June 15, 2022
Join us
Agenda
- Community Announcement
- Community Q&A
- Project Updates
- General Discussions
- Weekly Overview
- High priority queue
- Release
Community Announcement
Don’t forget your sunscreen for the Dev Summit next week!
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 : Limits of Tuning Parameters not matching actual software limits - Chris
- Even after reading the docs, setting the parameters to an appropriate sane value is hard for an average user of PX4
Q.2 : Pitch up moment from the vehicle while tuning observed - Chris
- Can we have a throttle-based control?
- There are simple models for prop-wash effect
- E.g. Tailsitter VTOL has similar situation where prop-wash affects elevon control authority significantly
- Where is the “Airspeed based Control gain adjustment” of Control allocator?
Q.2.1 : Can we have the PWM output trim parameters for each output back? - Chris
- PWM_TRIM* (Hardware) and ACTUATOR_TRIM* (Control Allocator / Software), do we need both?
- Actuator Trim is intended for theoretically applying zero torque/ etc. Which should be decoupled from Hardware trim!
Q.3: Trying to reduce Flash consumption (Boardconfig) - Junwoo
- Currently trying to reduce Flash usage since it’s overflowing in multiple targets
- It’s unclear which System Commands / Modules are ok to remove
- Can we have a guideline / doc on which Kconfigs are ‘essential’?
- E.g. https://github.com/PX4/PX4-Autopilot/pull/18026/commits/d0068114f949038b76633b9daf54dbee746910b9
- Had to remove most of the airframes from the px4_fmu-v2 target
- The PR itself contributes ~5K
- Currently the Mixer / Airframe files are taking up 15K ~ 20K, which will be purged soon
Q.4: Binding UDP port between SITL in Docker to local QGC
- Issue is also mentioned here: Docker+QGC UDP bind issue
- Lots of Docker networking mess
- GitHub - JonasVautherin/px4-gazebo-headless: An unofficial Ubuntu-based container building and running PX4 SITL (Software In The Loop) through gazebo. Based off of this repo, ryan got it working
- Ryan repository: GitHub - ryanjAA/px4-gazebo-headless: An unofficial Ubuntu-based container building and running PX4 SITL (Software In The Loop) through gazebo.
- After the Image is sorted out, would be great to integrate it into VSCode Dev Environment setup!
Project Updates
P.1 : Generic Button / Switch Trigger PR
- Support on Generic button/switch triggers by RC Controller by junwoo091400 · Pull Request #19638 · PX4/PX4-Autopilot · GitHub
- Need feedback on if
manual_control_switchescan be totally removed and the triggering actions (action_request) can be done byrc_update.
P.2 : Commander state machine + Prearm check PRs - Matthias
https://github.com/PX4/PX4-Autopilot/pull/19806
https://github.com/PX4/PX4-Autopilot/pull/19807
General Discussions
D.1 : Conversion to control allocation
- Multicopter discussion later this week
- VTOL First cut: ROMFS: add 13100_generic_tiltrotor config and remove actuator assignments from other generic vehicles by sfuhrer · Pull Request #19754 · PX4/PX4-Autopilot · GitHub
- Important to not go too far (is it wise to make user setup everything by having a generic Control Allocation based airframes in this period?)
- Fixed Wing
D.2 : LED Blinking not delivering clear message
E.g. When the LED is Green, and you try to Arm, PX4 may reject to Arm!
Related to Pre-arm check
D.3: Running CI locally?
Weekly Overview
Github
Pull Requests
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Issues
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Slack
Last Dev-Call
High priority queue
Discussion based on: High-Priority Queue · GitHub
Release