# PX4 Sync / Q&A: Dec 4, 2024 **URL:** \ **Category:** PX4 Autopilot\ **Created:** [December 4, 2024, 2:42am UTC](https://discuss.px4.io/t/px4-sync-q-a-dec-4-2024/42715 "2024-12-04T02:42:28Z")\ **Posts on this page:** 1\ **Page:** 1
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [December 4, 2024, 2:42am UTC](https://discuss.px4.io/t/px4-sync-q-a-dec-4-2024/42715/1 "2024-12-04T02:42:28Z")
PX4 Sync / Q&A: Dec 4, 2024 [Dronecode Calendar](https://dronecode.org/calendar/) ## Agenda - Announcements - Release Discussion - Q&A ## Announcements - There will be no calls on Dec 25th 2024 and Jan 1st 2025 ## Release Discussion 1- New release tag v1.15.3 is cut 🎉🎉🎉 2- @hamishwillee [Params since v1.15 - 20241204](https://discuss.px4.io/t/params-since-v1-15-20241204/42717) ## Bug report / Q&A 1- @AustinMeyer How to use all AUX/MAIN outputs on Pixhawk 6X board for servo control? [uorb topic](https://docs.px4.io/main/en/msg_docs/ActuatorServos.html) only has 8 placement for servos. 2- @AustinMeyer Implementing X-Plane as SITL or HITL discussion: The process is that all sensor data are collected at the end of each video frame which could be a fluctuating number since the average needs to be kept constant. 3- @ra1nyu : [Why does acceleration control in offboard mode need velocity estimate?](https://discuss.px4.io/t/why-does-acceleration-control-in-offboard-mode-need-velocity-estimate/42512) A PR to be made to add the checks. ## PRs needing review > > > \### Solved Problem > In my testing of Bosch Sensortec BMI088 IMU data logged to a…n ulg file had strange spikes and was not good for EKF either. > > Fixes \[#23111\](https://github.com/PX4/PX4-Autopilot/issues/23111) > > \### Solution > It looks like there's a problem reading FIFO - at least for I2C connected devices. > > Reading data directly from device registers (for both accelerometer and gyroscope) - using NormalRead() functions seem to solve this issue. > > \### Test coverage > I use a Raspberry Pi 4 and SeeedStudio BMI088 breakboard to test this code, as this is what I have on my two rovers. > > More testing on Bitcraze CrazyFlie 2.1 hardware should be done, as this is the only PX4-supported platform that uses I2C for this IMU. All others connect BMI088 via SPI and therefore use different driver. > \`\`\` > make bitcraze\_crazyflie21 > \`\`\` > > \### Notes: > 1. I believe that the code for SPI-connected devices has an error when incoming values are compared with INT16\_MIN. If any of X, Y or Z values are equal to INT16\_MIN - whole sample must be discarded. > This is described in https://github.com/PX4/PX4-Autopilot/issues/23111 > > 2. There's a lot of unused FIFO-related code in \_bmi088\_i2c\_ driver. It can be removed as we progress with this PR. Related issue: > > > \### Describe the bug > > I am having hard time making \_bmi088\_i2c\_ driver to work…. > > It is used \*\*only\*\* in CrazyFlie, \*\*other platforms use SPI version\*\* (which I don't have). > I use \_SeedStudio BMI088\_ breakboard, very basic, with Raspberry Pi 4 and modified \_emlid\_ build. > Gyro sensor data comes with significant jitter (looks like spikes). Accel data looks normal. > The EKF orientation output, as seen in QGC, is slow to react and goes wild when sensor is moved even slightly. > > The question is - is bmi088\_i2c driver still supported/tested by the team? Would it be possible to verify that it works on CrazyFlie 2.1 hardware? > > \bmi088 > > \### To Reproduce > > Follow CrazyFlie build/flash procedure and see if copter orientation shows properly in QGroundControl. If it does - it is my problem, otherwise something is in the bmi088\_i2c code. > > \### Expected behavior > > CrazyFlie copter orientation shows properly in QGroundControl > > \### Screenshot / Media > > \_No response\_ > > \### Flight Log > > https://review.px4.io/plot\_app?log=39964b55-f407-47e5-b828-56f814986e1c > > \### Software Version > > Current Main as of May 8, 2024 > > \### Flight controller > > Raspberry Pi + SeedStudio BMI088 over I2C > > \### Vehicle type > > Rover > > \### How are the different components wired up (including port information) > > \_No response\_ > > \### Additional context > > @mrpollo - related to Community call today > > > Problem > GitHub deprecated older versions of the cache, and checkout actions whi…ch are now using an updated version of node which isnt' available on the older PX4 container images > > Solution > Updated cache, and checkout deps to latest where possible, and switched to the newer \[px4-dev\](https://github.com/PX4/PX4-Autopilot/pkgs/container/px4-dev/310191526?tag=1.16.0-alpha2) container image with the updated base operating system environment ## Merged PRs