or arm/disarm. * write a simple vehicle_command command line app to publish vehicle commands. This replaces commander arm, takeoff, etc * px4_custom_mode.h and mavlink VEHICLE_MODE_FLAG - only use in mavlink module, which can then publish a vehicle command * how to handle low priority loop? * ~~sanitize test commands (gps_failure_cmd, rc_signal_lost_cmd, etc). These should be forcing the regular flag, and not independent~~ * how can we write meaningful testing? * kill vtol_fw_permanent_stab * kill old style switches? https://github.com/PX4/Firmware/issues/6611 * should vehicle_control_mode_s flags be an array? * commander should be the definitive source of supported commands * bring all preflight checking together encapsulated in a new class. The commander main loop shouldn't be looking at individual sensors, etc * use event interface - http://discuss.px4.io/t/event-interface/2318 * does commander need to publish the first mission_state? * handle led and buzzer in events? * ~~review hotplug~~ * significantly better error reporting for denied transitions. This is a huge source of confusion for new users. Messages need to be actionable. * properly track previous main_state. https://github.com/PX4/Firmware/issues/7947 Issue Tracker * [ ] move calibration out of commander * [ ] move all stick mode mapping to stick_mapper (use vehicle_commands to change mode or arm) * [ ] geofence handle in navigator (publish mode changes for violation) * [x] create new commander c++ class using blocklib for params and subscriptions, publications @dagar #7517 * [ ] expand preflight_sensor and remove direct sensor subscription from commander * [x] Find a better home for ROI - see VEHICLE_CMD_DO_SET_ROI * [ ] preflight refactor, this alone is a massive task * [ ] review all status_flags_s (some are filled improperly, some aren't used, some should be used) * [ ] move FW engine failure detection to the FW attitude controller * [ ] move px4_custom_mode.h and mavlink VEHICLE_MODE_FLAG to mavlink module * [ ] explore state machine generation options @dagar (https://github.com/PX4/Firmware/issues/10584) * [ ] centralize and simplify system_power and battery status for preflight checks, arming, failsafes, etc. Commander should only have a few overall status flags to check @dagar @davids5 * [ ] land detector can print it's own status

github.com/PX4/PX4-Autopilot

FW actuator_controls_2 parachute interferes with gimbal (vmount)

opened 03:30PM - 17 Feb 18 UTC

dagar

bug Fixed Wing 🛩️ more_info_needed stale

When trying to use a gimbal (vmount) on FW or VTOL there are multiple actuator_c…ontrols_2 publishers. ![image](https://user-images.githubusercontent.com/84712/36342489-74598a0a-13cd-11e8-9d28-8b3f06be0512.png) https://github.com/PX4/Firmware/blob/8b3716c0df292ddda71a6114d55ad9df2e7ff37d/src/modules/fw_att_control/FixedwingAttitudeControl.cpp#L854

PX4 Dev Call: July 13, 2022

July 13, 2022

Join us

Agenda

Community Announcement

Community Q&A (No deep technical discussions)

Guideline for asking a Question

Q.1 :

Project Updates

P.1 :

General Discussions

D.1 : Interesting PR / Issues which were sitting in the dust (for discussion)

Weekly Overview

Github

Slack

Last Dev-Call

High priority queue

Release