July 29, 2020
- Status update by component/project
- Roadmap, and Release discussion
- Community Q&A
- In-Depth discussions
Meeting ID: 946 175 205
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Payload / FMU / BMS
Last call FMUv6 was discussed. The design is close to be released. Some documents are still being checked. Standard will be announced. Gumstix will make a prototype board.
Logger changes about the default logger profile. Potentially remove the replay logging from default profile to make sure we can use cheap SD cards for longer.
Make sure gaps in logging are recorded and get noticed.
Better handling of buffer overflow.
OS / NuttX
@david_s5 was looking into a problem with telemetry related to Nuttx.
NuttX release is out, we can go back to working on upgrading.
@dagar F412 backport or wait for the update? Depends on the effort also on testing.
Contribution of fixes in optical flow driver
DSM RC parsing more robust
Crazyflie was not booting in master. @dagar fixed it and looked into using the new MPU driver to support the Crazyflie 2.
Hex was renamed to CubePilot and the autopilot are called CubeYellow, CubeOrange… We renamed them.
- Progress on Python EKF derivation:
- Master of Firmware is out of date with ecl. New geo table doesn’t fit FMUv2. We might want to compensate the flash size increase with the auto code generation (Python derivation) savings.
What path should we go update everything at the same time or small pieces and save flash with other means in between.
- Goal: Have a validity flag. Additionally @dagar found a bug with the delta-time.
VTOL attitude controller runs with 1200Hz when there’s no attitude setpoint published:
Progress on land detection, thanks to @dagar :
Testflights needed after check of @MaEtUgR comments. No major change anticipated.
@JulianOes CI: we changed gazebo to be able to load different models. There was a race condition where gzserver was not yet present when trying to load the model and then there was no model and the tests failed.
Script to run multiple simulation instances
New release today: 0.29.0
Main difference how user callbacks get called. Before there was a thread pool for the callbacks that caused potential threading issues. Now the callbacks are called from one thread and you have to do short callbacks and/or start new threads yourself if you call other blocking code.
There’s a new feature and tutorial to be able to use a joystick.
MAVSDK on ARM improvements
Bug fixes, see notes
MAVROS / DDS / ROS2
Testing of the serial link with ROS2 using a Pixhawk 4 and seeing good throughput with parallel topics.
What happened with Serial TX DMA in NuttX? There are issues like the GPS ones we had before. That’s what @david_s5 meant we need to look into it before updating NuttX.
PX4 UAVCANv1 work ongoing, no particular updates at the moment.
For the 1.11 release we have the land detector issue that is pending. It’s now reviewed and needs final testing.
We should revive the tester GitHub group and add community volunteers such that they easily get notified when tests are needed.
@nrogelio found an issue: https://github.com/PX4/Firmware/issues/15312
He has an external compass issue that seems to be starting with the commit hash he posted. But it’s strange because the commit doesn’t change the magnetometer parts of PX4. It sounds like the mag orientation is wrong but it has to be debugged. Maybe other GPS modules with the same mag have different orientation. The mag auto rotation (https://github.com/PX4/Firmware/pull/15120) would catch the problem if it’s that.
- Parameter meta data compressed on-board
Would be good to have @hamishwillee and/or @bkueng in the call for further discussion.
@dagar motivates to think about trying to not miss out on any opportunities to rule exclude e.g. value ranges. Check MAVLink FTP performance, it’s probably not performing as well as it could/should.
QGC uses a different protocol than MAVLink FTP to download logs. We need a mechanism to slow everything else down while transmitting the file and then switch back to normal operation.
- UAVCAN rangefinder support
@dagar everything seemed fine except for they add their own custom DSDL which we should not carry that in PX4. We should forward the information into parameters.
@JingerZ FMUv5x Holybro is making a new prototype. Does @dagar and @david_s5 want one?
@david_s5 has the old prototype and we need to communicate the required changes for the updated specs clearly.
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.