Week 12 March 23 - March 27

Tony3dr · April 1, 2020, 3:20pm

Dronecode Test Team, Week 12 Report

PX4 Autopilot Flight Testing, by the Dronecode Test Team. Sponsored by Dronecode.

Summary

123 flights ([[Link to log archive]]
4 PR’s assigned
0 issue reported this week.

Vehicle Status

GitHub Pull Requests (Assigned / Tested)

Towards controlled VTOL transitions #14405
AutoSmoothVel: Fix straight line autocontinue #14476
AttitudeControl: let the user set yaw weight directly via parameter #12175
switch remaining boards to new InvenSense IMU drivers
#14473

github.com/PX4/PX4-Autopilot

Towards controlled VTOL transitions

PX4:master ← PX4:pr-controlled_backtransition

opened 09:04AM - 17 Mar 20 UTC

RomanBapst

+121 -13

This PR enables following features for standard VTOL and tiltrotors: - decele…ration control via pitch during transition - lateral control using fixed wing L1 controller The above features can greatly improve path tracking during transition and reduce overshooting effects. Below you can see an example of a simple mission with the old state and the new state. This PR also enables direction control in manual modes for both front and back-transition. This is very useful as you can still try to avoid obstacles during transitions. This now needs a lot of testing in order to identify corner cases and improvements. **Master:** ![mission_master](https://user-images.githubusercontent.com/7610489/76836845-8b27e800-6842-11ea-97a5-b36e8db9d9a0.png) **This pull request:** ![mission_PR](https://user-images.githubusercontent.com/7610489/76836877-98dd6d80-6842-11ea-94fb-afde5e3617c6.png)

github.com/PX4/PX4-Autopilot

AutoSmoothVel: Fix straight line autocontinue

PX4:master ← PX4:pr-smooth-straight-line

opened 01:37PM - 25 Mar 20 UTC

bresch

+42 -18

This fixes the issue that makes the drone slow-down even in straight lines due t…o the Z component being constrained to a really small value. With master: https://logs.px4.io/plot_app?log=f7efacca-6262-4a65-b4e2-39c7e4f2f5bb ![2020-03-25_14-34-27_01_plot](https://user-images.githubusercontent.com/14822839/77541925-b2676080-6ea5-11ea-83fa-9aac67a414f3.png) This PR: https://logs.px4.io/plot_app?log=1692b126-f195-48c1-8150-2b1b499a900e ![2020-03-25_14-30-07_01_plot](https://user-images.githubusercontent.com/14822839/77541555-19d0e080-6ea5-11ea-9117-020ddfb92836.png) Thanks @jkflying for the help.

github.com/PX4/PX4-Autopilot

switch remaining boards to new InvenSense IMU drivers

PX4:master ← PX4:pr-new_invensense_drivers

opened 05:44AM - 25 Mar 20 UTC

dagar

+210 -206

A lot of this has already received testing in one form or another. This PR final…ly makes the switch to the new InvenSense drivers (almost) everywhere. - 8 kHz gyro, 4 kHz accel using FIFOs and SPI DMA (mpu6000 accel is 1 kHz) - significantly reduces jitter in the system (regular driver scheduling synchronized with sensor, no more timer correction fudge factor) - clip counters - sensor side DLPF completely disabled (other than mpu6000) - with IMU_GYRO_RATEMAX drivers can run both faster (up to 4 kHz on new boards) or slower (down to 250 Hz) while still fetching and processing all raw data (8 kHz) - this let's you configure the system for high performance racing setups or optionally significantly lowering cpu usage when a high rate inner loop isn't necessary - it's much easier to see at a glance if the sensor and driver are working correctly together - sensor setup and driver are internally consistent (configured ODR, data ready interrupt, etc), so if something isn't configured or operating correctly it becomes extremely obvious - drivers have simple data consistentcy check (duplicated accel data) that can be used to set the max SPI speed safely (eg mpu6000, mpu6500, mpu9250 capable of 20 MHz SPI, but have been limited to 10 MHz to reduce transfer errors) - mpu9250 mag disabled by default (it weirdly impacts the data output rate) - Note: in many cases the secondary IMUs are still unchanged - fmu-v2/v3 (lsm303d + l3gd20) - fmu-v5 bmi055 - fmu-v5x bmi088 - modalal_fc-v1 bmi088 - holybro_durandal-v1 bmi088 TODO: board rotations + testing - [x] airmind/mindpx-v2 - [x] emlid/navio2 - [x] holybro/durandal-v1 - [x] modalai/fc-v1 - [x] mro/ctrl-zero-f7 - [x] px4/fmu-v2 - [x] px4/fmu-v3 - [x] px4/fmu-v4 - [x] px4/fmu-v4pro - [x] px4/fmu-v5 - https://review.px4.io/plot_app?log=6a74189a-82d2-4241-91ac-03a5b0dc2ca8 - https://review.px4.io/plot_app?log=f3f445fb-bbf4-433e-bf44-2c5314dce720 - https://review.px4.io/plot_app?log=39718629-fc97-4b0b-a62b-707e0a8dc0df - [x] px4/fmu-v5x - [x] uvify/core

Week 12 March 23 - March 27

Dronecode Test Team, Week 12 Report

Summary

Vehicle Status

GitHub Pull Requests (Assigned / Tested)

Issues reported: 0