PX4 Dev Call: Sep 24, 2025 (Team sync, and Community Q&A)

rroche · September 24, 2025, 3:08pm

PX4 Sync / Q&A

Agenda

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

Announcements

The PX4 DevSummit you all were waiting for

We have selected speakers now!! The emails will be sent out.

Future Events

ROSCon 2025 Singapore

Flight Testing Update

About the Test TeamThe 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 & Log Analysis

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

Release v1.16 Issues?

Community Q&A / PRs for Review

Issues:

PRs:

github.com/PX4/PX4-Autopilot

[WIP] ekf2: range fusion overhaul

main ← dev/ekf_range_fusion

opened 02:27AM - 14 Jul 25 UTC

dakejahl

+626 -678

Fixes https://github.com/PX4/PX4-Autopilot/issues/24653 This is an attempt to… fix the fusion logic in the EKF. Please read the **notes.md** file in this PR. I've cherry picked over some of the work from https://github.com/PX4/PX4-Autopilot/pull/24106 which improves the kinematic consistency check. I am hoping to meet with @bresch sometime soon to discuss and review.

github.com/PX4/PX4-Autopilot

ekf2: range fusion: fix fusion failure after takeoff

main ← pr-ekf2_range_quality_bugfix

opened 08:39PM - 15 Sep 25 UTC

dakejahl

+17 -22

**Problem** While on the ground the rangefinder quality checks are bypassed and… a synthetic measurement is fused using the minimum rangefinder distance. The intention of this logic is to ensure the rangefinder can be fused immediately during takeoff even if it's reporting 0 quality while on the ground. This was not working properly since the rangefinder `_time_bad_quality_us` was being updated anyway while on the ground. This results in range fusion being disabled as soon as the `_control_status.flags.in_air` is set, since the time since the last bad quality value has not exceeded the EKF2_RNG_QLTY_T. **Solution** Move the logic into `SensorRangeFinder::isQualityOk()` where the `_time_bad_quality_us` is only set once airborne. I also removed the `_is_faulty` member variable and functions since they are unused.

github.com/PX4/PX4-Autopilot

Fix position setpoint update logic in Mission RTL

main ← msberk:fix_rtl_sp_logic

opened 10:57PM - 22 Sep 25 UTC

msberk

+2 -2

### Solved Problem Currently, when proceeding to the landing point the previous… setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. Fixes #25436 ### Solution Move position setpoint logic outside of conditional so it is applied even when it is a landing waypoint ### Changelog Entry For release notes: ``` Bugfix: Fix RTL logic in fixed wing RTL Mission mode that caused landing patterns to veer off of expected course ``` ### Test coverage - See previous logs at #25436 for errant behavior - See fixed log here: https://review.px4.io/plot_app?log=b9a09150-3c69-4c66-a643-0f3a491d4b14 ### Context #25436

github.com/PX4/PX4-Autopilot

Draft: Static Vision-based target esitmator (Kalman Filter)

main ← JonasPerolini:pr-static-vision-target-estimator

opened 03:20PM - 25 Sep 24 UTC

JonasPerolini

+18076 -8673

Vision Target Estimator Objectives: Extend the current landing target estimat…or to: - Estimate the full pose of the target (position + orientation) - Fuse GNSS (vel / position) and vision. - Create a general Kalman Filter framework in which it is simple to include other observations e.g. uwb, irlock - Make it simple to use the Kalman Filter for other purposes than precision landing e.g. precision delivery - Be robust to temporary vision losses: use the GNSS position of the target (or the mission's landing position) and estimate the GNSS bias using vision - Update the precision landing algorithm to also control the orientation if enabled Documentation: - `docs/en/advanced_features/vision_target_estimator.md and` - `docs/en/advanced_features/vision_target_estimator_advanced.md` ### Changelog Entry - TBD ### Test coverage - TBD Linked to https://github.com/PX4/PX4-Autopilot/pull/22008

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PX4 Sync / Q&A

Release v1.16 Issues?

Community Q&A / PRs for Review

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