PX4 Dev Call: November 20, 2019

rroche · November 13, 2019, 6:02pm

November 20, 2019

Agenda

Status update by component
Open section for the community (Please add your agenda items)
- Anyone can propose topics for discussion

Join Meeting

Meeting ID: 946 175 205
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Component update

Documentation

No Update.

Flight Testing

Weekly Report

SD Card Issues on K66
Action: Highlight issues, possibly use emoji. Note exceptions. Summary on top of the report.
Drift on landing on windspeed above 5m/s
- Action: Test on stable v1.9. Open an issue with logs if the problem exists.
Feedback: Smooth landing on v1.10-rc1
Bad weather this week in Tijuana, Mexico.

System Architecture

Board config cleanup @dagar

https://github.com/PX4/Firmware/pull/13532

OS / NuttX

Master is running NuttX 8.2
Let us know if there’s anything out of place.
STM32H7 Support is in Master
Durandal support
- Community feedback: QGC Firmware updating for Durandal seems broken. Team investigating
- Community feedback: no way to trigger.

https://github.com/PX4/Firmware/pull/13489
https://github.com/PX4/Firmware/issues/13518
https://github.com/PX4/Firmware/issues/13541

Comms

No update.

Driver

Here2 issues persist.
- GPS not detected.
- Here2 spikes on external mag
- Issues on UAVCAN connection.

https://github.com/PX4/Firmware/issues/12592

Commander & Navigator

Bugfix: Navigator: Throttle at 0 when landing.
Action: Commander, Navigator, Flighttask create a subgroup, discuss a path forward. @dagar @julianoes

https://github.com/PX4/Firmware/pull/13534

VTOL & Fixed Wing

Airspeed selector, passing CI, ran out of flash on fmuv2
- Action: @dagar to check PR

https://github.com/PX4/Firmware/pull/12887

Multicopter

Bugfix: Stabilize to PosControl at a certain speed.
Bugfix: Position publish disarmed attitude
Proposal: Different attitude setpoint generation strategy

https://github.com/PX4/Firmware/pull/13522
https://github.com/PX4/Firmware/pull/13210

github.com/PX4/PX4-Autopilot

[WIP] Different Attitude Setpoint Generation Strategy

PX4:main ← PX4:attitude-generation

opened 10:34AM - 20 Nov 19 UTC

MaEtUgR

+170 -69

**Describe problem solved by this pull request** Currently, the position contro…ller generates a thrust vector setpoint and forwards the desired yaw heading in the world frame. The setpoint generator then calculates an attitude that aligns the body z axis with the desired thrust (basic multicopter dynamics) and incorporates the world frame yaw heading in a way that the body x axis projected onto the world x-y-plane always point to the desired world yaw heading. This seems like a viable solution depending on the use case of the yaw setpoint but I see one big disadvantage of this solution: **The body yaw rate is coupled with a thrust vector** **Describe your solution** I calculate the desired attitude by aligning the body z axis with the thrust vector like before but this time directly using quaternion math. See https://github.com/PX4/Matrix/pull/55 for implementation details. Then yaw is applied on top with a different strategy: If the vehicle is level the yaw is the world frame heading but if the vehicle is tilted it just does the shortest roll/pitch tilting without correcting the body yaw angle to allign the body x-axis in to a world frame projection. This results in no body yaw rate corrections resulting from roll and pitch adjustments. Note that all the **3-axis** gimbals for drones I have tested do the right thing when generating the attitude the way proposed in this pr and yaw off the desired world frame heading when aplying the current PX4 conversion. **Test data / coverage** SITL tested and I adjusted the existing unit tests in the following way: - structure refactoring https://github.com/PX4/Firmware/pull/13535/commits/4b18af1c9fcb120cd97113bfa38becd60557c9d0 - additional body z-axis direction and thrust magnitude checks https://github.com/PX4/Firmware/commit/4b18af1c9fcb120cd97113bfa38becd60557c9d0#diff-ab7081b2f8b080c822f0c8b98f2cef20R47-R48 - adjustment to the new attitude generation strategy https://github.com/PX4/Firmware/pull/13535/commits/0faf1f8dba5ba562bd68226f08b42e11ac6c8083

MAVROS / RTPS / ROS2

px4_ros_com Integration tests
Attention: Planning to move to use ROS2 as default, will update with plan.

Avoidance

No update this week.

Open section for the community

Question: how to go through code, when trying to follow a function on IDE
Answer: C++ Indexer works on VSCode

By Request from @david_s5
Action: @dagar will followup
https://github.com/PX4/Firmware/pull/13159

Errata and Feedback

Let me know below if I failed to capture anything the right way, and if there are any updates, or you have feedback on the call format.