# PX4 Dev Call: March 30, 2022 **URL:** \ **Category:** PX4 Autopilot\ **Created:** [March 23, 2022, 5:00pm UTC](https://discuss.px4.io/t/px4-dev-call-march-30-2022/26701 "2022-03-23T17:00:57Z")\ **Posts on this page:** 2\ **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:** [March 23, 2022, 5:00pm UTC](https://discuss.px4.io/t/px4-dev-call-march-30-2022/26701/1 "2022-03-23T17:00:57Z")
# March 30, 2022 ## Join us > **[Jitsi Meet](https://meet.jit.si/PX4DeveloperCallWeekly)** > > Join a WebRTC video conference powered by the Jitsi Videobridge ## Agenda - Community Q&A - Project Updates - General Discussions - High priority queue - Release ## Moderation - **Community Q&A : Maximum 3 - 5 min limit for each question**. If the discussion isn’t finished, ask the Questioner to create a Github Issue about it and continue discussion there. - **Limit discussions to maximum 5 min** , then it should be continued in In-Depth discussions. - Always consider the perspective of community members who may not have a deep understanding on certain concepts ## 📢 Community Announcement * * * ### PX4 Dev Summit 2022 CFP Deadline in 3 weeks! **Timeline:** - CFP Open: March 18th - CFP Closes: April 19th - CFP Notifications: Week of May 2nd Since we are back in person, we are pushing for increased content diversity, and we welcome any of the below: - Session Presentation: 30-min - Panel Discussions: 30-min - Birds of a Feather: 45/60-min - Lightning Talk: 5/15-min - Workshop: 1.5/2-hours [**Apply to the CFP directly on our Website**](https://events.linuxfoundation.org/px4-developer-summit/) ## 🧑‍🤝‍🧑 Community Q&A * * * - Safy: What’s the prefered way to do what a goto command in QGC does but through mavros and offboard mode. The command for goto see [MAVLINK Common Message Set (common.xml) | MAVLink Guide](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_REPOSITION) is exposed in mavros through the command plugin. It’s best to use this command for waypoints because it results in a jerk optimized trajectory to the goal point. When arriving at the destination the vehicle can be switched to offboard mode but then the mavros algorithm needs to take care of the speed and smoothness of further movements. - @junwoo0914 had an issue with the build because of changes in MAVLink: [Fix MAV\_TYPE\_VTOL\_RESERVED2 & 3 not declared compile issue by junwoo091400 · Pull Request #19375 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/19375/files) It’s probably related to the submodule not being in sync with breaking changes. ## 👷‍♀️ Project Updates * * * Updates from the team - @bresch implemented a script that helps to tune the drag coefficients which are dependent on the vehicle setup and are used by the estimator to calculate a wind estimate: [Drag fusion tuning by bresch · Pull Request #17 · Auterion/Flight\_Control\_Prototyping\_Scripts · GitHub](https://github.com/Auterion/Flight_Control_Prototyping_Scripts/pull/17) Compared to before where the coefficients had to be tuned manually mostly based on a replayable log and with manual trial and error the new scripts works on any log that was captured in no wind with a high speed envelope and will spit out optimized parameters. - @david_s5 has a fix for one of the release blockers where the NuttX version was not reported correctly: [px\_update\_git\_header:Extract NuttX latest release tag by davids5 · Pull Request #19383 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/19383/) Some of the tags in the history didn’t meet the expected format so now it will use the last suitable tag for the version report. - Thomas Debrunner: Rebased the pr for using the SIH (simulation in hardware) module in SITL (simulation in the loop). [https://github.com/PX4/PX4-Autopilot/pull/19028](https://github.com/PX4/PX4-Autopilot/pull/19028) The motivation is to have a more robust and hopefully less resource-intensive way for running SITL tests locally and also in CI. The naming is confusing right now because SIH is not purely in hardware anymore so we should revise the naming. The global goal is to unify the simulators and have a core implementation in PX4 allowing optional extra models and sensors driven externally. One of the reoccurring problems is to make sure there is an exclusive source is driving the time for lockstep. ### Follow Target project > > > \*\*Describe problem solved by this pull request\*\* > Refer to the document : https:…//docs.google.com/document/d/1E04Rn6sxYNqKve4-KZYdC2-9LExKmHKuYjWZlwf61rA/edit > > \*\*Describe your solution\*\* > > \*\*Describe possible alternatives\*\* > A clear and concise description of alternative solutions or features you've considered. > > \*\*Test data / coverage\*\* > This change log : https://logs.px4.io/plot\_app?log=6561ce69-e2e3-46c3-9e13-e29f2dbc11c7 > Alessandro PR log : https://logs.px4.io/plot\_app?log=fa76985d-87c6-4c4f-9164-fa2f2c15338b > > \*\*Additional context\*\* > \* This PR is to be merged to a pre-existing PR : #18026 > \* Depends on library added from #19246 and #19249. > \* Proposal brainstorming issue : #19251 > \* User Doc Update PR : https://github.com/PX4/PX4-user\_guide/pull/1810 > \* Scripts I used for testing the algorithm : https://github.com/junwoo091400/Follow-Target-Algorithm-Scripts > \* Script used to test Follow-Me in SITL : https://github.com/junwoo091400/PX4-Followme-Sim-Script > \* Visualizer script that was used for drone's orbit angle set-point overshooting problem : https://github.com/junwoo091400/Follow-Target-uLog-Visualizer > > \### Discussions > 1. Should we just change the 'follow perspective' into a single number parameter (0 ~ 360 degrees), instead of using an enum / selection of : "Front, Back, Right, Left, etc."? > 2. Google Astyle for the member variables : Do we need to add the \_ suffix? > > \### TODOS > \- \[x\] Reduce follow\_target\_status logging rate to 200ms interval or 400ms > \- \[x\] MAVSDK Param update > - https://github.com/mavlink/MAVSDK-Proto/pull/287 > - https://github.com/mavlink/MAVSDK/pull/1770 > \- \[\] Later on implement the Multcopter Rate Controller not directly applying acceleration setpoint -\> Issue at #19543 > \- \[\] Maybe move onto \[YAML based\](https://docs.px4.io/master/en/advanced/parameters\_and\_configurations.html#parameter-metadata) Parameter definitions? > \- \[\] Add the Leash mode (as if drone was hovering and the user was connected to the drone, so it would follow around like as if it was leashed) > \- \[\] Add fixed orbit angle mode (staying always on the north side, etc. No orbit angle transitions) > \- \[\] \[Check if I get a more stable yaw setpoint if I use the heading from the position setpoint to the target estimate, instead of the real position.\](https://github.com/PX4/PX4-Autopilot/pull/19260#discussion\_r869034921) [![](https://img.youtube.com/vi/kAt7Q53uFLk/maxresdefault.jpg "Drone at Paragliding Grundschulung hill ;) (2022.03.26)") ](https://www.youtube.com/watch?v=kAt7Q53uFLk) - Trying jerk-limited trajectory controller for the orbit angle control, still reviewing and tidying PR ## 🤔 General Discussions * * * - @tstastny : The code style is repeatedly under discussion because we seem to have found a not completely consistent way of writing new code but a lot of style rules are not enforced and an inconsistent across the codebase. We came up with a suggestion to employ the [Google style](https://google.github.io/styleguide/cppguide.html) with as few exceptions as possible to account for not changing every line and our needs: Suggested exceptions: - @junwoo0914 : It’s currently not efficient for developers to navigate QGC. He’s suggesting keyboard hotkeys. There’s further discussion about how the menu could be improved such that the UX for developers but also users require less clicks. ![image](https://discuss.px4.io/uploads/default/original/2X/6/66d4c5cbf4d17cfb59129204c6b3e1e88921551b.jpeg) ### ☎ Things from the last Dev Call > [@PX4 Dev Call: March 23, 2022](https://discuss.px4.io/t/px4-dev-call-march-23-2022/26615): > > March 23, 2022 Join us Agenda Community Q&A Project Updates High priority queue Release In-Depth discussions Moderation After 5 seconds of silence, move onto the next topic Community Q&A : Maximum 3 - 5 min limit for each question. If the discussion isn’t finished, ask the Questioner to create a Github Issue about it and continue discussion there. Limit discussions to maximum 5 min, then it should be continued in In-Depth discussions. loudspeaker Community Announcement PX4 Dev Summit 20… - Parameter Name limit increasing - Update: In discussion with @bkueng it was found that this is hard because the entire parameter system has to be changed at the same time on all sides. We can still do it but MAVLink has to be used differently and the existing parameter system has to be dealt with in some backward compatible way. - Flight Mode dynamic - Update: Some comments were added to the document. Any further readers, commenters and feedback are appreciated. ### 💻 Things from the Slack Channel ## ❗ High priority queue Discussion based on board: [https://github.com/orgs/PX4/projects/24](https://github.com/orgs/PX4/projects/24) ## 🌾 Release ## 🙌 Feedback * * * If you have any feedback or corrections please comment on this post! ## 🔄 Component Updates * * * Updates on each sectors of PX4 System ### 🛩 VTOL & Fixed Wing ### 🛸 Multicopter ### 💻 System Architecture ### 🌰 OS / NuttX ### 🚘 Driver ### 👑 Commander ### 🌵 Simulation ### 🥈 MAVROS / DDS / ROS2 ### 🃏 UAVCAN ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [March 30, 2022, 3:36pm UTC](https://discuss.px4.io/t/px4-dev-call-march-30-2022/26701/2 "2022-03-30T15:36:35Z")
Thanks for organizing this meeting @junwoo0914 😉