# PX4 Sync / Q&A: May 8, 2024 **URL:** \ **Category:** PX4 Autopilot\ **Created:** [May 8, 2024, 3:05pm UTC](https://discuss.px4.io/t/px4-sync-q-a-may-8-2024/38626 "2024-05-08T15:05:25Z")\ **Posts on this page:** 1\ **Page:** 1
**Author:** ![rroche](https://discuss.px4.io/user_avatar/discuss.px4.io/rroche/32/17635_2.png) [@rroche](https://discuss.px4.io/u/rroche)\ **Post date:** [May 8, 2024, 3:05pm UTC](https://discuss.px4.io/t/px4-sync-q-a-may-8-2024/38626/1 "2024-05-08T15:05:26Z")
# Agenda - Announcements - Release Discussion - Q&A # Announcements **Merging the two weekly calls** Starting with the next call on May 15, 2024, we have decided to merge the two weekly calls to streamline our coordination and community duties. # Release Discussion New Project Board for tracking release > **[PX4 v1.17 Release • PX4](https://github.com/orgs/PX4/projects/45/views/11)** > > v1.17 Release **Potential Release Blocker** > > > \### 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 > > !\[ignore\_setpoint\](https://github.com/PX4/PX4-Autopilot/assets/35986980/0bc92fdb-e6ec-43a6-82fc-aa85e95b4d5e) > !\[random\_thrust\](https://github.com/PX4/PX4-Autopilot/assets/35986980/76262495-d79e-438c-8fb6-1c6240d3f2fe) > > > \### 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\_ # Q&A **Looking for help reviewing** > > > 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 > > \`\`\` > > !\[ezgif-4-2f4adf0f3e\](https://github.com/PX4/PX4-Autopilot/assets/57130844/53006502-f33a-4ec9-b27b-6b16d37037d6) **How to tune EV Delay?** @Rowan_Dempster > [@How to tune EV Delay](https://discuss.px4.io/t/how-to-tune-ev-delay/38629): > > 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](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088) driver to work. It is used in CrazyFlie, other platforms use SPI version (which I don’t have). > I use SeedStudio breakboard, very basic, with Raspberry Pi 4 and modified emlid build. > Sensor data comes with some jitter. > The EKF orientation output, as seen in QGC, is slow to react and goes wild when sensor is moved. **Any reason QoS settings are global on the ROS 2 bridge?** > **[uXRCE-DDS (PX4-ROS 2/DDS Bridge)](https://docs.px4.io/main/en/middleware/uxrce_dds)** > > Open-source flight stack for drones and autonomous vehicles.