PX4 Dev Call: October 28, 2020

October 28, 2020

Agenda

  • Status update by component/project
  • Roadmap, and Release discussion
  • Community Q&A
  • In-Depth discussions

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Meeting ID: 946 175 205
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Call in using your phone, find your local number: https://zoom.us/u/aetSYKbiMF


Component update

Hardware Workgroups

Updated schedule starting in November 2020

  • Nov. 2 - FMU WG
  • Nov. 10 - UAVCAN WG
  • Nov. 17 - BMS WG
  • Nov. 24 - Payload WG

Check-out the full calendar of events on the calendar below

System Architecture

No update this week.

OS / NuttX

  • Getting ready to bring in NuttX 10.0 upgrade with RAM savings from 3k to 4k depending on your board because of dynamic file tables

Driver

  • Rewrite for Bosch BMM150 There were problems and a rewrite seemed necessary because of some questionable parts.
  • @dagar General idea to get e.g. Bosch drivers that are designed for SPI also working generically over I2C e.g. for new Crazyflies. Only hacks for testing but no draft yet.

Commander

No updates

Estimation

Muli-EKF support is finally merged and enabled by default in simulation. It needs a lot of testing e.g. failing all different sensor combinations and real world testing. There are different levels of how many EKFs you can run depending on the microcontroller resources. E.g. the goal on H7 boards to run all possible IMU combinations. On M4 memory is tight for multiple combinations.

More detailed and easier interpretable logging of optical flow data to facilitate optical flow testing, tuning, debugging. Some configuration issues with the existing PWM flow sensor were found using these tools.

VTOL

Bug report for tailsitters: Thrust setpoint incorrect during transition. Reportedly reproducable in SITL.
We need to either fix and support tailsitter or make it clear that we can’t currently support it since no maintainer actively flies tailsitter at the moment. We’ll ask @RicardoM17 for help on that topic. We should also reenable tailsitter tests once this is fixed.

Fixed Wing

Multicopter

Final part of a long series of changes to enable more intuitive stick input in multicopter position mode. Feedback so far is very positive. Confidence on stability is high. Please test fly the mode and give your feedback:

Effort went into finishing the separation of flight tasks into its own module. The intermittent SITL test failures are the biggest remaining problem.

Onbaord FFT for gyroscope:

@dagar got it pretty close to usable. The goal is to have feedback for a notch filter frequency to filter out the vibrations. An ESC rpm feedback based version would also be nice to add.

Avoidance

Simulation

Fix for geotagging not working properly in simulation:

MAVSDK

Allow MAVSDK to receive commands from the autopilot side:

There are still CI issues with the SITL tests based on MAVSDK failing. It’s really hard to find the root cause(s). We should create a discussion about that to efficiently get rid of these problems. (JFYI @JulianOes)

MAVROS / DDS / ROS2

Join us for ROS World 2020!

UAVCAN

Reached an important milestone: First releasable draft of DS-015 standard. Aims to be the de-facto standard for CAN on drones.

Result of months of work. The focus from now on is implementing the spec and drive the adoption of UAVCAN v1 and the message definitions on PX4 and products of participating manufacturers. Final version of the document will be hosted as pdf on GitHub.


Release

Point release for 1.11 coming up. The battery parameter migration backport is already with it.

Release notes workflow needs to be improved. We need to keep track of the changes while they get merged as part of the workflow such that it does not add up as a lot of work when cutting the release.

Community Q&A

Join us at OSS+ELC for the "Open Source Drones Mini-Summit"

In-Depth discussions

  • Renaming of the autopilot repository:
    No objections to renaming the repository PX4/Firmware to PX4/PX4-Autopilot.

Errata and Feedback

Let me know below if we failed to capture anything the right way, and if there are any updates (not present here), or you have feedback you would like to share with the dev-team.