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Project Overview

The PX4 Autopilot Software project, managed by the PX4 organization, is a comprehensive flight control system designed for drones and other unmanned vehicles. It supports a variety of airframes and is compatible with multiple operating systems, including Linux, NuttX, and MacOS. The project is actively developed by a global community of developers who focus on continuous improvement and feature expansion.

Recent Developer Activities

Since the last report 7 days ago, there has been notable activity within the PX4 Autopilot Software project. Key developers such as Beat Küng, Eric Katzfey, Asimopunov, Peter van der Perk, Peize Liu, Silvan Fuhrer, Mathieu Bresciani, Daniel Agar, Per Frivik, David Sidrane, Matthias Grob, Jacob Dahl, Hamish Willee, Roman Bapst, and Alex Klimaj have contributed to various aspects of the project. The changes include bug fixes in preflight checks for magnetometers, memory leak fixes in uORBManager, improvements in BSON document handling, telemetry enhancements for DShot ESCs, and more.

Detailed Activity by Developer

Beat Küng

• Commits: 1 commit with 9 changes across 1 file.
• Features:
  • Fixed commander to count all valid magnetometers in preflight check.
• Files: src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp.
• Collaborations: None specified.

Eric Katzfey

• Commits: 2 commits with 98 changes across 3 files.
• Features:
  • Fixed small memory leak in uORBManager.
  • Increased memory heap size available to qurt platform.
• Files: platforms/common/uORB/ORBSet.hpp, platforms/qurt/CMakeLists.txt, platforms/qurt/new_delete.cpp.
• Collaborations: None specified.

Asimopunov

• Commits: 1 commit with 169 changes across 2 files.
• Features:
  • Added check if BSON document size is set to zero and set to decoded size.
• Files: ROMFS/px4fmu_common/init.d/rcS, src/systemcmds/bsondump/bsondump.cpp.
• Collaborations: None specified.

Peter van der Perk

• Commits: 1 commit with 38 changes across 1 file.
• Features:
  • Telemetry ESC status uses sequential numbering for each motor.
• Files: src/drivers/dshot/DShot.cpp.
• Collaborations: None specified.

Peize Liu

• Commits: 1 commit with 6 changes across 1 file.
• Features:
  • Fixed hardware configuration for hkust_nxt-dual board.
• Files: boards/hkust/nxt-dual/src/hw_config.h.
• Collaborations: None specified.

Silvan Fuhrer

• Commits: 4 commits with 13 changes across 8 files.
• Features:
  • Removed MIS_DIST_1WP customizations in airframes.
  • Increased default of MIS_DIST_1WP to 10km.
  • Increased acceptance radius for position check on offboard landing in mavsdk_tests.
• Files: Various airframe-related files and test/mavsdk_tests/test_multicopter_offboard.cpp.
• Collaborations: None specified.

Mathieu Bresciani

• Commits: 3 commits with 24 changes across 5 files.
• Features:
  • Fixed position timeout reset trigger when hpos fusion is active in EKF2 module.
  • Fixed frame name from NED to FRD in msg-rates-setpoint.
• Files: Various EKF2-related files and msg/VehicleRatesSetpoint.msg.
• Collaborations: None specified.

Daniel Agar

• Commits: 5 commits with 1348 changes across 19 files.
• Features:
  • Made mag control responsible for WMM in EKF2 module.
• Files: Various EKF2-related files and others.
• Collaborations: None specified.

Per Frivik

• Commits: 1 commit with 2 changes across 1 file.
• Features:
  • Airframe fixes for boat module simulation dependencies on external packages.
• Files: Various boat module-related files.
• Collaborations: None specified.

David Sidrane

• Commits: 7 commits with 60 changes across 5 files.
• Features:
  • Updated px4_fmu-v6xrt Bootloader ensuring ITCM memory is writable before jump to APP.
• Files: Various bootloader-related files for px4_fmu-v6xrt board.
• Collaborations: None specified.

Matthias Grob

• Commits: 6 commits with 36 changes across 8 files.
• Features:
  • Added health check for logger to report if it's running.
• Files: Various logger-related files and others.
• Collaborations: None specified.

Jacob Dahl

• Commits: 2 commits with 139 changes across 8 files.
• Features:
  • Added health check for logger to report if it's running.
• Files: Various logger-related files and others.
• Collaborations: None specified.

Hamish Willee

• Commits: 1 commit with 46 changes across 3 files.
• Features:
  • Module documentation updates for camera trigger driver.
  • Shortened line length in CameraFeedback module documentation parser works correctly.
  • Fixed duplicate newlines at the end of files.
  • Added support for MAV_CMD_SET_CAMERA_SOURCE.
  • Added target ID for NAV_CMD_SET_CAMERA_MODE.
  • Use target camera in image capture start/stop messages.
  • Added missing newlines at the end of files.
  • Add check for missing or duplicate newlines at the end of files.

Roman Bapst

• FilteredDerivative class initialized to false if sample interval is invalid.
• AirspeedValidator defined constants for first principle check.

Conclusions and Future Directions

The recent activities in the PX4 Autopilot Software project indicate a continued effort towards enhancing the software's capabilities. Key areas of focus include improving wind estimation accuracy, expanding hardware support through new driver integrations, optimizing performance for different unmanned vehicle types, refining debugging functionalities for better fault diagnosis, and enhancing documentation for better developer engagement. Future efforts will likely continue to focus on these areas while also addressing any emerging needs based on community feedback and technological advancements. The collaboration between developers indicates a healthy exchange of ideas and co-development which is crucial for the project's growth.

Report On: Fetch issues

Analysis of Recent Changes in PX4 Autopilot Project

Summary of Recent Changes

Notable Open Issues

1. Issue #23215: [Feature] ekf2: make mag control responsible for WMM

   • Details: This issue proposes moving the responsibility of updating the stored world magnetic model (WMM) to the mag control logic.
   • Significance: This change simplifies the system by centralizing WMM updates, potentially improving maintainability and reducing edge case errors.

2. Issue #23214: [Bug] make px4_sitL_default Gazebo for version 1.11.3 will result in an error

   • Details: Compilation issues when building with Gazebo for version 1.11.3.
   • Significance: This bug affects developers working with specific versions of Gazebo, potentially hindering simulation capabilities.

3. Issue #23213: [Bug] mixer function RC: output disarmed value with no valid RC input

   • Details: When no RC input is available, servos do not go to the disarmed position as expected.
   • Significance: This could lead to unexpected behavior in critical scenarios where RC input is lost.

4. Issue #23210: [Backport] tools/bootloader: add force-erase option and add bootloader version

   • Details: Backporting changes related to bootloader force-erase options and versioning.
   • Significance: Ensures consistency and stability across different branches.

5. Issue #23209: [Bugfix] Only close server when errno is not EINTR

   • Details: Fixes a bug where a server socket was being closed prematurely.
   • Significance: Enhances system stability by handling specific error cases correctly.

6. Issue #23206: [Feature] Added pitot tube icing detection

   • Details: Introduces detection for pitot tube icing, which can cause scale errors in airspeed readings.
   • Significance: Improves safety by rapidly detecting and responding to icing conditions.

7. Issue #23205: [Feature] Online battery internal resistance estimation

   • Details: Implements an algorithm for online estimation of battery internal resistance to improve state of charge (SoC) estimation.
   • Significance: Enhances accuracy in battery management systems, potentially extending battery life and reliability.

8. Issue #23200: [Bug] CI on main fails

   • Details: Multiple issues causing continuous integration (CI) failures on the main branch.
   • Significance: Critical for maintaining code quality and ensuring that new changes do not introduce regressions.

Recently Closed Issues

1. Issue #23212: Fix for CMake versions >=3.25

   • Fixed compatibility issues with newer CMake versions.

2. Issue #23211: Fix commander: make sure to count all valid mags in preflight check

   • Ensured all valid magnetometers are counted during preflight checks.

3. Issue #23208: Fixed a small memory leak in uORBManager.cpp

   • Addressed a memory leak issue in the uORB manager component.

4. Issue #23207: Ep tryagain

   • This appears to be an accidental PR and was closed without merging any changes.

5. Issue #23204: board hkust_nxt-dual fix hw_config.h missing APP_RESERVATION_SIZE, which causes CI bug

   • Fixed a configuration issue causing CI failures for the hkust_nxt-dual board.

6. Issue #23202: airframes: dexi remove EKF2_HGT_REF default

   • Removed unnecessary default parameter settings from specific airframes.

7. Issue #23201: boards: minor flash savings (overflow in main)

   • Implemented minor changes to save flash memory and address overflow issues.

8. Issue #23198: Jankinsfile-compile: add missing comma after ark_pi6x_default

   • Fixed a syntax error in the Jenkinsfile causing CI failures.

9. Issue #23197: hjust_nxt-dual board_config: disable FLASH_BASED_PARAMS to fix CI

   • Disabled FLASH_BASED_PARAMS for hkust_nxt-dual board to resolve CI issues.

10. Issue #23196: Increase threshold for yaw_error_std

    • Increased the threshold for yaw error standard deviation to address flakiness in tests.

Summary

The recent activity reflects ongoing efforts to enhance PX4's capabilities, address various bugs, and improve system stability and reliability. Notable improvements include better handling of USB power supplies, enhanced VTOL transition stability, reliable RC input functionality, improved heading estimates with EKF2 mag declination fusion rework, and new features like pitot tube icing detection and online battery internal resistance estimation.

Several critical bugs have been fixed, particularly those affecting continuous integration (CI) processes, ensuring that new changes do not introduce regressions or instability into the system. The project continues to show significant progress in expanding its capabilities across different domains, including new hardware support, marine vehicle integration, and space robotics applications.

Overall, these changes reflect an active maintenance effort aimed at improving PX4's versatility, reliability, and developer experience across various modules of the system.

Report On: Fetch PR 23215 For Assessment

PR #23206: Added pitot tube icing detection

Summary

This pull request addresses the critical issue of pitot tube icing detection, which is crucial for maintaining accurate airspeed readings and ensuring overall flight safety. The changes introduce a new mechanism to detect icing conditions by monitoring the scale error in airspeed readings.

Changes

• New Class: FilteredDerivative

  • A class to filter and compute the derivative of a signal.
  • File: src/lib/mathlib/math/filter/FilteredDerivative.hpp
  • Lines: +114

• AirspeedValidator Modifications:

  • Added logic to detect pitot tube icing by monitoring the rate of change in airspeed.
  • Introduced new parameters and constants for this check.
  • Files:
  • src/modules/airspeed_selector/AirspeedValidator.cpp (+64, -2)
  • src/modules/airspeed_selector/AirspeedValidator.hpp (+32, -0)
  • src/modules/airspeed_selector/airspeed_selector_main.cpp (+27, -2)
  • src/modules/airspeed_selector/airspeed_selector_params.c (+17, -1)

• Message Update:

  • Updated AirspeedValidated.msg to include new fields related to icing detection.
  • File: msg/AirspeedValidated.msg (+4, -0)

Code Quality

• Modularity: The introduction of the FilteredDerivative class is a good example of modularity. It encapsulates the logic for filtering and computing derivatives, making it reusable and testable.
• Documentation: The code changes are well-documented with comments explaining the purpose of new parameters and methods.
• Testing: The PR includes results from real-world testing, showing that the feature has been validated under various conditions. However, it would be beneficial to see unit tests for the new FilteredDerivative class and the updated AirspeedValidator.

Performance Impact

The additional checks for icing detection will introduce some computational overhead. However, given the critical nature of this feature for flight safety, this overhead is justified.

Recommendations

1. Unit Tests: Add unit tests for the new FilteredDerivative class and the updated methods in AirspeedValidator.
2. Documentation: Ensure that the new parameters are well-documented in the user guide and developer documentation.
3. Edge Cases: Consider edge cases where sensor data might be noisy or unreliable and ensure that false positives are minimized.

Conclusion

This PR significantly enhances flight safety by introducing a robust mechanism for detecting pitot tube icing. The changes are well-structured and documented, though additional unit tests would further strengthen confidence in this feature.

Report On: Fetch pull requests

Analysis of Progress Since Last Report

Summary

Since the previous analysis 7 days ago, there has been significant activity in the PX4/PX4-Autopilot repository. Several new pull requests (PRs) have been created, and some notable PRs have been merged or closed. Below is a detailed analysis of the changes.

New Pull Requests

1. #23215: ekf2: make mag control responsible for WMM

   • State: Open
   • Created: 1 day ago
   • Summary: Moves responsibility of updating the stored world magnetic model to mag control logic.
   • Significance: Simplifies and untangles mag control from GPS.

2. #23213: mixer function RC: output disarmed value with no valid RC input

   • State: Open
   • Created: 1 day ago
   • Summary: Commands actuators mapped to an RC input to their disarmed output when RC input is not available.
   • Significance: Fixes unexpected behavior and improves safety.

3. #23210: [BACKPORT release/1.15] tools/bootloader: add force-erase option and add bootloader version

   • State: Open
   • Created: 1 day ago
   • Summary: Adds force-erase option and bootloader version tracking.
   • Significance: Enhances bootloader functionality and compatibility.

4. #23209: Only close server when errno is not EINTR

   • State: Open
   • Created: 2 days ago
   • Summary: Fixes daemon server errno handling bug.
   • Significance: Prevents premature socket shutdown due to system() call errors.

5. #23206: Added pitot tube icing detection

   • State: Open
   • Created: 2 days ago, edited 1 day ago
   • Summary: Adds detection for pitot tube icing based on airspeed scale errors.
   • Significance: Critical for safety in icing conditions.

6. #23205: Online battery internal resistance estimation

   • State: Open
   • Created: 2 days ago, edited 1 day ago
   • Summary: Implements algorithm for online estimation of battery internal resistance.
   • Significance: Improves accuracy of volt-based SoC estimation.

7. #23203: Update ubuntu.sh with Linux Mint 21.3 version

   • State: Open
   • Created: 2 days ago, edited 1 day ago
   • Summary: Adds support for Linux Mint 21.3 during installation.
   • Significance: Ensures compatibility with newer Linux distributions.

8. #23199: Fix seconds vs milliseconds comparison in ControlAllocator.cpp

   • State: Open Created: 3 days ago Summary: Corrects comparison between float variable dt and uint64_t value representing milliseconds. Significance: Fixes logic error in control allocation timing.

9. #23195: PowerCheck: reduce threshold for low avionics voltage warning to 4.6V State: Open Created: 3 days ago, edited 2 days ago Summary: Reduces warning threshold for low avionics voltage from 4.8V to 4.6V. Significance:** Reduces false positives in power checks.

10. #23191: EKF2: ev fusion in body frame State: Open Created: 4 days ago, edited 1 day ago Summary: Adds support for fusing external vision odometry measurements in the body frame. Significance:** Improves accuracy of EV fusion logic.

Recently Closed/Merged Pull Requests

1. #23182: wind_est_replay: report scale instead of inverse_scale * State: Closed * Created: 0 days ago, closed 0 days ago * Merged by Mathieu Bresciani (bresch) * Summary: Fixes wind estimator replay script to report scale correctly. * Significance: Enhances accuracy of wind estimation replay.

2. #23178: [BACKPORT] mRo Control Zero Classic: Definition for GPS2 by default added * State: Closed * Created: 1 day ago, closed 1 day ago * Merged by Ramon Roche (mrpollo) * Summary: Backports GPS2 port definition to mRo Control Zero Classic. * Significance: Ensures consistent configuration across branches.

3. #23163: boards: ark: pi6x: add CONFIG_DRIVERS_CDCACM_AUTOSTART * State: Closed * Created: 3 days ago, closed 3 days ago * Merged by Alex Klimaj (AlexKlimaj) * Summary: Adds CDC ACM autostart configuration to ark-pi6x. * Significance: Improves USB handling on specific hardware.

4. #23158: cmake: Fix SYS_BL_UPDATE param (Sponsored by CubePilot) * State: Closed, created: Closed, closed: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged, created: Not merged*

Conclusion

There has been significant activity in the PX4/PX4-Autopilot repository since the last report. Several new PRs have been created, addressing various enhancements and bug fixes across different modules. Notably, there have been additions related to new hardware support, improvements in existing functionalities, and updates to CI/CD pipelines.

The recently merged PRs include critical bug fixes and enhancements that improve system stability and functionality. The ongoing PRs indicate active development efforts towards expanding hardware compatibility, improving control algorithms, and enhancing developer tools.

Overall, the repository is seeing active contributions that are likely to enhance its robustness and feature set in the near future.

Report On: Fetch Files For Assessment

File Analysis

1. src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp

• Reason: Recent fix to count all valid mags in preflight check.
• Analysis:
  • Change Summary: The recent commit added 5 lines and removed 4 lines.
  • Code Quality: The changes ensure that all valid magnetometers are counted during the preflight check, which fixes a previous issue where not all calibrated and enabled mags were considered.
  • Structure: The code is well-structured and the logic is clear. The fix improves the robustness of the preflight checks by ensuring accurate counting of magnetometers.
  • Potential Issues: None identified.

2. platforms/common/uORB/ORBSet.hpp

• Reason: Fixes a small memory leak in uORBManager.cpp.
• Analysis:
  • Change Summary: Added 5 lines of code.
  • Code Quality: The addition prevents duplicate insertion into the ORBSet, thereby fixing a memory leak issue.
  • Structure: The change is minimal and well-contained, improving memory management without altering the overall structure significantly.
  • Potential Issues: None identified.

3. src/systemcmds/bsondump/bsondump.cpp

• Reason: Added check if BSON document size is set to zero and set to decoded size.
• Analysis:
  • Change Summary: Added 126 lines and removed 36 lines.
  • Code Quality: The added checks enhance the robustness of the BSON document handling by ensuring that documents with a size of zero are correctly managed.
  • Structure: The changes are substantial but necessary for handling edge cases in BSON document processing. The structure remains logical and maintainable.
  • Potential Issues: None identified.

4. src/drivers/dshot/DShot.cpp

• Reason: Telemetry esc_status use sequential numbering for each motor.
• Analysis:
  • Change Summary: Added 24 lines and removed 14 lines.
  • Code Quality: The changes ensure that telemetry indices are sequentially numbered for each motor, which improves clarity and consistency in telemetry data.
  • Structure: The code modifications are straightforward and improve the readability and maintainability of the telemetry indexing logic.
  • Potential Issues: None identified.

5. boards/hkust/nxt-dual/src/hw_config.h

• Reason: Fix hw_config.h missing APP_RESERVATION_SIZE param.
• Analysis:
  • Change Summary: Added and removed 3 lines each.
  • Code Quality: Adding the missing APP_RESERVATION_SIZE parameter fixes a configuration oversight, ensuring proper memory allocation.
  • Structure: The change is minimal but crucial for correct hardware configuration. The structure remains clear and concise.
  • Potential Issues: None identified.

6. src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

• Reason: Only trigger position timeout reset when hpos fusion is active.
• Analysis:
  • Change Summary: Added 2 lines and removed 1 line.
  • Code Quality: This change ensures that position timeout resets only occur when horizontal position fusion is active, enhancing the accuracy of GPS control logic.
  • Structure: The modification is minor but improves the logical flow of condition checks within the function.
  • Potential Issues: None identified.

7. test/mavsdk_tests/test_multicopter_offboard.cpp

• Reason: Increase acceptance radius for position check on offboard landing.
• Analysis:
  • Change Summary: Added and removed 2 lines each.
  • Code Quality: Adjusting the acceptance radius for position checks during offboard landing increases tolerance, likely reducing false negatives in tests.
  • Structure: The change is minor but important for test reliability. The structure remains clear and focused on testing logic.
  • Potential Issues: None identified.

8. platforms/qurt/new_delete.cpp

• Reason: Increased the size of the memory heap available to qurt platform.
• Analysis:
  • Change Summary: Added a new file with +92 lines of code.
  • Code Quality: Increasing the memory heap size enhances resource availability for the qurt platform, potentially improving performance and stability.
  • Structure: As a new file, it introduces additional memory management capabilities specific to qurt. The structure appears logical and well-organized for its purpose.
  • Potential Issues: None identified.

9. msg/LoggerStatus.msg

• Reason: Added health check for logger to report if it's running.
• Analysis:
  • Change Summary: Added +2 lines of code.
  • Code Quality: Introducing a health check message for the logger adds an important diagnostic feature, allowing better monitoring of logger status.
  • Structure: The addition is minimal but integrates seamlessly into existing message definitions, maintaining clarity and simplicity.
  • Potential Issues: None identified.

#10. src/modules/logger/logger.cpp

• Reason: Added health check for logger to report if it's running.
• Analysis
• Change Summary*: Added +9 lines, removed +6 lines
• Code Quality*: Integrates health check functionality into logger module
• Structure*: Maintains modularity; minimal impact on existing code
• Potential Issues*: None identified

Aggregate for risks

Notable Risks

Continuous Integration (CI) Failures on Main Branch

Severity: High (3/3)

Rationale

The main branch is experiencing continuous integration (CI) failures, which is critical for maintaining code quality and ensuring that new changes do not introduce regressions.

• Evidence: Issue #23200 highlights multiple issues causing CI failures on the main branch.
• Reasoning: CI failures on the main branch can halt development progress, prevent new features from being safely integrated, and increase the risk of undetected bugs making it into production.

Next Steps

• Assign a dedicated team to investigate and resolve the CI failures immediately.
• Implement additional CI tests to catch similar issues earlier in the development process.
• Review recent commits and PRs for potential causes of the failures.

Unresolved Critical Bug Affecting RC Input

Severity: Medium (2/3)

Rationale

A bug where servos do not go to the disarmed position when no RC input is available could lead to unexpected behavior in critical scenarios.

• Evidence: Issue #23213 describes this bug in detail.
• Reasoning: This bug affects the safety and reliability of unmanned vehicles, especially in scenarios where RC input is lost, which could lead to unintended actions by the vehicle.

Next Steps

• Prioritize fixing this bug in the next sprint.
• Conduct a thorough review of related code to ensure there are no other similar issues.
• Test the fix extensively in various scenarios to ensure reliability.

Multiple PRs Left Open Without Updates

Severity: Medium (2/3)

Rationale

Several non-critical PRs have been left open for several days without any updates, reviews, or commits during that time.

• Evidence: PRs such as #23215, #23213, and #23210 have been open for 1-2 days without significant updates.
• Reasoning: Leaving PRs open without updates can slow down development velocity and indicate potential bottlenecks or lack of clarity in project priorities.

Next Steps

• Review and prioritize open PRs to ensure they are addressed promptly.
• Establish a more rigorous review process to prevent PRs from stagnating.
• Encourage regular updates and communication among team members regarding open PRs.

Disagreement in PR Discussions

Severity: Medium (2/3)

Rationale

There has been considerable disagreement about code and/or fundamental architectural issues within some PR discussions.

• Evidence: Discussions in PR #23206 show signs of prolonged disagreement among team members.
• Reasoning: Prolonged disagreements can indicate deeper problems or technical debt that could threaten the project's goals and timelines if not resolved promptly.

Next Steps

• Escalate these discussions to a tech lead or technical executive for resolution.
• Facilitate a meeting or discussion forum to address and resolve these disagreements constructively.
• Document agreed-upon decisions and ensure all team members are aligned moving forward.