PX4 Dev Call: Oct 1, 2025 (Team sync, and Community Q&A)

luka · October 1, 2025, 10:16am

Hello, can these two PRs be reviewed?

github.com/PX4/PX4-Autopilot

Diagonal flights fix

main ← Luka-Filipovic:diagonal-flights-fix

opened 03:09PM - 03 Sep 25 UTC

Luka-Filipovic

+196 -49

### Solved Problem Fixes https://github.com/PX4/PX4-Autopilot/issues/24223 #…## Solution - Couple XY and Z speeds at the target waypoint considering the slope from the target to the next waypoint. In other words, determine what the velocity setpoint should be once the target waypoint is reached, and use that as the limiting speed in both XY and Z directions. - Brake to the full stop if Z direction is changing in the target waypoint. This will effectively not make the trajectory fully stop but rather slow down until it enters the acceptance radius of a waypoint, i.e. until the triplet is updated. I am open to suggestions on how to improve this part and let the trajectory pass through the waypoint with higher but still safe speed. ### Test coverage 1. The old logic overshoots the path because of the slope change, the new logic follows the path properly but slows down in horizontal axis. Mission profile: <img width="2408" height="430" alt="image" src="https://github.com/user-attachments/assets/df62e8d6-61c9-4e11-8627-0fd35b7b7728" /> Old: <img width="2656" height="2132" alt="old2" src="https://github.com/user-attachments/assets/fa41edea-fe82-48d1-a339-e9c895cc931a" /> New: <img width="2656" height="2132" alt="new2" src="https://github.com/user-attachments/assets/2935814a-581a-4a58-a595-ed9ba00ddcac" /> _The RVIZ visualization from screenshots shows mission path (connected waypoints) in pink and trajectory setpoints in cyan._

github.com/PX4/PX4-Autopilot

Loiter at the last mission waypoint on mission end

main ← Luka-Filipovic:set-loiter-from-last-position-type-setpoint

opened 11:44AM - 24 Sep 25 UTC

Luka-Filipovic

+3 -1

### Solved Problem When the final mission waypoint is reached, the navigator se…ts the loiter position setpoint to the current position instead of the mission’s intended waypoint. As a result, the vehicle ends up loitering at the position where it entered the waypoint’s acceptance radius, instead at the waypoint itself. ### Solution On mission end, call `setLoiterItemFromCurrentPositionSetpoint()` if current position setpoint is of type `SETPOINT_TYPE_POSITION`

Thanks!

Topic		Replies	Views
PX4 Dev Call: March 04, 2020 PX4 Autopilot	0	687	February 26, 2020
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PX4 Dev Call: Oct 1, 2025 (Team sync, and Community Q&A)

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