PX4 Maintainers Call: November 28, 2023

rroche · November 28, 2023, 4:05pm

August 01, 2023

The maintainers meeting is a meeting for the developer team to coordinate on pressing issues and to plan the development of the PX4 Autopilot project, the community is welcome to join and listen, but won’t be able to speak unless specific access is granted ahead of time.

Meeting Link

Agenda

Meeting Notes

VIO heading bias, toilet bowling (@dakejahl)

Moving Gazebo and models into a submodule

github.com/PX4/PX4-Autopilot

moving gz into submodule

PX4:main ← frede791:gazebo_models_submodule

opened 02:04PM - 23 Nov 23 UTC

frede791

+4 -10476

Striving for greater autonomy between PX4 and Gazebo, this PR moves gazebo model…s and worlds into their own repository and adds them as a submodule in PX4. This is another step in separating PX4 and Gazebo. Furthermore, this PR moves the `tools` folder from the `/simulation/gz/` folder to the `/simulation` folder in order to not need it to import it as well. ### Solution Moving gz models and worlds to their own submodule for greater autonomy.

Multicopter go-to interface

github.com/PX4/PX4-Autopilot

Multicopter Go-to Interface

PX4:main ← PX4:mc-goto-interface

opened 10:35AM - 15 Nov 23 UTC

tstastny

+836 -236

### Solved Problem Many users want to be able to simply and safely command a dy…namic position and heading from ROS2 that is smoothly tracked. This is not currently possible without either doing the smoothing oneself in ROS2, or sending a mavlink DO_REPOSITION command, which is not intended for streaming, and also does not allow for tailoring the vehicle speed constraints along the way. This is a follow up interface to those already provided in https://github.com/PX4/PX4-Autopilot/pull/20707 ### Solution - Add a new GotoSetpoint msg corresponding to [link to goto setpoint type PR in ros2 interface lib] - Add a GotoControl library which manages the smoothing of position and heading as well as the speed limits and dynamic scaling therein additionally of acceleration - Include the Goto interface into the multicopter position control module, and output a trajectory setpoint in order to maintain the current module structure. - Some minor encapsulation for readability in the mc position control module - Sanitize some inputs in the existing velocity and position smoothing libraries (there were chances for bad inputs that could blow up the calculations) ### Changelog Entry For release notes: ``` Feature: Add Go-to setpoint interface to multicopter position control module New parameter: MPC_YAWAAUTO_MAX defines maximum heading acceleration in auto modes using smoothing Documentation: [link to docs] ``` ### Alternatives We could also not do any of this and re-write a lib on ROS2 side, sending in trajectory setpoint directly. But ideally this goto setpoint type could additionally be used FMU side for general go-to-esque modes like "hold" or "reposition" where additionally dynamic speed constraints may become relevant. ### Test coverage - Unit/integration test: TODO - Simulation/hardware testing logs: [link to dev summit video, additional sim logs]

What is the “core” / “stable” list of modules in PX4? (@Jaeyoung-Lim, @dagar)

We need to differentiate between stable and experimental is paramount for the project
Getting a per-frame exclusive build with nothing else mixed into it
PX4 board support, drivers, sensors, outputs, and using more of PX4 of the framework

github.com/PX4/PX4-Autopilot

commander: notify when arming denied due to RTL enabled

PX4:main ← AlexKlimaj:pr-commander-arm-denied-rtl

opened 07:29PM - 26 Nov 23 UTC

AlexKlimaj

+7 -0

I ran into a situation when I couldn't figure out why my drone was denying armin…g. Even after running the logger, there was no logged reason why arming was denied. I eventually realized I had RTL'ed the drone in the previous flight through my RC transmitter switch and it was still toggled. Commander should log that arming was denied due to the RTL switch being active and send out a mavlink warning. I'm not sure if this PR will actually work since the vehicle can be in manual, altitude, position, etc nav state when the RTL switch is active.