px4 developer summit 2019 - px4 autopilot · 2019-06-29 · [email protected] lorenzmeier lorenzmeier...
TRANSCRIPT
PX4 Developer Summit 2019Presented by Dr. Lorenz Meier
WELCOME!
Planned: 40 - Effective: 200 Attendees
Quick introduction: Dr. Lorenz Meier
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2008
2011
2009
LorenzMeier
LorenzMeier
2009
PX4 Developer Summit 2019#px4summit
Always code as if the guy who ends up maintaining your code will be a violent psychopath who knows where you live.
- Martin Golding
“”
On the same mission for the last decade.
2018
2017
2016 2015 2014 20132012
2011201020092008
Pixhawk project born at ETH Zurich
under the leadership of Lorenz Meier
MAVLink and QGC projects started
Most academic projects worldwide
use the open source code
PX4 is born
First ready to fly products in the
market
First kits with Pixhawk autopilot
Dronecode part of Linux FoundationComputer
VisionIntegration
Creation of the SDK
2019
Full Integration of ROS2
Optical FlowNavigation
Broad adoption in consumer and
commercial markets
9 years ago..
8 years ago..
7 years ago..
PX4 Today
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PX4 has a fast growing community of developers
Who builds PX4 today?
What is the relationship between the parts?
The “Kernel”
Projects
IndustryStandards
3rd Party Projects
Industry Association
run by
CommunicationVehicle
Firmware
Ground Control Station
APIMiddleware ROS2
Autonomy
Vision based localization and avoidance
Qualcomm Snapdragon
Flight
Intel® Aero
Hardware
PX4 is an integrated software ecosystem
Leading products and dev platforms based on PX4
Main Usage of PX4 in the drone industry
Consumer Commercial Industrial▪ Need for reliable base
▪ Significant customization per product
▪ Contributions on specific aspects
▪ Open system is key value add
▪ Significant overall contributions to project
▪ Wide adoption
▪ Capability to deploy additional software is key (apps)
▪ Deep SW integration
▪ Mostly VTOL and fast growing segment
Proprietary differentiation:- Capabilities- Customization- Features- Certification- UX
Basic computer vision
Basic
Obstacle avoidance
2008 Today
?
Pro
ject
Product
The open source ecosystem improves over time and manufacturers can stay on the technology curve
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1899 1908 1920 1960
# of manufacturers
The automotive industry went through a transformation
Standards enabled it to scale.
1917 1918
Open Source is the agile approach to standardization
PX4 v1.9: Release June, 2019
Time
Diffi
culty
PX4 v1.10 Development
FEB MAR
RTPS ROS2
PaulYuneec ResearchPX4 CommunityMust-have
AuterionDanielD. SidraneGus & Don
AvoidanceVIO
Drivers Overhaul
Board / Frame Deprecation
Flight Cards
Flight Mode Tests / Missions
Failsafe Robustness Tests
Secure Bootloader SPI DMA IMU Drivers
Authentication
On-Hardware Testing for All Targets
Release
VTOL ImprovedTransitions
Airspeed Fault Detection Real time performance audit
uORB improvements
APR MAY JUN
PX4 v1.9 Development
PX4 v1.10: Release September, 2019
Time
Diffi
culty
JUL SEPAUG
PX4 v1.11 DevelopmentRelease
High-End Servos
3D Planning in QGC
ROS2
UWB Landing
Flight Test Automation
Commander Refactor(model based state machines)
Increase Test Fidelity
UAVCAN Servos
Mavlink 3.0 Draft
Redundant Sensors
Navigator Refactor
Video Streaming
D-Shot ESCs
Events Interface
Better Pre-flight Checks
PaulPX4 Community
Must-have
AuterionDanielD. SidraneGus & Don
1-4 kHz Angular Rate Controller
Multi-EKF architecture
Indoor navigator
JUN
PX4 v1.10 Feature Development
Highlights
1 3 42
Upstream
New code
Code merged
Code maintainer receives the request and starts the review process
Request to pull new code in mainstream over GitHub.
1) Code review2) Automated
module tests3) Automated flight
simulation4) Physical flight
tests by Dronecode team in Mexico
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Quality Assurance baked into the development process
Type Certification of PX4 vehicles with FAA
PX4 official flight controller support means.- Board part of the hardware test rack, testing every contribution- Board with the Dronecode test team
Testing Testing Testing
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PX4 supports native communication with ROS2 via FastRTPS. This enables integration of a companion computer using industry-standard middleware with safety-critical implementations available. ROS nodes can communicate today natively with PX4 without the need for a translation layer like MAVROS.
Seamless communication between uORB and
Flight Control Vision based Navigation
Pixhawk Series Hardware ROS2 enabled Linux Computer
Futureproof Hybrid System architecture
Obstacle Avoidance SDK
https://dev.px4.io/en/middleware/micrortps.html
Computer Vision: Obstacle Avoidance
is the SDK for MAVLink vehicles
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▪ Language bindings to Python, Swift (iOS), Java (Android), C++
▪ High-performance core written in C++
▪ Simple, easy to use API
▪ For mobile apps and onboard applications
▪ Extensible by plugins
▪ Compiles for Linux, macOS, Windows, iOS, Android
Documentation:
▪ http://github.com/mavlink/MAVSDK
MAVLink
iOS app
PX4
Onboard app
SDK Webinar recording: https://auterion.com/sdk-webinar/
● PX4 + QGC have full airspace integration○ Airspace maps○ Geofence upload to the flight controller○ Telemetry upload to air traffic control (if enabled)
● Field-tested in Geneva in the traffic control zone (u-space demo)● Based on standard available to all airspace management providers● Implementation in QGC implemented against Airmap service
○ Generic interface○ Airmap service implementation of interface
Airspace integration
▪ Initial failure mode analysis of PX4 completed▪ Safety analysis project with the functional
safety lab at ZHAW▪ Discussions on Dronecode level with FAA▪ Redundant sensor design and power
management▪ Automotive-grade sensors and power supply
in next-generation hardware reference designs
▪ Different standards we are looking at for inspiration: ISO26262, DO178
Safety and Certification
Roadmap
PX4 v1.9: Release June, 2019
Time
Diffi
culty
PX4 v1.10 Development
FEB MAR
RTPS ROS2
PaulYuneec ResearchPX4 CommunityMust-have
AuterionDanielD. SidraneGus & Don
AvoidanceVIO
Drivers Overhaul
Board / Frame Deprecation
Flight Cards
Flight Mode Tests / Missions
Failsafe Robustness Tests
Secure Bootloader SPI DMA IMU Drivers
Authentication
On-Hardware Testing for All Targets
Release
VTOL ImprovedTransitions
Airspeed Fault Detection Real time performance audit
uORB improvements
APR MAY JUN
PX4 v1.9 Development
PX4 v1.10: Release September, 2019
Time
Diffi
culty
JUL SEPAUG
PX4 v1.11 DevelopmentRelease
High-End Servos
3D Planning in QGC
ROS2
UWB Landing
Flight Test Automation
Commander Refactor(model based state machines)
Increase Test Fidelity
UAVCAN Servos
Mavlink 3.0 Draft
Redundant Sensors
Navigator Refactor
Video Streaming
D-Shot ESCs
Events Interface
Better Pre-flight Checks
PaulPX4 Community
Must-have
AuterionDanielD. SidraneGus & Don
1-4 kHz Angular Rate Controller
Multi-EKF architecture
Indoor navigator
JUN
PX4 v1.10 Feature Development
Upcoming HardwareReference Designs
New hardware generation: Robustified design: FMUv5X
- Mechanical and electrical definition for Autopilot-on-Module (AoM)
- X1 connector: 100-pin connector- 34x26 mm core module- M2 screws
Thanks!