PX4 Dev Call: May 04, 2022

rroche · April 27, 2022, 5:01pm

May 04, 2022

Join us

Agenda

Community Announcement
Community Q&A
Project Updates
General Discussions
Weekly Overview
High priority queue
Release

Community Announcement

Community Q&A (No deep technical discussions)

Q.1 : RP2040 Crash problem - Vatsal

https://github.com/PX4/PX4-Autopilot/issues/19491

github.com

PX4/NuttX/blob/c5c7d2b4f26f52f1dfb425ebde83328606b65d4f/fs/cromfs/fs_cromfs.c#L651


      
                                      FAR uint32_t *offset)
          {
            struct cromfs_comparenode_s cpnode;
            FAR const struct cromfs_node_s *root;
            int ret;
          
            finfo("relpath: %s\n", relpath);
          
            /* Get the root node.  The root is the entry "." which is a hard link. */
          
            root = (FAR const struct cromfs_node_s *)
                    cromfs_offset2addr(fs, fs->cv_root);
          
            /* NULL or empty string refers to the root node */
          
            if (relpath == NULL || relpath[0] == '\0')
              {
                struct cromfs_node_s newnode;
          
                /* Get the attributes of the root node by following the hard link.
                 * We do this even though the attributes of the root node are well

going to hard fault in the CROMFS.
Answer
- Check the parameters going into the function, whether they are NullPtr

Q.2 : MAVROS extras image publication to receive images? - Safy

mavros_extras - ROS Wiki
Want to send over images with MAVLink, to not have multiple radios for different usages
Answer
- Probably not built for high bandwidth usage (since it’s MAVLink)
- Better to use MAVROS to figure out RTSP stream
image_pub: Complete image decoding & publish. · mavlink/mavros@c45b2d6 · GitHub

Q.3 : About GCS sending the flight plan - Jason

In UGV the flight plan is not usefull. You need to find a sidewalk and need the waypoints as general ideas.
Autonomous sailboat UGV usage case. With a Jetson board locally.

Where in the code could I review where the waypoint and the local planner is running in a some sort of loop?

Let’s say we plan a mission from point A to point B
MAVLink vs ROS Bridge

Q.4 : Checking the version - Jason

Where do I see the version of the FMUK66?

Answer : Type ver all in the MAVLink Console in QGC / Terminal.

Project Updates

P.1 : STM32H7 SocketCAN driver in NuttX done - JC

https://github.com/apache/incubator-nuttx/pull/6057

Plan to finish testing this week and get merged next week.
Backported to PX4 and working with UAVCAN v1 here: GitHub - PX4/PX4-Autopilot at dev/socketcan-nuttx-10.3.0
Getting 4 Mbps in the test now
Current NuttX is quite broken, so it’s curently the PR is based on NuttX 10.3

General Discussions

D.1 : Safe local coordinate manipulation by @tstastny

Found a corner case

If we take in local coordinate and add offset? The EKF won’t take this into account, unless global coordinate is also updated!

There can be 2 solutions
1. Vector3f?
2. Make it clear in the module that any coordinate stored in local frame can have offset from the EKF
Answer
- How about taking into consideration the ‘type’ of coordinate?
- Can we have concept of time discontinuity and have a serial number that indicates that the reset has occurred?
On Multirotor there are a lot of reset handling. Ideally we could save both local & global coordinate.
TODO
- Check the TF in the ROS to make sure we aren’t re-inventing the wheel
What’s the motivation?
- Local coordinates are easier to deal with for control / navigation, etc.

D.2 : Dubins Aircraft MAVLink Message by @tstastny

Implements a long-existing concept in aerospace industry

Feedbacks and Comments will be appreciated!! (In the doc)

Q. What would the GCS side be like?
It’s good to expose what the vehicle is going to do to the users - Chris
E.g. CAM software showing the full tool path for milling something

D.2.1 : What happens when there’s a stall during high acceleration turn of a Fixed wing in PX4? - Chris

Probably will boost throttle to regain airspeed
There actually was a logic for this specific case

D.3 : L1 depreciation by @tstastny

would like to discuss what steps are necessary to deprecate l1 control in favor of NPFG, as it is causing more hacky headaches to keep l1 now, where NPFG is an almost identical controller, but just with extra (disablable) features.

Weekly Overview

Github

Recently updated Issues / PRs in PX4-Autopilot Link

Pull Requests

Hardware

Issues

Control

[Control] Constrain Acceleration Feed Forward when Drone is far from position setpoint · Issue #19543 · PX4/PX4-Autopilot · GitHub

PX4 Dev Call: May 04, 2022

May 04, 2022

Join us

Agenda

Community Announcement

Community Q&A (No deep technical discussions)

Q.1 : RP2040 Crash problem - Vatsal

Q.2 : MAVROS extras image publication to receive images? - Safy

Q.3 : About GCS sending the flight plan - Jason

Q.4 : Checking the version - Jason

Project Updates

P.1 : STM32H7 SocketCAN driver in NuttX done - JC

General Discussions

D.1 : Safe local coordinate manipulation by @tstastny

D.2 : Dubins Aircraft MAVLink Message by @tstastny

D.2.1 : What happens when there’s a stall during high acceleration turn of a Fixed wing in PX4? - Chris

D.3 : L1 depreciation by @tstastny

Weekly Overview

Github

Slack

Last Dev-Call

High priority queue

Release