Announcements
Release Discussion
Q&A
Merging the two weekly calls
New Project Board for tracking release
Potential Release Blocker
opened 07:17PM - 19 Apr 24 UTC
bug-report
### Describe the bug
On recent main (early April), when optical flow is enabl… ed with EKF2_OF_CTRL but no optical flow or distance sensor is given, while in Position mode the vehicle will experience a surge in thrust that will ignore set-point despite exceeding the thrust set-point given.
### To Reproduce
1. Enable GPS or VIO as a position source & have valid position fed through sensors
2. Enable barometer with sys_use_baro, but set primary height to vision or GPS (not baro)
3. Enable optical flow as position source, disable range aid fusion
4. Attempt flying in position mode and increase thrust gradually until random thrust occurs
5. Attempt to switch out of position or kill switch as soon as infinite height drift occurs and thrust set-points are ignored
### Expected behavior
Despite optical flow sensor/range sensor data not being fed into EKF2, the random thrust occurrence should not happen and thrust setpoints should not be ignored. I have also observed this behavior when range sensor and optical flow _is_ being fused but the rangefinder data fails a condition in the estimator checks (bypassed by setting range fusion to enabled instead of conditional)
### Screenshot / Media
### Flight Log
https://logs.px4.io/plot_app?log=ca0d60d8-6dc6-4215-86f4-32fa2ad18f71
### Software Version
Main 1.15.0 apha
### Flight controller
VOXL2
### Vehicle type
Multicopter
### How are the different components wired up (including port information)
_No response_
### Additional context
_No response_
Looking for help reviewing
PX4:main ← PX4:pr-fmuv6xrt-bidirectional-dshot
opened 10:33AM - 22 Dec 23 UTC
Partial continuation of #20749 but then on fmuv6xrt hardware.
So I took over th… e `DSHOT_BIDIR_EN` and init sequences
The low level dshot driver fully support bidirectional dshot on 8 channels.
In the current pr you can read out it through `dshot status`
```
INFO [dshot] telemetry on: /dev/ttyS6
INFO [dshot] Number of successful ESC frames: 3086
INFO [dshot] Number of timeouts: 209
INFO [dshot] Number of CRC errors: 0
INFO [arch_dshot] Channel 0 online Last erpm 1112 value
INFO [arch_dshot] CRC errors Frame error No response
INFO [arch_dshot] 2 0 5248
```
But also get interleaved with the `esc_status` publisher allowing co-existence with dshot telemetry
```
nsh> listener esc_status
TOPIC: esc_status
esc_status
timestamp: 65229154 (0.000968 seconds ago)
counter: 51134
esc_count: 1
esc_connectiontype: 5
esc_online_flags: 1 (0b1)
esc_armed_flags: 1 (0b1)
esc[0] (esc_report):
timestamp: 65229154 (0.005465 seconds ago)
esc_errorcount: 0
esc_rpm: 15857
esc_voltage: 12.05000
esc_current: 0.00000
esc_temperature: 0.00000
failures: 0
esc_address: 0
esc_cmdcount: 0
esc_state: 0
actuator_function: 101
esc_power: 0
```
How to tune EV Delay? @Rowan_Dempster
What is the suggested method of tuning the EKF2_EV_DELAY parameter? I’ve been just moving it around and empirically seeing if my drone flies better or worse. Does anyone have a better suggestion, or does PX4 1.14 support a more data driven approach to calculating that delay?
BMI088 i2C issues by @slgrobotics
The question is - is it still supported/tested by the team?
I am having hard time making bmi088_i2c driver to work. It is used in CrazyFlie, other platforms use SPI version (which I don’t have).
Any reason QoS settings are global on the ROS 2 bridge?
1 Like
