PX4 Sync / Q&A: April 30, 2025Dronecode Calendar
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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”
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Issues:
Testing the latest 1.16 Beta currently
Fixed Wing / VTOL:
QGC Build: Stable
v1.16 Release Discussion
All set to cut the release.
If anyone has any critical fixes please add them to the project board.
Resources
1- Pr base station menu by Louis-max-H · Pull Request #12686 · mavlink/qgroundcontrol · GitHub
2- PX4 Sync / Q&A: April 30, 2025 - #3 by scf-wx → Maybe a more reliable approach which could be maintained in the long run is better to be considered rather than adding more sensors in this situation.
3- [Bug] PX4 doesn't have a default compiler anymore · Issue #23963 · PX4/PX4-Autopilot · GitHub → comment on this is on the issue itself.
1- Improve base station configuration by Louis-max-H · Pull Request #178 · PX4/PX4-GPSDrivers · GitHub → Needs comments from @dagar so it can move forward.
Hi
I’ve made a PR to display only the parameters compatible with the receiver in the base station menu.
I’ll be there at the Q&A to discuss it and give a little presentation if you still have time!
master ← Louis-max-H:pr-base-qgc
opened 09:06AM - 18 Apr 25 UTC
This PR aim to develop base station menu and depend on this PR for [GPS Driver](… https://github.com/PX4/PX4-GPSDrivers/pull/178)
Description
-----------
UBlox menu | Septentrio menu | Manufacturer list
:-------------------------:|:-------------------------: | :---:
 |  | 
1) Proposing different settings according to receiver manufacturer
2) Base Station mode change from bool to int. That will allow a future PR that have base station (for example, moving base station on boat)
3) Implement base station menu for Septentrio (base infos, base config)
### Explanation.
1) Manufacturer allow the hide and show of some settings to keep only theses that are implemented.
We use bit mask defined like this :
```
readonly property var _standard: 0b00001
readonly property var _trimble: 0b00010
readonly property var _septentrio: 0b00100
readonly property var _femtomes: 0b01000
readonly property var _ublox: 0b10000
```
To restrict a parameters' visibility to U-Blox + Septentrio : (You can use either | or +)
```
visible: manufacturer & (_ublox | _septentrio)
```
If implemented by all manufacturer :
```
visible: manufacturer & _standard
```
This parameter is always visible because it is implemented by everyone, but I think that specifying it each time avoids uncertainties such as, how compatible is this parameter with the receiver? Has the developer thought this through?
Don't hesitate to tell me what you think :)
To show parameters available for U-blox, set manufacturer to `_standard + _ublox`
Manufacturer is set automatically when plugin a receiver.
2) Base station mode is now :
0 : Survey-in
1 : Fixed
This change is compatible with the 4 different drivers that use BaseSettingsType (base_station.h).
3)
a) Base stations info is display by using PosGeodetic information.
b) Some parameters like Ublox min precision don't have an equivalent in Septentrio, here is a quick recap of with parameters is available or not :
| Parameters | | Ublox | Septentrio | Femtomes | Trimble |
| -----------------|------------------ | :----------:| :-----------: | :---------: | :--------: |
| Survey-in (auto) | Min duration | ✅ | | ✅ | ✅ |
| | Min precision | ✅ | | | |
| Specify location | Long, Lat, Alt | ✅ | ✅ | ✅ | ✅ |
| | Base precision | ✅ | | | |
| | Set from position | ✅ | ✅ | ✅ | ✅ |
Survey-in options don't have equivalents for Septentrio receivers.
Test Steps
-----------
I have followed this procedure and another intern (@Duck) have done the same on another computer.
```bash
git clone https://github.com/Louis-max-H/qgroundcontrol
cd qgroundcontrol
git checkout pr-base-qgc
git submodule update --init --force --recursive
chmod +x tools/setup/*.sh
docker build --file ./deploy/docker/Dockerfile-build-ubuntu -t qgc-linux-docker .
```
Edit the file src/GPS/CMakeLists.txt
To have
```
CPMAddPackage(
NAME px4-gpsdrivers
GITHUB_REPOSITORY Louis-max-H/PX4-GPSDrivers
GIT_TAG pr-base-station-px4
SOURCE_SUBDIR src
)
```
Instead of :
```
CPMAddPackage(
NAME px4-gpsdrivers
GITHUB_REPOSITORY PX4/PX4-GPSDrivers
GIT_TAG main
SOURCE_SUBDIR src
)
```
You can now build QGC using :
```
docker run --privileged --rm -v ${PWD}:/project/source -v ${PWD}/build:/project/build qgc-linux-docker
./build/AppDir/AppRun
```
- Unplug all
- Plug CubeOrangePlus
- Select a different manufacturer than the board tested
- Select the config you want to test
- Plug base station
- See if :
- Precision is improved, position is RTK
- Information are displayed
- Manufacturer is autautomaticallyt
Do these steps for Survey-In, Set location
Test have been made on Ublox and Septentrio, I don't have the equipment to test other GPS systems but they should work has Ublox does.
Checklist:
----------
- [x ] [Review Contribution Guidelines](https://github.com/mavlink/qgroundcontrol/blob/master/.github/CONTRIBUTING.md).
- [ x] [Review Code of Conduct](https://github.com/mavlink/qgroundcontrol/blob/master/.github/CODE_OF_CONDUCT.md).
- [ x] I have tested my changes.
Please let me know if I need to make any changes to this RP so that it can be accepted by the community, this would be my first PR :partying_face:
Ps: The automatic tests could fail because of the need to modify the Makefile, so I'm putting the PR in draft form and I'll come back to you once the PR for the GPS driver has been accepted.
scf-wx
April 30, 2025, 1:31pm
3
Hi - I would like to discuss fusion of data from multiple airspeed sensors. We are building a VTOL drone with airspeed sensors at either wingtip and we are interested in combining the data from both sensors for better windspeed and state estimation. We are currently using a fork of PX4 1.14.
We are debating two approaches (a) modifying the existing EKF2 to incorporate the airspeed data from both sensors directly in the main EKF2 loop, or (b) creating a second EKF that blends the data from the two sensors, then passes the resulting airspeed estimate into EKF2.
We are still at the beginning of this process, and are hoping to get some input on pros and cons of each approach from anyone who has attempted something similar, or anyone with more extensive experience with EKF2.
Hello,
I’m currently exploring sensor configurations for a VTOL aircraft and have a specific question regarding the use of multiple airspeed sensors with the EKF (specifically EKF2).
I understand that PX4 supports multiple airspeed sensors (e.g., via ASP_PRIMARY) primarily for redundancy – switching to a backup sensor if the primary one provides bad readings. However, I’m interested in a different approach: simultaneously feeding data from two independent airspeed sensors, mounted near the win…
