# PX4 Dev Call: June 15, 2022 **URL:** \ **Category:** PX4 Autopilot\ **Created:** [June 8, 2022, 5:02pm UTC](https://discuss.px4.io/t/px4-dev-call-june-15-2022/27832 "2022-06-08T17:02:02Z")\ **Posts on this page:** 1\ **Page:** 1
**Author:** ![rroche](https://discuss.px4.io/user_avatar/discuss.px4.io/rroche/32/17635_2.png) [@rroche](https://discuss.px4.io/u/rroche)\ **Post date:** [June 8, 2022, 5:02pm UTC](https://discuss.px4.io/t/px4-dev-call-june-15-2022/27832/1 "2022-06-08T17:02:02Z")
# June 15, 2022 ## Join us > **[Jitsi Meet](https://meet.jit.si/PX4DeveloperCallWeekly)** > > Join a WebRTC video conference powered by the Jitsi Videobridge ## 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 1. Specify what you are trying to **achieve** 2. Specify what environment / **platform** you are using 3. Prepare a **Link** or **Document** to help understand if possible 4. First, ask the question on the **Slack** or [create a **Github Issue**](https://github.com/PX4/PX4-Autopilot/issues/new/choose)! 5. 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 1. 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](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](https://discuss.px4.io/t/docker-qgc-udp-bind-issue/23517) - 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. · GitHub](https://github.com/JonasVautherin/px4-gazebo-headless) 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. · GitHub](https://github.com/ryanjAA/px4-gazebo-headless) - 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](https://github.com/PX4/PX4-Autopilot/pull/19638) - Need feedback on if `manual_control_switches` can be totally removed and the triggering actions (`action_request`) can be done by `rc_update`. ### P.2 : Commander state machine + Prearm check PRs - Matthias [https://github.com/PX4/PX4-Autopilot/pull/19764/](https://github.com/PX4/PX4-Autopilot/pull/19764/) > > > \## Describe the problem solved by this pull request > It's super confusing under …what conditions what preflight/arm checks are actually called in the arm state machine. > > \## Describe your solution > I simplified the conditions to cover mostly how it was. It's not an exact refactor but I'm pretty sure it covers all the conditions we care about. The rest was in my eyes just complexity built from historic patches. > > \## Test data / coverage > I quickly tested that generally preflight checks still work as expected in simulation. > > \## Additional context > Builds on #19764, please review that one first. [https://github.com/PX4/PX4-Autopilot/pull/19807](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](https://github.com/PX4/PX4-Autopilot/pull/19754) - 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 > [Recently updated Issues / PRs in PX4-Autopilot Link](https://github.com/PX4/PX4-Autopilot/issues?q=sort%3Aupdated-desc) **Pull Requests** \* **Issues** \* ### 💻 Slack ### ☎ Last Dev-Call > [PX4 Dev Call: April 27, 2022](https://discuss.px4.io/t/px4-dev-call-april-27-2022/27066) - ## ❗ High priority queue * * * Discussion based on: [https://github.com/orgs/PX4/projects/24](https://github.com/orgs/PX4/projects/24) ## 🌾 Release * * *