PX4 Dev Call: May 21, 2025 (Team sync, and Community Q&A)

farhang · May 20, 2025, 6:31pm

PX4 Sync / Q&A - 2025-05-21T15:00:00Z

List of all Dronecode events

Agenda

Announcements
Future Events
Flight Testing Update
Release Discussion
Bug Report / Q&A

Announcements

PX4 Release Testing
PX4 v1.16.0-rc1 is out, and we need your help with testing!

QGC v5.0.0-rc2 Alert
The QGC team expects a stable release next week! Please test and report issues now.

Next Dronecode Meetup

Nothing scheduled yet. If anyone is interested to host a Meetup please reach us out. Always happy to have it organized.

Question: Any interest in a Dronecode Community meetup during xponential?

Future Events

ROS Aerial Robotics WG May 22, Online
- Presentation: A Neural Network Mode for PX4 on Embedded Flight Controllers by Mihir Kulkarni, NTNU
ICUAS May 14-17, Charlotte, USA
ROSCon 2025 Singapore: ROSCon 2025

Flight Testing Update

About the Test Team
The team at Ascend Engineering (Chicago). are running flight testing for the community.

How to reach out to the team

GitHub: Tag user @PX4/testflights
Discord: #flight-testing
Weekly on the PX4 Dev Call

How to Request Testing (GitHub)

Write down the steps to test your issue/pull request
- Make sure to note the risk involved in flying
- Write down things to look out for / anticipate - eg: “we are looking for no yaw jumps”
Add issue/pull request to the Flight Testing project board
Make sure to specify any hardware/software requirements as much as possible

Resources:

Comments / Discussion:

Release Discussion / Updates

v1.16 Release Discussion

Release Candidate v1.16.0-rc1

The first release candidate for the upcoming release is finally available trough github and QGC.

We need help with flight testing, especially for early adopters and users with free time who can provide logs from flights with their drones.

Release Testing

Testing Tracker

github.com/PX4/PX4-Autopilot

[v1.16 Release Candidate] - Flight Testing & Flight Issues (log archive)

opened 04:08PM - 08 Jan 25 UTC

mrpollo

bug-report

## :exclamation: About 💡 For the upcoming v1.16 release, we are asking the Commu…nity for flight tests. This issue will be used for keeping track of all the tests from the Community. If you're unsure about upgrading, please read the preliminary release notes on the PX4 docs. Pay close attention to the Upgrade Guide before deciding if v1.16 is right for you. - [v1.16 Release Notes](https://docs.px4.io/main/en/releases/1.16.html) ## ❓ Why we need flight testing 🌏 Thousands of people around the world depend on the stable release of PX4. 🖐️ Before every major release, as much testing as possible is needed to ensure that our release actually works! 😯 Simply said, **more testing = better release** 🤗 We would like to encourage every community member to join us in improving PX4! ## 🤷 How you can help with flight testing 😱 Even if you have never contributed a flight testing report, fear not! Please follow the steps below for the details of how you can contribute to flight testing. 1. **Select** a category from the "flight testing matrix" below 1. **Flash** the firmware (documented below) 1. **Test** 1. **Upload** the log (documented below) 1. **Report** the test in this issue thread! ## Test Procedures https://docs.px4.io/main/en/test_and_ci/test_flights.html ### How to flash v1.16 beta firmware ![beta_flashing](https://user-images.githubusercontent.com/23277211/230138126-c7b02c00-f07b-4a4f-b6b7-866d69db6520.png) 1. Open QGC 3. Click the Q icon on upper right > Vehicle Setup > Firmware (Step 1 in picture) 4. Connect your flight controller to the computer 5. When the Firmware setup window pops up, click "Advanced settings" checkbox 6. Select "Beat Testing (beta)" from the drop down (Step 2 in picture) 7. Click "Ok" This should automatically flash & reboot your flight controller with the latest v1.16 beta release! ### How to share your log First, retreive the log from the flight controller in QGC Q icon > Analyze Tools > Log Download, and find the log you want to download. ![log_uploading](https://user-images.githubusercontent.com/23277211/230143915-4dad89ec-ab6d-43f3-9e5f-7a4624faa56e.png) Then: 1. Go to https://logs.px4.io/ 2. Click on "Flight Report" tab (this allows public viewing of the log in the [browse page](https://logs.px4.io/browse)) 3. Add the ULog file 5. Fill in the description, feedback, and video URL (if available) 6. Click "Upload" 7. Copy and paste the link of the log, and share it to this thread When posting on this thread, please mention what kind of test it was (especially if it is one of the testing matrix options) & general info behind it! ## Questions? Feel free to ask any questions regarding flight testing in the #dev-team channel in the [discord server](https://discord.gg/dronecode)! ## Results (05/12/25) 💪 **Release Testing** | Date | Status | Submitter | Release | Platform | Flight Controller | Flights / Logs | Notes | Link | | --------- | ------ | ------------ | -------------- | ---------- | ----------------- | -------------- | ------------------------------------------------------------------------- | --------------------------------------------------------------------------------- | | 1/16/2025 | ❌ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2596594336) | | 1/23/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2611482935) | | 1/29/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 6 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2622581014) | | 1/29/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2622581014) | | 2/10/2025 | ✅ | afwilkin | v1.16.0-alpha1 | Quadcopter | Pixhawk 4 | 5 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2649177017) | | 3/5/2025 | ✅ | DroneWuKong | v1.16.0-rc1 | Quadcopter | Pixhawk 6X-RT | 11 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2851994468) | | 5/9/2025 | ✅ | afwilkin | v1.16.0-rc1 | Quadcopter | Pixhawk 6C | 2 | | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2867864092) | | 5/13/2025 | ✅ | TeddyZaremba | v1.16.0-rc1 | Quadcopter | VOXL 2 | 8 | [Precision land issue](https://github.com/PX4/PX4-Autopilot/issues/24850) | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2880662926) | | 5/19/2025 | ⚠️ | dk7xe | v1.16.0-rc1 | Quadcopter | Pixhawk 6X-RT | 9 | Various inconsistencies | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2895445954) | | 5/20/2025 | ✅ | dirksavage88 | v1.16.0-rc1 | Quadcopter | Pixhawk 6X | 8 | QGC v5 Crash | [Link](https://github.com/PX4/PX4-Autopilot/issues/24188#issuecomment-2898223625) |

Testing Matrix

Date	Submitter	Release	Platform	Flight Controller	Flights / Logs	Notes	Link
1/16/2025	afwilkin	v1.16.0-alpha1	Quadcopter	Pixhawk 4	2		Link
1/23/2025	afwilkin	v1.16.0-alpha1	Quadcopter	Pixhawk 4	2		Link
1/29/2025	afwilkin	v1.16.0-alpha1	Quadcopter	Pixhawk 4	6		Link
1/29/2025	afwilkin	v1.16.0-alpha1	Quadcopter	Pixhawk 4	2		Link
2/10/2025	afwilkin	v1.16.0-alpha1	Quadcopter	Pixhawk 4	5		Link
3/5/2025	DroneWuKong	v1.16.0-rc1	Quadcopter	Pixhawk 6X-RT	11		Link
5/9/2025	afwilkin	v1.16.0-rc1	Quadcopter	Pixhawk 6C	2		Link
5/13/2025	TeddyZaremba	v1.16.0-rc1	Quadcopter	VOXL 2	8	Precision land issue	Link
5/19/2025	dk7xe	v1.16.0-rc1	Quadcopter	Pixhawk 6X-RT	9	Various inconsistencies	Link
5/20/2025	dirksavage88	v1.16.0-rc1	Quadcopter	Pixhawk 6X	8	QGC v5 Crash	Link

Issue Reporting, and Flight Log sharing

If you find an issue/bug with the pre-release, please open a GitHub issue and include a flight review link of any relevant flight logs.
- Make sure you add the issue to the Release Project Board
- We review the project board at every weekly meeting.
Follow the instructions on this GitHub Issue to learn how to install and configure the latest pre-release version on your drone.
The same guide (link) has instructions on how to grab the log data and upload it to the flight review.

Release Blockers Discussion

ESC Calibration Issues (PX4-Autopilot #24635): PR was updated to address discussion feedback from the last call, and is waiting on testing for @AWilkins_Ascend

Geofence Breach: Reported by Gerald during flight testing on Pixhawk 6X RT

Geofence breach behaviour different than with 1.15. Hold/Return happening behind geofence. If I recall correctly in previous PX4 versions Hold/Return happened before reaching Geofence.

RC Docs: Some boards have hardware limitations that need to be covered per board. These include SBUS, DSM, and IO inconsistencies, which we need to address. @hamishwillee we need to discuss on a call with @dagar let’s sync via discord on dates/times so we can draft a plan.

Community Q&A / PRs for Review

Precision landing issue: The issue is it shut up during precision landing. @Teddy will post an issue for it.

Q1:

Discussed PRs:
1.

Discussed Issues:
1.

hamishwillee · May 20, 2025, 11:26pm

Can I get this looked at please - specifically confirmations of how it is supposed to work - the PR outlines how I infer it does. This is important because it is very confusing when docs and behaviour don’t match on “basic usage”.

github.com/PX4/PX4-Autopilot

[Docs] [Bug] Radio Control docs don't reflect new architecture

opened 07:09AM - 15 May 25 UTC

hamishwillee

Documentation 📑

### Describe the bug RC setup seems to be a bit confusing currently. > [!NOTE…] Bunch of questions/confirmations here. If I can get confirmation, I can update the docs. @dagar > @dakejahl If you could answer the questions would be great. I think most of it should be "yes, that is correct" I think the TLDR is that if you want to use RC you should: - Check the new RC modules are in firmware. Easily enough done by looking at their params in QGC, such as `RC_SBUS_PRT_CFG` - You'd enable the param you want on the port labeled "Radio Control" (presumably) and check the others are disabled, including the Rc input param. - That should be enough to enable normal RC if you connect a receiver of the appropriate type. Is that about right? It may be that if you also want telemetry you also have to enable the seaparate params for CRSF and GHST (presumably on the same port). MOre detailed context below - additional things like "what new protocol module supports ST24?" ---- Is all this right. Please highlight bits that are wrong? 1. Historically we had a single module rc_input that was present in all board firmware, and which was started on boot to connect to whatever port is the "RC Input" or SBUS or whatever. You would attached RC to the physical input of choice and it would auto-detect your protocol. a. The board has PPM next to the PWM outputs, and often has separate DSM/SBUS/RSSI port. Does this mean we ran multiple instances of the module pointing to each connector? b. Is the physical RC ports compatible with all the protocols? (PPM, SBUS, DSM. SUMD, ST24, TBS Crossfire (CRSF))? c. All of these are strict "RC input" right? I.e. they are not telemetry too? 2. We also had Frsky Telemetry (Listed as communications driver) and CRSF listed as an RC protocol - but still doing telemetry only. a. My understanding is CRSF module works with TBS Crossfire radio system or ExpressLRS radio systems, and sends both telemetry and RC information. This is somehow different from "normal TBS crossfire CRSF" RC right? In what way? b. Previously we had to remove RC-in from firmware to add CRSF - this doesn't appear necessary. 3. We decided to split up the monolithic rc-input module into modules for separate protocols. This removes the complication of auto-detection, and makes it possible to produce smaller firmware (in theory). - The new modules are added to most boards by default using `CONFIG_COMMON_RC=y`. - The old rc_input driver is added to some boards using `CONFIG_DRIVERS_RC_INPUT=y` - Some have both keys. 4. The intent is that eventually when all boards have the new modules configured as desired the old rc_input will be removed from firmware everywhere, and eventually from the source tree. 5. Currently we have these modules: - [crsf-rc](https://docs.px4.io/main/en/modules/modules_driver.html#crsf-rc) - parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data - [dsm-rc](https://docs.px4.io/main/en/modules/modules_driver.html#dsm-rc) - This module does Spektrum DSM RC input parsing. - [ghst-rc](https://docs.px4.io/main/en/modules/modules_driver.html#ghst-rc) - This module does Ghost (GHST) RC input parsing. - [sbus-rc](https://docs.px4.io/main/en/modules/modules_driver.html#sbus-rc) - This module does SBUS RC input parsing. 6. Which of those above are used for which RC protocols? I mean I can guess from names which do DSM, TBS Crossfire (CRSF), GHST. But which do PPM, SBUS, . SUMD, ST24? 7. These protocols are assigned to a port using the following parameters. - [RC_SBUS_PRT_CFG](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#RC_SBUS_PRT_CFG) - port for SBUS (default is 300 ("Radio Controller"), but may be overridden) - [RC_CRSF_PRT_CFG](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#RC_CRSF_PRT_CFG) - 0 (disabled) - [RC_DSM_PRT_CFG](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#RC_DSM_PRT_CFG) - 0 (disabled) - [RC_GHST_PRT_CFG](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#RC_GHST_PRT_CFG) - 0 (disabled) 1. Do we need to do anything other than assign these to a port to get them to work? (other than disable anything assigned)? 8. What are these params for then? - [RC_CRSF_TEL_EN](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#RC_CRSF_TEL_EN) - [RC_GHST_TEL_EN](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#RC_GHST_TEL_EN) I assume that Telemetry and RC enabling all move on the same port, but for some reason you might choose to sometimes just send RC. Why? 9. And what is this one for then? - TEL_BST_EN (INT32) Blacksheep telemetry Enable. If true, the FMU will try to connect to Blacksheep telemetry on start up (looks like duplicate of RC_CRSF_TEL_EN 10. I assume these are separate modules you can enable for different kinds of telemetry that is separate from the RC? - TEL_FRSKY_CONFIG (INT32) Serial Configuration for FrSky Telemetry. Configure on which serial port to run FrSky Telemetry. - TEL_HOTT_CONFIG (INT32) Serial Configuration for HoTT Telemetry. 11. Whats the difference between RC_PORT_CONFIG and RC_INPUT_PROTO - I think the later is a new version of the former - changed so that it can be removed more easily in future or for some similar reason

Sindre · May 21, 2025, 6:46am

If it’s possible to discuss how to include TFLM into PX4 that would be great! This is possibly the last week I’m able to attend the devcall about this PR.

github.com/PX4/PX4-Autopilot

Neural Control Mode

main ← SindreMHegre:neural_control_with_tflm

opened 12:23PM - 19 Feb 25 UTC

SindreMHegre

+2741 -0

### Solved Problem Using neural networks for various tasks on UAVs in research …is becoming more and more commonplace. My aim is to provide a module that can be used to replace the MC controller with NN to lower the barrier for using RL and NN on UAVs in general, and give researchers and hobbyist a place to start for NN use. ### Solution - Add TensorFlow Lite Micro as an inference lib into PX4 - Make custom board configs with neural controllers - Make a module for NN control ### Changelog Entry For release notes: ``` Feature: Neural control mode for PX4, with possibility to use your own neural networks. New parameters: MC_NN_EN, MIN_RPM, MAX_RPM, THRUST_COEFF Documentation: read docs.px4.io/advanced/neural_networks, tflm and nn_module_utilities ``` ### Alternatives We could also look into using Eigen or executorch ### Test coverage - Built and tested SITL with the x500 https://review.px4.io/plot_app?log=52502d02-009e-4d1f-baac-a49dd51cfdef (check neural_control topic) - Built and tested HITL with pixracerpro and jMAVSim Hitl, note that the sim itself seemed a bit unstable and the network is not optimized for this model. https://review.px4.io/plot_app?log=43d2ba6c-3d05-4d7f-a31b-490a57b3e647 - Tested live on ARL LMF model: https://review.px4.io/plot_app?log=d101189d-672e-42a3-9d39-828c675dde57 https://www.youtube.com/watch?v=lY1OKz_UOqM&t=1s https://arxiv.org/abs/2505.00432 ### Context Other feature requests: - Put in different controller parameters with possibilities to replace different parts: Full e2e, only control, only allocation, Allocation and control as two separate networks. - Script to give thrust and delay parameters from a flight log

rroche · May 21, 2025, 3:00pm

Let’s discuss this one

Topic		Replies	Views
PX4 Dev Call: May 28, 2025 (Team sync, and Community Q&A) PX4 Autopilot	3	89	May 28, 2025
PX4 Sync / Q&A: Mar 26, 2025 PX4 Autopilot	2	68	March 26, 2025
PX4 Sync / Q&A: Mar 19, 2025 PX4 Autopilot	5	80	March 19, 2025
PX4 Sync / Q&A: Aug 7, 2024 PX4 Autopilot	0	59	August 6, 2024
PX4 Dev Call: March 11, 2020 PX4 Autopilot	0	885	March 4, 2020

PX4 Dev Call: May 21, 2025 (Team sync, and Community Q&A)

PX4 Sync / Q&A - 2025-05-21T15:00:00Z

Agenda

Announcements

Next Dronecode Meetup

Future Events

Flight Testing Update

Release Discussion / Updates

Community Q&A / PRs for Review

Related topics