PX4 Sync / Q&A: Oct 02, 2024

mwbb · September 29, 2024, 10:29pm

Agenda

Announcements
Release Discussion
Q&A

Announcements

Release Discussion

1 - @rroche Couple backports merged to the release so far:

2 - @MaEtUgR Reset counters handling for distance sensor in flight task and how they have to be handled. Will put up an issue and propose fix.

github.com/PX4/PX4-Autopilot

[Bug] Terrain estimate reset leads to sudden vehicle ascent

opened 03:36PM - 02 Oct 24 UTC

MaEtUgR

bug-report

### Describe the bug Pilot was testing in position mode, saw the vehicle sudd…enly unexpectedly rising, switched into Manual mode to stop the ascent and after that everything worked again like expected. ### To Reproduce No simple steps to reproduce found yet. ### Expected behavior The drone should with no stick input and valid estimates hold its altitude. ### Screenshot / Media _No response_ ### Flight Log https://review.px4.io/plot_app?log=0d3bfed7-833f-4bb5-911f-7b6709f6bdc5 ### Software Version Quadrotor with Lanbao distance sensor ### Flight controller Skynode fmu-v5x ### Vehicle type None ### How are the different components wired up (including port information) _No response_ ### Additional context Analysis showed there was a terrain estimate reset because of how the logic currently works. The terrain estimate jumped, delta and reset counter are published as expected, the flight task does not handle the reset and hence the altitude setpoint jumps instead of staying. Handling the reset is a no brainer and I plan to do that. Why the estimator reset @haumarco looked into. What would happen after it reset and the task correctly resets I'm not sure because the terrain estimate in this case was obviously wrong.

Bug report / Q&A

1 - [CAN GPS] Dual F9P Heading Support for CAN GPS (Non-PX4 CAN FW) · Issue #22520 · PX4/PX4-Autopilot · GitHub
@dirksavage88 will have the hardware later to work on the fix.
PX4-Autopilot/src/drivers/uavcannode/Publishers/GnssFix2.hpp at 6119b08ef41c3bb3c0d178e318903e08c61c021a · PX4/PX4-Autopilot · GitHub might be a point as well.

2 - Are there any support for tilt motors?

github.com

PX4/PX4-Autopilot/blob/main/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp

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Agenda

Announcements

Release Discussion

Bug report / Q&A

PRs needing review