March 02, 2022
Join us
Agenda
- Community Q&A
- Project Updates
- High priority queue
- Release
- In-Depth discussions
Community Q&A and Discussions
Upcoming release of the ATL Mantis Edu Drone
- Will be the first ‘ready to fly’ drone running on PX4.
- Release expected around March - April
- Early Adopters will get around 50 units in public
Current Issues
- Currently having issue in “Preflight checks” issue (sometimes pre-flight checks disappearing from QGC)
- Imbalanced Propeller issue → to be tuned
- Optical Flow Measurements are a bit inconsistent (scaling is wrong?)
- Range Sensors are having error of 1 ~ meters, which is a big difference. Error could be from the Terrain Estimator output of EKF2.
- Still logging through MAVLink Streaming, through the camera processor.
Discussions
- @dagar : High rate logging should be fixed, or else, estimator analysis would be hard.
- Issue created on Github for tracking Mantis Edu issues.
SBF (Septentrio Binary Format), GPS Message format integration into PX4
- By Seppe
- INS in GPS module for current application
- Info website about the SBF, for interested readers
- Buffer size issue.
Release schedule?
- dagar : How about doing the Beta Release?
- NuttX → @david_s5 : There’s been a lot of revisions (e.g. Task switching, stack management, etc.). Not a lot of driver developments.
Reboot / EKF2 reset via RC command
Hi All, Is there a way to assign one of the radio channels to perform a full system reboot or EKF2 restart ?
- Existing topic by @Ahmed_Elsafy
- Currently in testing setup, because of high accelerometer bias, etc, the EKF2 needs reset. But needs QGC, which is cumbersome.
- dagar : Shouldn’t existing logic handle the ‘picked up by user and moved by hand’ covariance error?
- @Ahmed_Elsafy : Without alarms, etc, it’s hard to figure out in the field whether the system needs a restart or not.
- @rroche & dagar : Would be better to figure out what happend, via observing the logs. Can be fixable without this new RC control feature.
- dagar : Home position is reset when changing from landing mode to airmode?
Speed Limiter via RC Switch activation
Hey Hi I’m jorge and I’m relatively new to the world of px4.
I am planning to implement a speed limiter, activating a switc of the rc transmitter. maybe you could give me some tips to start with this task and which would be the best way to start.
- By Jorge
- Thomas : Currently performed max speed setting tests.
- dagar : Question is, how to expose that setting to MAVLink? / to the User?
- Currently interested in : 1 m/s maximum speed mode &
- potaito : Maybe program a module, where it changes the vehicle’s “Parameter” to constrain the velocity.
- Discuss with @MaEtUgR later about the parameter settings
Runway takeoff logic on the fixed wing
- @tstastny : Wheel control / Rudder.
- dagar : Should be separate. What about checking the ‘albatrass’ airframe?
Coordinated Turn logic
- Fixed Wing control. Efficiency control, e.g. Rudder control.
- It’s in the ‘Fixed Wing Attitude controller’
- Brought up, because this is involved in position control → attitude control pipeline, for fixed wing takeoff case.
Flap control
- dagar : Flap control in control allocation?
- tstastny : System Identification and modeling the lifting wing is an idea.
- Roll control torque and etc, more discussion by @sfuhrer
- tstastny : Put a wheel controller in the attitude control of a fixed wing?
- dagar : We should check which vehicles people are using.
- Fixed Wing steer control & rover control, all related.
- Taxi-ing feature could be a nice feature to *add
- dagar : Want to get into landing (fixed wing) as well
QGC Crashing issue
- By David
- Fix PR has been pushed today
Project Updates
Updates from the team
High priority queue
Discussion based on board : High-Priority Queue · GitHub
MAV_CMD_NAV_TAKEOFF drone weird behavior issue
- @mcsauder : Can’t figure out where take-off altitude is being translated into position setpoint triplet
Release
In-Depth discussions
- HolyBro CAN GPS
For smaller groups expanding technical discussions, stay until the end and follow up.
If you have any feedback or corrections please comment on this post.