PX4 Dev Call: March 09, 2022

📞 Coordination Calls PX4 Autopilot Coordination
1

March 09, 2022

Join us

Agenda

  • Community Q&A
  • Project Updates
  • High priority queue
  • Release
  • In-Depth discussions

Community Q&A

Patrick

Found a usability issue while using a the VTOL aiframe and not wanting to transition. It automatically (couldn’t finish)

Safy

  • Is the DO_SET_SERVO command supported?
    The best solution is to use the new control allocation system and the DO_SET_ACTUATOR command. That will work nicely. It is also available during a mission
  • Terrain following logic?
    Matthias : In a Multicopter, for altitude mode there is a terrain following mode. But for mission,
    But there are 2 frames, and mission runs on ‘global’ frame, so need to consider that for accounting for the distance sensor altitude value.
    Daniel : QGC Support, ‘frame’ option to take this into account
  • Water sensor
    Daniel : would feed it to EKF2 terrain estimator, and check output (for this sensor over water use-case), and use it as altitude feedback.
    Safy : Current, altitude deviation from sonar sensor was very jumpy.
    Daniel : Altitude vs Terrain estimate, they are different.

https://github.com/PX4/PX4-Autopilot/blob/master/msg%2Fvehicle_local_position.msg#L55-L56
Global :
https://github.com/PX4/PX4-Autopilot/blob/master/msg%2Fvehicle_global_position.msg#L23-L24

Mavlink Message “ALTITUDE”, element ‘bottom_clearance’.

Parameter EKF2_TERR_NOISE, EKF2_TERR_GRAD

Fellow Jitster

  • Trying to have a new Compass, Holybro IST210.
    David : if the address of I2C devices are not interfering with each other, it should be fine.
    Daniel : Can use -s on a driver level, to try different addresses (-a).
    Fellow : Current re-doing them in console manually everytime.
    Daniel : Should create issue & fix code use case for this magnetometer address issue.
  • Dual Mag.
    David :

V5X GPS2 is I2C2
EXT2 is I2C3

GPS Error (Patrick)

Using Global GPS from Holybro, and using local_gps module, the coordinates are 0,0,0.
After landing, the coordinates aren’t 0,0,0.

Matthias : Local position set when estimator initialized. Global set when GPS estimator initialized?

Coordinates gradually increasing / decreasing.

Project Updates

High priority queue

Discussion based on board: High-Priority Queue · GitHub

Release

Daniel : Newer RC protocol called ‘ghost’ issue. Someone’s crossfire scanned & latched onto ghost protocol & self-armed and took off!!!

Matthias : Happend as well, used crossfire receiver back then.

Charles Cross : For non-aerial vehicles, is the current master branch stable enough? Daniel : yes.

In-Depth discussions

If you have any feedback or corrections please comment on this post.