PX4 Dev Call: July 2, 2025 (Team sync, and Community Q&A)

farhang · July 2, 2025, 1:28am

PX4 Sync / Q&A - 2025-07-02T15:00:00Z

Agenda

Announcements
Future Events
Flight Testing Update
Release Discussion
Bug Report / Q&A

Announcements

Upcoming meetup in Mexico

Upcoming meetup in Korea

PX4 Release Testing
The issue and flight test tracking is going on in the link:
PX4 v1.16.0-rc2 is out, and we need your help with testing!

QGC v5.0.0-rc3 Alert
The QGC team expects a stable release next week! Please test and report issues now.

Next Dronecode Meetup

Nothing scheduled yet. If anyone is interested to host a Meetup please reach us out. Always happy to have it organized.

Future Events

Open Source Summit EU 2025

ROSCon 2025 Singapore

Flight Testing Update

About the Test Team
The team at Ascend Engineering (Chicago). are running flight testing for the community.

How to reach out to the team

GitHub: Tag user @PX4/testflights
Discord: #flight-testing
Weekly on the PX4 Dev Call

How to Request Testing (GitHub)

Write down the steps to test your issue/pull request
- Make sure to note the risk involved in flying
- Write down things to look out for / anticipate - eg: “we are looking for no yaw jumps”
Add issue/pull request to the Flight Testing project board
Make sure to specify any hardware/software requirements as much as possible

Resources:

Comments / Discussion:

The team is working on having a FixedWing hardware with 3 meters approx wingspan:
https://www.getfpv.com/flite-test-spear-mkr2-1041mm-airplane-kit.html

Release Discussion / Updates

v1.16 Release Discussion

Release Candidate v1.16.0-rc2

Release Testing

github.com/PX4/PX4-Autopilot

[v1.16 Release Candidate] - Flight Testing & Flight Issues (log archive)

opened 04:08PM - 08 Jan 25 UTC

mrpollo

bug-report

## :exclamation: About 💡 For the upcoming v1.16 release, we are asking the Commu…nity for flight tests. This issue will be used for keeping track of all the tests from the Community. If you're unsure about upgrading, please read the preliminary release notes on the PX4 docs. Pay close attention to the Upgrade Guide before deciding if v1.16 is right for you. - [v1.16 Release Notes](https://docs.px4.io/main/en/releases/1.16.html) ## ❓ Why we need flight testing 🌏 Thousands of people around the world depend on the stable release of PX4. 🖐️ Before every major release, as much testing as possible is needed to ensure that our release actually works! 😯 Simply said, **more testing = better release** 🤗 We would like to encourage every community member to join us in improving PX4! ## 🤷 How you can help with flight testing 😱 Even if you have never contributed a flight testing report, fear not! Please follow the steps below for the details of how you can contribute to flight testing. 1. **Select** a category from the "flight testing matrix" below 1. **Flash** the firmware (documented below) 1. **Test** 1. **Upload** the log (documented below) 1. **Report** the test in this issue thread! ## Test Procedures https://docs.px4.io/main/en/test_and_ci/test_flights.html ### How to flash v1.16 pre-release firmware ![beta_flashing](https://user-images.githubusercontent.com/23277211/230138126-c7b02c00-f07b-4a4f-b6b7-866d69db6520.png) 1. Open QGC 3. Click the Q icon on upper right > Vehicle Setup > Firmware (Step 1 in picture) 4. Connect your flight controller to the computer 5. When the Firmware setup window pops up, click "Advanced settings" checkbox 6. Select "Beat Testing (beta)" from the drop down (Step 2 in picture) 7. Click "Ok" This should automatically flash & reboot your flight controller with the latest v1.16 beta release! ### How to share your log First, retreive the log from the flight controller in QGC Q icon > Analyze Tools > Log Download, and find the log you want to download. ![log_uploading](https://user-images.githubusercontent.com/23277211/230143915-4dad89ec-ab6d-43f3-9e5f-7a4624faa56e.png) Then: 1. Go to https://logs.px4.io/ 2. Click on "Flight Report" tab (this allows public viewing of the log in the [browse page](https://logs.px4.io/browse)) 3. Add the ULog file 5. Fill in the description, feedback, and video URL (if available) 6. Click "Upload" 7. Copy and paste the link of the log, and share it to this thread When posting on this thread, please mention what kind of test it was (especially if it is one of the testing matrix options) & general info behind it! ## Questions? Feel free to ask any questions regarding flight testing in the #dev-team channel in the [discord server](https://discord.gg/dronecode)! ## Results (05/12/25) 💪 **Release Testing** | Date | Status | Submitter | Release | Platform | Flight Controller | Flights / Logs | Notes | Link | | --------- | ------ | ------------ | -------------- | ---------- | ----------------- | -------------- | ------------------------------------------------------------------------- | --------------------------------------------------------------------------------- | | 1/16/2025 | ❌ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2596594336) | | 1/23/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2611482935) | | 1/29/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 6 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2622581014) | | 1/29/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2622581014) | | 2/10/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 5 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2649177017) | | 3/5/2025 | ✅ | DroneWuKong | v1.16.0-rc1 | Quadcopter | Pixhawk 6X-RT | 11 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2851994468) | | 5/9/2025 | ✅ | afwilkin | v1.16.0-rc1 | Quadcopter | Pixhawk 6C | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2867864092) | | 5/13/2025 | ✅ | TeddyZaremba | v1.16.0-rc1 | Quadcopter | VOXL 2 | 8 | [Precision land issue](https://github.com/PX4/PX4-Autopilot/issues/24850) | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2880662926) | | 5/19/2025 | ⚠️ | dk7xe | v1.16.0-rc1 | Quadcopter | Pixhawk 6X-RT | 9 | Various inconsistencies | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2895445954) | | 5/20/2025 | ✅ | dirksavage88 | v1.16.0-rc1 | Quadcopter | Pixhawk 6X | 8 | QGC v5 Crash | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2898223625) | | 5/21/2025 | ⚠️ | DroneWuKong | v1.16.0-rc1 | Quadcopter | Cube Orange+ | 1 | No GPS | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2899811372) | | 5/21/2025 | ⚠️ | JulianOes | v1.16.0-rc1 | Quadcopter | Cube Orange+ | 1 | Tuning required | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2901915380) |

Project Board

Community Q&A / PRs for Review

Q1:

Discussed PRs:

Updates to Sagetech MXS

github.com/PX4/PX4-Autopilot

Update TransponderReport.msg - correct "heading" description

main ← slgrobotics:adsb

opened 10:41PM - 26 Jun 25 UTC

slgrobotics

+1 -1

### Solved Problem When *TransponderReport* message is published, the "heading"… field must be filled with course over ground in aviation terms, 0..2PI radians (0 to 360 degrees). But the comment/description wrongly specifies -PI..PI range. Fixes https://github.com/PX4/PX4-Autopilot/issues/24780 ### Solution - edit TransponderReport.msg to specify correct range in the comment to avoid confusion. To fill "heading" field correctly, a wrap should be used - something like: `wrap_2pi(....gps_cog_rad)` ### Context Please see discussion and example code in https://github.com/PX4/PX4-Autopilot/issues/24780

Discussed Issues:

Sindre · July 2, 2025, 7:37am

I would like to discuss final approval of this PR:

github.com/PX4/PX4-Autopilot

Neural Control Mode

main ← SindreMHegre:neural_control_with_tflm

opened 12:23PM - 19 Feb 25 UTC

SindreMHegre

+2859 -5

### Solved Problem Using neural networks for various tasks on UAVs in research …is becoming more and more commonplace. My aim is to provide a module that can be used to replace the MC controller with NN to lower the barrier for using RL and NN on UAVs in general, and give researchers and hobbyist a place to start for NN use. ### Solution - Add TensorFlow Lite Micro as an inference lib into PX4 - Make custom board configs with neural controllers - Make a module for NN control ### Changelog Entry For release notes: ``` Feature: Neural control mode for PX4, with possibility to use your own neural networks. New parameters: MC_NN_EN, MIN_RPM, MAX_RPM, THRUST_COEFF Documentation: read docs.px4.io/advanced/neural_networks, tflm and nn_module_utilities ``` ### Alternatives We could also look into using Eigen or executorch ### Test coverage - Built and tested SITL with the x500 https://review.px4.io/plot_app?log=52502d02-009e-4d1f-baac-a49dd51cfdef (check neural_control topic) - Built and tested HITL with pixracerpro and jMAVSim Hitl, note that the sim itself seemed a bit unstable and the network is not optimized for this model. https://review.px4.io/plot_app?log=43d2ba6c-3d05-4d7f-a31b-490a57b3e647 - Tested live on ARL LMF model: https://review.px4.io/plot_app?log=d101189d-672e-42a3-9d39-828c675dde57 - Tested live on the X500, but some problems on the platform caused a sub optimal test. https://review.px4.io/plot_app?log=eff5ef61-3318-4f74-ad82-bfa42388dbd5 ### Video and paper on the module. Master thesis coming later https://www.youtube.com/watch?v=lY1OKz_UOqM&t=1s https://arxiv.org/abs/2505.00432 ### Context Other feature requests: - Put in different controller parameters with possibilities to replace different parts: Full e2e, only control, only allocation, Allocation and control as two separate networks. - Script to give thrust and delay parameters from a flight log

Pedro-Roque · July 2, 2025, 2:45pm

Batch of ready to merge PR’s:

github.com/PX4/PX4-Autopilot

feat: configurable board pwm freq from Kconfig

main ← pr-kconfig-board-pwm-freq

opened 05:39PM - 30 Apr 25 UTC

Pedro-Roque

+103 -10

### Solved Problem Allows for configurable board PWM frequency from Kconfig. Fo…r slow PWMs (like 10Hz) this value needs to change due to timer overflow on a 16bit register. ### Solution - Add options to Kconfig and proper setting on platforms/nuttx ### Changelog Entry For release notes: ``` New Kconfig Option: CONFIG_BOARD_PWM_FREQ ``` ### Alternatives None me and @dagar could think of. ### Test coverage - Unit/integration test: - - Simulation/hardware testing logs: - ### Context Spacecraft solenoid valves requiring slow PWM.

github.com/PX4/PX4-Autopilot

feat: spacecraft support

main ← dev-sc_ctl_allocation

opened 09:12AM - 17 Apr 25 UTC

Pedro-Roque

+5593 -367

### Solved Problem Adds controls and control allocation to spacecraft vehicle t…ypes ### Solution - Add spacecraft/ ### Changelog Entry For release notes: ``` Feature: spacecraft vehicle ``` ### Alternatives Use the knows-it-all control_allocator module ### Test coverage - Unit/integration test: - - Simulation/hardware testing logs: - ### Context Full integration of spacecraft type into PX4. For hardware, requires https://github.com/PX4/PX4-Autopilot/pull/24787 to be merged.

This one requires a small discussion:

github.com/PX4/PX4-Autopilot

BlueROV2: updated control (attitude and position), model

main ← DISCOWER:dev-bluerov

opened 12:16PM - 16 Jun 25 UTC

Pedro-Roque

+2878 -188

### Solved Problem Adds support for BlueROV2 Heavy and cleans the control stack… for UUVs. ### Solution - Refactor UUV_ modules - Refactor BlueROV2 model ### Changelog Entry For release notes: ``` Feature: bluerov2 support ``` ### Alternatives None I can think of? ### Test coverage SITL testing. Will provide logs once I clean this. https://github.com/user-attachments/assets/ded12d71-22e1-4af4-a4e1-a2f69aab93a7

rroche · July 2, 2025, 3:01pm

Reviews please:

github.com/PX4/PX4-Autopilot

ci: use new container for checks workflow

main ← mrpollo/fix_actions

opened 04:44PM - 17 Jun 25 UTC

mrpollo

+94 -24

few commits to update CI throughout * Single asterisk ('*') won't work for '*…*release/v1.16**' branches, updating to double asterisk fixes this * Cancel concurrent jobs to save on computing time * Enable workflows on changes to **.github/workflows** directory, otherwise it's hard to test changes on those files. Keeps the ignore path to workflows for push events. * shellcheck fixes with updated compiler * Fixes SC2268 * Fixes SC3014 * ignore lcov mismatch errors * enable atomic profile updates for coverage builds

Regarding Gazebo Models, and an APT package:

github.com/PX4/PX4-Autopilot

build: make appimage

main ← mrpollo/appimage

opened 11:40PM - 23 Jun 25 UTC

mrpollo

+180 -13

Proposes an AppImage for PX4 SITL The AppImage comes bundled with the gazebo …transport shared libraries, and with all the ROMFS contents you need to run PX4 standalone. It also saves config and airframe metadata to XDG compliant directories in the user's home. **$XDG_STATE_HOME** for persistant storage of logs under `$XDG_STATE_HOME/px4/logs` **$XDG_DATA_HOME** for ROMFS contents under `$XDG_DATA_HOME/px4/romfs` **Directory structures** ``` $ tree -C -L 2 ~/.local/state/px4 /home/rroche/.local/state/px4 ├── logs │ ├── 2025-06-24 │ └── 2025-06-25 └── version $ ~ tree -C -L 3 ~/.local/share/px4/romfs /home/rroche/.local/share/px4/romfs ├── bin │ ├── px4-actuator_test │ ├── px4-airship_att_control │ ├── px4-airspeed_selector │ ├── px4-alias.sh │ ├── px4-attitude_estimator_q │ ├── px4-battery_simulator │ ├── px4-bsondump │ ├── px4-camera_feedback │ ├── px4-camera_trigger │ ├── px4-cdev_test │ ├── px4-commander │ ├── px4-control_allocator │ ├── px4-controllib_test │ ├── px4-dataman │ ├── px4-dyn │ ├── px4-ekf2 │ ├── px4-failure │ ├── px4-fake_gps │ ├── px4-fake_imu │ ├── px4-fake_magnetometer │ ├── px4-flight_mode_manager │ ├── px4-fw_att_control │ ├── px4-fw_autotune_attitude_control │ ├── px4-fw_lat_lon_control │ ├── px4-fw_mode_manager │ ├── px4-fw_rate_control │ ├── px4-gimbal │ ├── px4-gps │ ├── px4-gyro_calibration │ ├── px4-gyro_fft │ ├── px4-gz_bridge │ ├── px4-hello │ ├── px4-hrt_test │ ├── px4-land_detector │ ├── px4-landing_target_estimator │ ├── px4-led_control │ ├── px4-listener │ ├── px4-load_mon │ ├── px4-local_position_estimator │ ├── px4-logger │ ├── px4-mag_bias_estimator │ ├── px4-manual_control │ ├── px4-mavlink │ ├── px4-mavlink_tests │ ├── px4-mc_att_control │ ├── px4-mc_autotune_attitude_control │ ├── px4-mc_hover_thrust_estimator │ ├── px4-mc_pos_control │ ├── px4-mc_rate_control │ ├── px4-msp_osd │ ├── px4-navigator │ ├── px4-param │ ├── px4-payload_deliverer │ ├── px4-perf │ ├── px4-pwm_out_sim │ ├── px4-px4_mavlink_debug │ ├── px4-px4_simple_app │ ├── px4-rc_tests │ ├── px4-rc_update │ ├── px4-replay │ ├── px4-rover_ackermann │ ├── px4-rover_differential │ ├── px4-rover_mecanum │ ├── px4-rover_pos_control │ ├── px4-sd_bench │ ├── px4-send_event │ ├── px4-sensor_agp_sim │ ├── px4-sensor_airspeed_sim │ ├── px4-sensor_baro_sim │ ├── px4-sensor_gps_sim │ ├── px4-sensor_mag_sim │ ├── px4-sensors │ ├── px4-shutdown │ ├── px4-simulator_mavlink │ ├── px4-simulator_sih │ ├── px4-system_power_simulator │ ├── px4-system_time │ ├── px4-temperature_compensation │ ├── px4-tests │ ├── px4-tone_alarm │ ├── px4-tune_control │ ├── px4-uorb │ ├── px4-uorb_tests │ ├── px4-uuv_att_control │ ├── px4-uuv_pos_control │ ├── px4-uxrce_dds_client │ ├── px4-ver │ ├── px4-vtol_att_control │ ├── px4-work_item_example │ ├── px4-work_queue │ └── px4-wqueue_test ├── dataman ├── eeprom ├── etc │ ├── init.d │ │ ├── airframes │ │ ├── rc.airship_apps │ │ ├── rc.airship_defaults │ │ ├── rc.autostart_ext │ │ ├── rc.balloon_apps │ │ ├── rc.balloon_defaults │ │ ├── rc.boat_defaults │ │ ├── rc.fw_apps │ │ ├── rc.fw_defaults │ │ ├── rc.heli_defaults │ │ ├── rc.logging │ │ ├── rc.mc_apps │ │ ├── rc.mc_defaults │ │ ├── rc.rover_ackermann_apps │ │ ├── rc.rover_ackermann_defaults │ │ ├── rc.rover_apps │ │ ├── rc.rover_defaults │ │ ├── rc.rover_differential_apps │ │ ├── rc.rover_differential_defaults │ │ ├── rc.rover_mecanum_apps │ │ ├── rc.rover_mecanum_defaults │ │ ├── rcS │ │ ├── rc.sensors │ │ ├── rc.sysinit │ │ ├── rc.thermal_cal │ │ ├── rc.uuv_apps │ │ ├── rc.uuv_defaults │ │ ├── rc.vehicle_setup │ │ ├── rc.vtol_apps │ │ └── rc.vtol_defaults │ └── init.d-posix │ ├── airframes │ ├── px4-rc.gzsim │ ├── px4-rc.jmavsim │ ├── px4-rc.mavlink │ ├── px4-rc.mavlinksim │ ├── px4-rc.sihsim │ ├── px4-rc.simulator │ ├── rc.replay │ └── rcS ├── log │ └── 2025-06-25 │ ├── 20_25_43.ulg │ └── 20_28_10.ulg ├── parameters_backup.bson ├── parameters.bson └── test_data -> /home/rroche/Work/PX4-Autopilot/test_data ``` You can download an AppImage that works in Ubuntu via CI ([latest images](https://github.com/PX4/PX4-Autopilot/actions/runs/15885223196)), once you unzip you will find the AppImage. **How to use:** ``` $ ./PX4_Autopilot_SITL-x86_64.AppImage # has built-in debug mode $ ./PX4_Autopilot_SITL-x86_64.AppImage --debug [DEBUG] Running in debug mode [DEBUG] PX4_VERSION = v1.16.0-rc1-318-g384e198cc4 [DEBUG] STATE_HOME = /home/rroche/.local/state [DEBUG] DATA_HOME = /home/rroche/.local/state [DEBUG] Using cached ROMFS version v1.16.0-rc1-318-g384e198cc4 [DEBUG] LOG_DIR = /home/rroche/.local/state/px4/logs [DEBUG] Launching: /tmp/.mount_PX4_AuDCBMNN/usr/bin/px4 -w /home/rroche/.local/share/px4/romfs INFO [px4] assuming working directory is rootfs, no symlinks needed. ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [param] selected parameter default file parameters.bson INFO [param] importing from 'parameters.bson' INFO [parameters] BSON document size 115 bytes, decoded 115 bytes (INT32:2, FLOAT:3) INFO [param] selected parameter backup file parameters_backup.bson INFO [dataman] data manager file './dataman' size is 1208528 bytes INFO [init] SIH simulator INFO [simulator_sih] Simulation loop with 250 Hz (4000 us sim time interval) INFO [simulator_sih] Simulation with 1.0x speedup. Loop with (4000 us wall time interval) INFO [lockstep_scheduler] setting initial absolute time to 4000 us INFO [commander] LED: open /dev/led0 failed (22) No autostart ID found INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030 INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2025-06-25/20_28_10.ulg INFO [logger] Opened full log file: ./log/2025-06-25/20_28_10.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) INFO [px4] Startup script returned successfully pxh> WARN [health_and_arming_checks] Preflight Fail: Accel 0 uncalibrated ```

jjoel7 · July 2, 2025, 3:53pm

would like to discuss if there’s anything pending from our side to facilitate approval of this pull request.

github.com/PX4/PX4-Autopilot

Adding driver for MicroStrain Inertial Sensors

main ← microstrain-robotics:microstrain_px4_driver

opened 02:17PM - 29 Oct 24 UTC

JoelJ18

+2697 -0

This driver enables integration of MicroStrain by HBK sensors with the PX4 autop…ilot system. Supports the following sensors (At this moment): *[`MicroStrain CV7-AHRS`](https://www.microstrain.com/inertial-sensors/3dm-cv7-ahrs) *[`MicroStrain CV7-AR`](https://www.microstrain.com/inertial-sensors/3dmcv7-ar) Submodule [`mip_sdk`](https://github.com/LORD-MicroStrain/mip_sdk) is required to facilitate communication with MicroStrain sensors. Currently, only sensor data is published for use by EKF2. Full integration for Inertial Navigation System (INS) capabilities is in development. Flight log includes a flight where the CV7 accel, gyro, and mag instance is prioritized https://review.px4.io/plot_app?log=c3bd7d9e-7519-4569-8e51-82e88d31b05d

Topic		Replies	Views
PX4 Sync / Q&A: Mar 26, 2025 PX4 Autopilot	2	68	March 26, 2025
PX4 Dev Call: March 04, 2020 PX4 Autopilot	0	684	February 26, 2020
PX4 Dev Call: February 26, 2020 PX4 Autopilot	0	507	February 19, 2020
PX4 Dev Call: November 02, 2022 PX4 Autopilot	0	671	October 26, 2022
PX4 Dev Call: June 25, 2025 (Team sync, and Community Q&A) PX4 Autopilot	2	48	June 25, 2025

PX4 Sync / Q&A - 2025-07-02T15:00:00Z

Agenda

Announcements

Next Dronecode Meetup

Future Events

Flight Testing Update

Release Discussion / Updates

Community Q&A / PRs for Review

Related topics