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PX4 Autopilot Software Project Report

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 Jacob Dahl, chfriedrich98, Silvan Fuhrer, João Mário Lago, Julian Oes, Chris Lalancette, Daniel Agar, Matthias Grob, Alex Klimaj, Matteo Del Seppia, Peter van der Perk, and others have contributed to various aspects of the project. The changes include bug fixes in serial implementations, new module additions for rover guidance, telemetry enhancements, bootloader updates, and more.

Detailed Activity by Developer

Jacob Dahl

• Commits: 2 commits with 499 changes across 6 files.
• Features:
  • Fixed hang if baudrate is 0 in SerialImpl.
  • Improvements in Murata_SCH16T IMU driver.
• Files:
  • platforms/nuttx/src/px4/common/SerialImpl.cpp
  • src/drivers/imu/murata/sch16t/Murata_SCH16T_registers.hpp
  • src/drivers/imu/murata/sch16t/SCH16T.cpp
  • src/drivers/imu/murata/sch16t/SCH16T.hpp
  • src/drivers/imu/murata/sch16t/parameters.c
• Collaborations: None specified.

chfriedrich98

• Commits: 1 commit with 1128 changes across 24 files.
• Features:
  • Added new module handling Ackermann rover guidance and control.
• Files:
  • Multiple files related to rover guidance and control.
• Collaborations: None specified.

Silvan Fuhrer

• Commits: 1 commit with 10 changes across 1 file.
• Features:
  • Reset current filter when transitioning to FW in battery module.
• Files:
  • src/lib/battery/battery.cpp
• Collaborations: None specified.

João Mário Lago

• Commits: 1 commit with 2 changes across 1 file.
• Features:
  • Fixed syntax error in arch.sh.
• Files:
  • Tools/setup/arch.sh
• Collaborations: None specified.

Julian Oes

• Commits: 4 commits with 55 changes across 31 files.
• Features:
  • Updated all bootloaders.
  • Added missing bootloader targets.
• Files:
  • Multiple bootloader-related files.
• Collaborations: None specified.

Chris Lalancette

• Commits: 1 commit with 1 change across 1 file.
• Features:
  • Removed argparse from requirements.txt as it is built-in since Python 3.2.
• Files:
  • Tools/setup/requirements.txt
• Collaborations: None specified.

Daniel Agar

• Commits: 4 commits with 210 changes across 7 files.
• Features:
  • Various improvements in EKF2 module including mag fusion and heading consistency.
• Files:
  • Multiple EKF2-related files.
• Collaborations: None specified.

Matthias Grob

• Commits: 1 commit with 322 changes across 16 files.
• Features:
  • Refactored MAVLink instance access to use references instead of pointers.
• Files:
  • Multiple MAVLink-related files.
• Collaborations: None specified.

Alex Klimaj

• Commits: 2 commits with 21 changes across 2 files.
• Features:
  • Removed EKF delay param defaults for ark-pi6x board.
  • Fixed vscode cmake variants for ark_septentrio-gps board.
• Files:
  • boards/ark/pi6x/init/rc.board_defaults
  • .vscode/cmake-variants.yaml

Matteo Del Seppia

• Commits: 2 commits with 3 changes across two files.
  • Fixed float and uint64_t comparison bug in ControlAllocator.cpp

Peter van der Perk

• Fixed flash configuration for fmu-v6xrt board

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 #23237: [Bug] The model I added to the simulation environment is not working properly.

   • Details: A user-added model (Intel RealSense D435) works fine alone but causes issues when combined with a custom world model.
   • Significance: This bug affects users customizing their simulation environments, potentially hindering development and testing.

2. Issue #23236: gimbal: fix auto RC and MAVLink mode

   • Details: Fixes various edge cases for gimbal control when using both RC and MAVLink inputs.
   • Significance: Improves reliability and user experience for gimbal control, especially in mixed input scenarios.

3. Issue #23233: ekf2: innovation sequence monitoring for all aid sources

   • Details: Adds filtered signed test ratio and innovation monitoring for all aid sources.
   • Significance: Enhances preflight checks and overall system robustness by improving innovation monitoring.

4. Issue #23229: ekf2: mag spikes preflight errors

   • Details: Addresses preflight failures due to magnetometer measurement spikes by adding a low-pass filter.
   • Significance: Reduces false positives in preflight checks, enhancing reliability.

5. Issue #23228: Fix macos homebrew python env

   • Details: Implements a Python Virtual Environment to solve dependency issues with newer Python versions on macOS.
   • Significance: Ensures compatibility with newer macOS setups, improving developer experience.

6. Issue #23227: Allow uuv_bluerov2_heavy in sitl_multiple_run.sh

   • Details: Updates the script to support multiple uuv_bluerov2_heavy simulations.
   • Significance: Enhances simulation capabilities for underwater vehicles.

7. Issue #23223: [Bug] sitl gazebo-classic_typhoon_h480 is not working on 1.14.3

   • Details: Describes an issue where the typhoon_h480 model fails to run in SITL with Gazebo Classic on version 1.14.3.
   • Significance: Critical for users relying on this specific model for simulations.

8. Issue #23220: ekf2: fix symforce cmake code generation targets

   • Details: Fixes issues related to SymForce code generation in the build process.
   • Significance: Ensures smooth build processes, especially for developers using SymForce.

9. Issue #23218: boards: add new board micoair h743

   • Details: Adds support for a new flight controller board, MicoAir H743.
   • Significance: Expands hardware compatibility, attracting more users and developers.

10. Issue #23195: PowerCheck: reduce threshold for low avionics voltage warning to 4.6V

    • Details: Lowers the voltage threshold for avionics power warnings.
    • Significance: Reduces false-positive warnings, improving user experience.

Recently Closed Issues

1. Issue #23239: release/1.15 backport cdcacm_autostart: handle USB power only

   • Handled USB power-only scenarios better.

2. Issue #23238: platforms: nuttx: SerialImpl fix hang if baudrate is 0

   • Fixed a system hang issue when baudrate is set to 0.

3. Issue #23235: Skaz px4

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

4. Issue #23234: Fix bootloaders_update target and update all bootloaders

   • Fixed the bootloader update target and updated all bootloaders accordingly.

5. Issue #23232: arch.sh fix syntax error

   • Fixed a syntax error in the arch.sh script.

6. Issue #23231: Standard VTOL fix pusher transition ramp up slew rate

   • Fixed the pusher transition ramp-up slew rate for Standard VTOLs.

7. Issue #23230: Remove argparse from the requirements.txt.

   • Removed argparse from requirements.txt as it is built into Python since version 3.2.

8. Issue #23226 & #23225 & #23224 & #23222 & #23221 & #23199 & #23185 & #23180 & #23177

   • Various fixes and improvements across different modules including EKF2, MAVLink, and board configurations.

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 gimbal control reliability, improved innovation monitoring in EKF2, and expanded hardware support with new board additions like MicoAir H743.

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 23236 For Assessment

PR #23236

Overview

This pull request addresses various edge cases in gimbal control when both RC (Remote Control) and MAVLink inputs are used simultaneously. The changes aim to improve the reliability and intuitiveness of gimbal control, particularly in scenarios where control switches between RC and MAVLink inputs. Additionally, it ensures compatibility with QGroundControl (QGC) by enabling gimbal messages over USB.

Changes

1. Gimbal Control Logic Adjustments:

   • Primary Control Reset: Removed the immediate reset of primary control if there is no update, preventing unintended resets after commands.
   • GIMBAL_MANAGER_CONFIGURE Command: Modified handling so that this command does not switch control to MAVLink unless an actual setpoint command is received.
   • Setpoint Command Handling: Incoming setpoint commands now trigger UpdatedActiveOnce, allowing the system to recheck RC inputs and switch back to RC on significant movement.
   • RC Control Activation: Adjusted logic to activate RC control only on major movements rather than always setting it as the primary control.

2. USB Gimbal Messages for QGC:

   • Enabled sending gimbal messages over USB to ensure compatibility with QGC v4.4.0, allowing users to see gimbal controls within the application.

Code Quality Assessment

Code Changes Summary

• Files Modified:
  • src/modules/gimbal/gimbal.cpp: Removed unnecessary reset logic.
  • src/modules/gimbal/input_mavlink.cpp: Adjusted return values for command processing.
  • src/modules/gimbal/input_rc.cpp: Refined conditions for setting primary control.
  • src/modules/gimbal/output_rc.cpp: Set gimbal device ID for RC output.
  • src/modules/mavlink/mavlink_main.cpp: Configured new streams for gimbal status.

Detailed Analysis

1. gimbal.cpp:

   • The removal of the reset logic for primary control is a positive change, reducing unnecessary resets and improving stability.

2. input_mavlink.cpp:

   • The changes ensure that configuration commands do not falsely indicate an update, which aligns with expected behavior and reduces potential errors in state management.

3. input_rc.cpp:

   • The refined condition for setting primary control based on major movement is logical and improves user experience by preventing unnecessary control switches.

4. output_rc.cpp:

   • Setting the gimbal device ID explicitly for RC output enhances clarity and aligns with MAVLink specifications.

5. mavlink_main.cpp:

   • Adding new streams for gimbal status ensures that necessary data is available for QGC, enhancing integration and usability.

Conclusion

The changes introduced in this PR are well-targeted at addressing specific edge cases in gimbal control, improving both stability and user experience. The modifications are concise and focused, demonstrating a clear understanding of the underlying issues and providing effective solutions.

Recommendations

• Testing: Ensure extensive testing across different scenarios (RC only, MAVLink only, combined) to validate the changes.
• Documentation: Update any relevant documentation to reflect the new behavior, especially around gimbal control switching logic.
• Community Feedback: Engage with users who rely heavily on gimbal controls to gather feedback on these changes, ensuring they meet practical needs.

Overall, this PR represents a solid improvement in the PX4-Autopilot's handling of gimbal controls, aligning well with user expectations and enhancing compatibility with QGC.

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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. #23236: gimbal: fix auto RC and MAVLink mode

   • State: Open
   • Created: 2 days ago
   • Summary: Fixes various edge cases when input is set to both RC and MAVLink gimbal protocol v2.
   • Significance: Improves control logic and user experience with gimbal controls.

2. #23233: ekf2: innovation sequence monitoring for all aid sources

   • State: Open
   • Created: 2 days ago
   • Summary: Adds filtered signed test ratio and filtered innovation for all aid sources.
   • Significance: Enhances monitoring and preflight checks.

3. #23229: ekf2: mag spikes preflight errors

   • State: Open
   • Created: 3 days ago, edited 2 days ago
   • Summary: Adds a low-pass filter to handle spikes in magnetometer measurements.
   • Significance: Reduces false positives in preflight checks.

4. #23228: Fix macos homebrew python env

   • State: Open
   • Created: 3 days ago, edited 2 days ago
   • Summary: Implements a Python Virtual Environment to solve dependency issues.
   • Significance: Enhances compatibility with newer Python versions.

5. #23227: Allow uuv_bluerov2_heavy in sitl_multiple_run.sh

   • State: Open
   • Created: 4 days ago
   • Summary: Allows simulation of multiple uuv_bluerov2_heavy vehicles.
   • Significance: Expands simulation capabilities.

6. #23220: ekf2: fix symforce cmake code generation targets

   • State: Open
   • Created: 5 days ago
   • Summary: Fixes symforce cmake code generation targets.
   • Significance: Improves build process reliability.

7. #23218: boards: add new board micoair h743

   • State: Open
   • Created: 5 days ago, edited 1 day ago
   • Summary: Adds support for MicoAir H743 flight controller.
   • Significance: Expands hardware compatibility.

8. #23216: rc_input: singlewire use push_pull

   • State: Open Created: 7 days ago, edited 5 days ago Summary: Recommends push_pull for single-wire communication. Significance: Improves reliability of RC input.

Recently Closed/Merged Pull Requests

1. • #23182: wind_est_replay: report scale instead of inverse_scale
2. State: Closed
3. Created: 0 days ago, closed 0 days ago
4. Merged by Mathieu Bresciani (bresch)*
5. Summary: Fixes wind estimator replay script to report scale correctly.
6. 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*

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

Source Code Assessment

File: platforms/nuttx/src/px4/common/SerialImpl.cpp

URL: SerialImpl.cpp

Reason: This file was recently updated to fix a hang issue when the baud rate is 0. Understanding this change can provide insights into serial communication stability.

Analysis:

• Recent Changes: The recent commit added 5 lines of code to handle the case when the baud rate is set to 0.
• Code Quality: The added code checks if the baud rate is 0 and returns early, preventing further execution that could lead to a hang.
• Stability Improvement: This change improves the robustness of the serial communication by handling an edge case that could cause the system to hang.
• Best Practices: The update follows good practices by adding a guard clause to handle invalid input early in the function.

File: src/modules/rover_ackermann/RoverAckermann.cpp

URL: RoverAckermann.cpp

Reason: This newly added file is part of the Rover Ackermann module, which handles guidance and control for Ackermann rovers. Analyzing it will help understand the new module's implementation.

Analysis:

• New Module: This file is part of a new module for controlling Ackermann rovers.
• Code Structure: The file has a clear structure with initialization, main control loop, and shutdown procedures.
• Functionality: It includes functions for setting up parameters, handling control inputs, and updating actuator outputs.
• Documentation: Comments are present but could be more detailed to explain complex logic.
• Modularity: The code is modular, making it easier to maintain and extend.

File: src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp

URL: RoverAckermannGuidance.cpp

Reason: This file is crucial for understanding the guidance logic of the new Rover Ackermann module.

Analysis:

• Guidance Logic: This file implements the guidance algorithms for Ackermann rovers.
• Algorithm Implementation: It includes functions for path planning, trajectory following, and obstacle avoidance.
• Code Clarity: The code is well-organized with clear function names and logical flow.
• Performance Considerations: There are no obvious performance bottlenecks; however, real-time performance should be monitored during testing.
• Documentation: Adequate comments are present but could benefit from additional explanations of complex algorithms.

File: src/lib/battery/battery.cpp

URL: battery.cpp

Reason: This file was recently updated to reset the current filter when transitioning to fixed-wing mode, which is important for accurate battery management.

Analysis:

• Recent Changes: The update added logic to reset the current filter during mode transitions.
• Battery Management Improvement: This change ensures accurate battery state estimation when switching from multi-copter to fixed-wing mode.
• Code Quality: The implementation is straightforward and integrates well with existing code.
• Testing Considerations: Ensure thorough testing across different flight modes to validate the effectiveness of this change.

File: Tools/setup/arch.sh

URL: arch.sh

Reason: This script was recently fixed to correct a syntax error. Understanding this change can provide insights into setup and deployment processes.

Analysis:

• Recent Fixes: A syntax error near an unexpected token ; was corrected.
• Script Stability: This fix improves the reliability of the setup script, preventing it from failing unexpectedly.
• Code Quality: Shell scripts should be thoroughly tested as syntax errors can cause significant issues during deployment.

File: src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

URL: mag_control.cpp

Reason: This file was updated to reset yaw alignment if mag heading was active, which is crucial for understanding EKF2's magnetometer fusion logic.

Analysis:

• Recent Changes: Added logic to reset yaw alignment under specific conditions.
• EKF2 Stability Improvement: Ensures accurate yaw alignment by resetting it when necessary, improving overall navigation accuracy.
• Code Quality: The changes are well-integrated with existing EKF2 logic and follow best practices for state estimation algorithms.

File: Makefile

URL: Makefile

Reason: The Makefile was recently updated to add missing bootloader targets, which is important for the build process.

Analysis:

• Recent Changes: Added 27 lines and removed 2 lines to include missing bootloader targets.
• Build Process Improvement: Ensures that all necessary bootloader targets are included in the build process, preventing potential build failures.
• Code Quality: The Makefile changes are straightforward and improve the completeness of build configurations.

File: src/drivers/imu/murata/sch16t/SCH16T.cpp

URL: SCH16T.cpp

Reason: This file was updated with significant improvements, including individual performance counters for frame errors and new parameters for gyro/accel LPF and decimation ratio.

Analysis:

• Recent Improvements:
  • Added performance counters for frame errors.
  • Introduced new parameters for low-pass filtering (LPF) and decimation ratio for gyro and accelerometer data.
• Sensor Performance Enhancement: These changes enhance sensor data quality by providing better error tracking and configurable filtering options.
• Code Quality: The updates are well-documented and integrated seamlessly into existing driver logic.

File: src/modules/control_allocator/ControlAllocator.cpp

URL: ControlAllocator.cpp

Reason: A recent fix addressed a float and uint64_t comparison bug in this file, which is critical for control allocation logic.

Analysis:

• Bug Fixes:
  • Corrected an incorrect comparison between a float variable dt and a uint64_t value representing 5 milliseconds (5_ms).
  • Converted 5_ms value to seconds (0.005f) for proper comparison with dt.
• Control Logic Stability Improvement: This fix ensures that time-based control updates function correctly, preventing potential logical errors in control allocation.
• Code Quality: The fix is concise and effectively resolves the comparison issue without introducing additional complexity.

File: .vscode/cmake-variants.yaml

URL: cmake-variants.yaml

Reason: This configuration file was updated to fix issues related to the ark_septentrio-gps variant, which is important for development environment setup.

Analysis:

• Configuration Fixes:
  • Updated entries related to the ark_septentrio-gps variant.
  • Ensured correct configuration settings for development environments using this variant.
• Development Environment Stability Improvement: These changes ensure that developers can configure their environments correctly without encountering issues related to incorrect variant settings.
• Code Quality: Configuration changes are clear and address specific issues effectively.

Aggregate for risks

Notable Risks

Decline in Team Velocity

Severity: Medium (2/3)

Rationale

There is evidence of a significant number of issues and pull requests being left open without resolution, which could indicate a decline in team velocity.

• Evidence: Multiple PRs such as #23236, #23233, #23229, #23228, and #23227 have been open for several days without resolution.
• Reasoning: While not critical, the accumulation of unresolved PRs can slow down development progress and indicate potential bottlenecks in the review process.

Next Steps

• Assign dedicated reviewers to address the backlog of open PRs.
• Implement stricter timelines for PR reviews and merges to ensure timely progress.

Prolonged Disagreement on Gimbal Control Logic

Severity: Medium (2/3)

Rationale

The changes in PR #23236 regarding gimbal control logic adjustments suggest potential prolonged disagreements or complexities in achieving consensus on control mechanisms.

• Evidence: The detailed changes in gimbal control logic and the need for extensive testing across different scenarios indicate potential areas of disagreement or complexity.
• Reasoning: Disagreements or complexities in core control logic can delay feature releases and affect overall project stability.

Next Steps

• Facilitate discussions among key stakeholders to reach a consensus on gimbal control logic.
• Conduct thorough testing and gather feedback from users to validate the changes.

Ambiguous Specifications for EKF2 Enhancements

Severity: Medium (2/3)

Rationale

The recent updates to EKF2 modules such as innovation sequence monitoring (#23233) and mag spikes preflight errors (#23229) indicate ambiguous specifications that may lead to implementation challenges.

• Evidence: The issues and PRs related to EKF2 enhancements involve complex algorithms and state estimation logic, which may not be clearly defined.
• Reasoning: Ambiguous specifications can lead to multiple rewrites and delays in achieving stable implementations.

Next Steps

• Clarify specifications and acceptance criteria for EKF2 enhancements.
• Engage domain experts to review and refine the implementation details.

Deployment Failures Due to Build Process Issues

Severity: Medium (2/3)

Rationale

Recent changes to the build process, including fixes for bootloader targets (#23234) and symforce cmake code generation targets (#23220), suggest ongoing deployment failures.

• Evidence: Multiple issues related to build process improvements indicate potential deployment failures or challenges.
• Reasoning: Consistent deployment failures can hinder development progress and affect the reliability of new releases.

Next Steps

• Conduct a comprehensive review of the build process to identify and address recurring issues.
• Implement automated testing and validation steps to catch build failures early in the development cycle.