PX4 Dev Call: November 02, 2022

November 02, 2022

Join us


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

:loudspeaker: Community Announcement

Last FW/VTOL Meeting

:people_holding_hands: Community Q&A (No deep technical discussions)

:exclamation: Guideline for asking a Question

  1. Specify what you are trying to achieve
  2. Specify what environment / platform you are using
  3. Prepare a Link or Document to help understand if possible
  4. First, ask the question on the Slack or create a Github Issue!
  5. If you take over 5 minutes for the question, please continue in Slack or a Github Issue.

Q.1 : Gimbal control via MAVSDK is - Farhang

  • The issue is that old gimbal commands are not imported in MAVSDK 0.33.0 Mission import.
  • @JulianOes With newer MAVSDK versions the import has moved to the MissionRaw plugin which allows to import any sort of missions, and that should fix it. Updating MAVSDK should not be an issue as it tries to be mostly backwards compatible.

:construction_worker_woman: Project Updates

P.1 : Frames (airframe) component metadata support - @junwoo0914


  • Why can’t we use a Control allocation better? << Effort worth spent
  • Then we can remove the dependency to the image assets.
  • We can transform the concept of an ‘Airframe’ as a helper for specifying Control Allocation parameters
  • Ideally: We will have everything defined in the control allocation.
  • What will be an Airframe be in the future: Not just a like a script.

David: If we don’t have an access to the GCS, how are you supposed to run different setups? (E.g. setting PWM configs).

  • Had to debug something, and bringing back the params
  • Right now it is not possible to export (backup) a param & load it back in via the Console interface.

:thinking: General Discussions

D.1 : multicopter feed forward control logic wrong in rate control - Sander

Hi, I have a question about the MC rate controller. I’ve noticed that PX4 differs here from other firmwares in that PX4 uses the rate setpoint with the feed forward term while other firmwares (betaflight etc) use the derivative of the rate setpoint.

What is the reason for using the actual setpoint and are there any benefits of using either?

The feed forward is multiplied with the setpoint instead of the derivative of the setpoint. This way you cannot tune the feed forward in a meaningful way. The feed forward should cause the requested change of angular rate, not give a constant output proportional to the requested rate.

  • Currently the FF term only account for the damping.
  • Discord message link
  • Action Item: Address the proposal of a new structure multicopter rate control in discord (With block diagrams! :gift:) - Sander

D.2 : 100% Thrust issue

  • Integrator seems to be causing the takeoff behavior
  • Seems to happen when the hoverThrust gets set

D.3 : NuttX upgrade

With this fix, the Cannode of Alex started working. Would be nice to have more Cannode developers testing on it.

Output of ver all inside the NSH, NuttX tag is wrongly displayed.

D.4 : Preflight checks are failing in the middle of the flight recently - Jay

  • Probably a regression that are getting checked during the flight.
  • This should have fixed it?

“Do I need to be concerned?”
-Wise Old Man (1899, c.a.)

We need to capture the context of internal/mag, and handle that in estimator well, to reduce these errors. Most of the internal mags are just good enough to fly & complains.

:calendar: Weekly Overview

:mouse2: Github

Recently updated Issues / PRs in PX4-Autopilot Link

Pull Requests
Lightware Lidar serial driver tested, works w/ collision prevention -needs review

INA220 driver

Cannode PWM support - Alex


:computer: Slack

:phone: Last Dev-Call

PX4 Dev Call: October 26, 2022

:exclamation: High priority queue

Discussion based on: High-Priority Queue · GitHub

:ear_of_rice: Release

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