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June 20 – 21, 2019 | ETH Zurich, Switzerland | #PX4DevSummit

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Thursday, June 20
 

9:00am

Registration
Please head to HG D Nord and pick up your badge.

Thursday June 20, 2019 9:00am - 10:00am
HG D Nord

10:00am

Welcome
Speakers
avatar for Ramon Roche

Ramon Roche

Program Manager, Dronecode


Thursday June 20, 2019 10:00am - 10:10am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

10:10am

Past, present, future of PX4
Speakers
avatar for Lorenz Meier

Lorenz Meier

cofounder, Auterion
PX4 Author



Thursday June 20, 2019 10:10am - 10:50am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

10:50am

PX4 state estimation update
This session will start with an overview of the developments in state estimation made during the past 12 months leading up to the 3.9 release. It will summarise the key development challenges for the next 12 months and present a proposed development roadmap.

Speakers
avatar for Paul Riseborough

Paul Riseborough

PX4 Maintainer, PX4



Thursday June 20, 2019 10:50am - 11:10am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

11:10am

Flight task architecture overview
With the goal to improve modularization, extensibility of the multicopter setpoint generation the so called flight task architecture was implemented beginning of 2018. This session is for developers who want to familiarize themselves with the core idea, the advantages, the details and the current state of this implementation. Also questions are answered and feedback or new ideas are welcome.

Speakers
avatar for Matthias Grob

Matthias Grob

Engineer, Auterion
PX4 Maintainer
avatar for Dennis Mannhart

Dennis Mannhart

Engineer, Yuneec Research



Thursday June 20, 2019 11:10am - 11:40am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

11:40am

Coffee Break
Thursday June 20, 2019 11:40am - 12:00pm
HG D Nord

12:00pm

SITL improvements and ROS2 integration
As we work towards integrating more advanced functionality into drones it's important to be able to test them. We have been working toward improving supporting multi drone simulation as well as complex worlds to support sensor based autonomy in SITL and fully automated integration tests.

Speakers
avatar for Tully Foote

Tully Foote

Platform Manager, OSRF



Thursday June 20, 2019 12:00pm - 12:30pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

12:30pm

ROS2 Powered PX4
As we look towards more complex systems, PX4-powered UAS will become a subsystem in a larger system. With the current developments of ROS 2 and its infrastructure, the demand to make PX4 capable of integrating with such framework has increased, besides the current already supported ROS-Mavlink bridge package, MAVROS. The ability to isolate telemetry links over Mavlink and provide a more tight integration of the PX4 internal communication architecture with the companion systems lead us to explore the benefits of DDS (Data Distribution Service) standard and, for that reason, implement a bridge that allows PX4 uORB publisher/subscriber architecture to connect to RTPS (Real Time Publish-Subscribe) protocol participants over the same DDS standard layer, while looking to gradually abandon the usage of Mavlink in companion computer links. As being the default middleware of ROS2, eProsima Fast-RTPS was the chosen RTPS implementation to bridge PX4 uORB topics with ROS 2 nodes.

This presentation will show how the px4_ros_com, a ROS2 package for bridging PX4 and ROS2 through a micro-RTPS bridge - a slimmed down RTPS point-to-point link using micro-RTPS (client/FCU side) and Fast-CDR (agent/companion side) for serialization and deserialization - is architectured and implemented, how can it be used and provide an overall status about its current development state and future works. It will also be provided a pros/cons comparison between using RTPS-supported and Mavlink-supported communication in PX4 and companion computer links.

Speakers
avatar for Nuno Marques

Nuno Marques

Software Engineer, Drone Tech Consultant



Thursday June 20, 2019 12:30pm - 1:00pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

1:00pm

Lunch
The summit does not provide lunch. But there are many options within ETH and around ETH for your choice.

ETH Main Mensa https://www.ethz.ch/en/campus/getting-to-know/cafes-restaurants-shops/gastronomy/restaurants-and-cafeterias/zentrum/mensa-polyterrasse.html

Tannenbar https://www.ethz.ch/en/campus/getting-to-know/cafes-restaurants-shops/gastronomy/restaurants-and-cafeterias/zentrum/tannenbar.html

Hot Pasta http://hotpasta.ch/


Thursday June 20, 2019 1:00pm - 2:15pm

2:15pm

Test Like You Fly: How libuavcan is Implementing On-Target Testing
In this talk we will demonstrate how the libuavcan project, a C++ implementation of the UAVCAN protocol, is using Raspberry PIs and Buildkite.com to run unit tests on Cortex-M targets as part of its automated build pipeline. We’ll discuss why we’re investing in this capability, how the project’s methodology is well suited for geographically distributed teams developing firmware, and will invite others in the PX4 community to comment and contribute ideas on how to evolve and improve what we’ve built.

This is a presentation of a blog post I have on my personal site here -> https://32bits.io/blog/2019/5/26/libuavcan-hil-test-automation-using-buildkite-and-raspberry-pi

Speakers
avatar for Scott Dixon

Scott Dixon

Software Engineer, Amazon
I'm a firmware engineer with Amazon PrimeAir in Seattle and a passionate maker of things.



Thursday June 20, 2019 2:15pm - 2:35pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

2:35pm

3 Hidden PX4 SITL tricks for everyday development
This short presentation covers three somewhat hidden tricks for development in PX4 SITL that you might not have come across. It will consist of some background information as well as live demos of:

Bash scripting and SITL, how does it work, and what can you do.
Speed up, slow down, or even pause the simulation using lockstep.
How to debug and profile SITL using GDB, valgrind, and callgrind.

Speakers
avatar for Julian Oes

Julian Oes

Senior Software Engineer, Auterion
PX4 Maintainer



Thursday June 20, 2019 2:35pm - 2:55pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

2:55pm

Hardfault debugging on PX4
A demonstration of the tools and techniques to debug a Hard Fault on the PX4 platform. Concentrating on real-time debugging and post mortem analysis of hard fault logs.  

Speakers
avatar for David Sidrane

David Sidrane

Owner, NSCDG



Thursday June 20, 2019 2:55pm - 3:15pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

3:15pm

Coffee Break
Thursday June 20, 2019 3:15pm - 3:30pm
HG D Nord

3:30pm

UAVCAN: a highly dependable publish-subscribe protocol for hard real-time intravehicular networking
UAVCAN is a compact and robust protocol designed to provide publish/subscribe and remote procedure call (RPC) transports on top of real-time, reliable, and redundant networks for highly-deterministic applications. It is a modern protocol focused on cyber physical systems making it relevant to the emerging class of vehicles that are largely software defined and increasingly autonomous. Being first proposed in 2014, the protocol has been integrated into numerous systems and is supported by several vendors worldwide. Experience from years of real-world integration and deployment has culminated in the first long-term stable version – UAVCAN v1.0. New features in this version include compatibility with transport protocols such as CAN FD and UDP/Ethernet, DSDL message versioning, a simplified on-wire representation of UAVCAN frames, and a clear process for the registration and deconfliction of message identifiers between systems and vendors.

Speakers
avatar for Pavel Kirienko

Pavel Kirienko

Founder/CEO, Zubax Robotics
Helping enterprises around the world create aerial transport of the 21st century: electric, autonomous, dependable.
avatar for Scott Dixon

Scott Dixon

Software Engineer, Amazon
I'm a firmware engineer with Amazon PrimeAir in Seattle and a passionate maker of things.



Thursday June 20, 2019 3:30pm - 4:30pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

4:40pm

Controlling MAVLink drones with MAVSDK (rebranded from DronecodeSDK)
This session will be dedicated to learn about the roadmap of MAVSDK and how to use it. It will start by providing an overview of MAVSDK (previously called 'DronecodeSDK'), its design, supported features and roadmap for the future changes to come. We will then move to live demos, that participants should be able to reproduce on their computer. Preferred languages and platforms for the workshop are C++, Python and Swift on Linux and macOS, but Windows users are welcome. Ideally, people wanting to reproduce the demos should be able to run SITL on their computer before the session (be it jmavsim or gazebo). At the end, you should be able to write your own code taking off and flying a simple mission on a simulator. It is suitable for any potential contributor or adopter willing to know whether MAVSDK is a good alternative for their use-case.

Speakers
avatar for Jonas Vautherin

Jonas Vautherin

Software Engineer, Auterion
MAVSDK Maintainer
avatar for Julian Oes

Julian Oes

Senior Software Engineer, Auterion
PX4 Maintainer



Thursday June 20, 2019 4:40pm - 5:40pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

5:40pm

Closing remarks
Speakers
avatar for Ramon Roche

Ramon Roche

Program Manager, Dronecode


Thursday June 20, 2019 5:40pm - 6:00pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

7:00pm

Community Appreciation Night

Thursday June 20, 2019 7:00pm - 9:00pm
Dozentenfoyer (on the rooftop of ETH on level J) Rämistrasse 101, 8092 Zürich, Switzerland
 
Friday, June 21
 

9:30am

Registration
Please head to HG D Nord and pick up your badge.

Friday June 21, 2019 9:30am - 10:00am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

10:00am

Welcome
Speakers
avatar for Ramon Roche

Ramon Roche

Program Manager, Dronecode


Friday June 21, 2019 10:00am - 10:10am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

10:10am

The frontier of computer vision
This session will cover the computer vision components of the PX4 roadmap and how community and industry members can contribute and align to improve the computer vision support in PX4.

Speakers
avatar for Julian Kent

Julian Kent

Technical Lead Computer Vision Team, Auterion



Friday June 21, 2019 10:10am - 10:50am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

10:50am

Pixhawk reference standard update
Speakers
avatar for Lorenz Meier

Lorenz Meier

cofounder, Auterion
PX4 Author



Friday June 21, 2019 10:50am - 11:10am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

11:10am

Collaborative design opportunities with NXP reference hardware
As a global semiconductor company and the  number one supplier of automotive semiconductors, NXP has been developing projects and reference designs, relating to security and authentication components, vehicle networking, smart battery management and motor control solutions to enable developers design and build automotive grade industrial drone systems. This interactive session will cover current PX4 related hardware projects, and seek feedback from the open source community.

Speakers
avatar for Gerald Peklar

Gerald Peklar

Drone project coordinator, NXP
Drone Pilot - flying fastest octocopter worldwide
IG

Iain Galloway

Drone Program Lead, NXP



Friday June 21, 2019 11:10am - 11:40am
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

11:40am

Coffee Break
Friday June 21, 2019 11:40am - 12:00pm
HG D Nord

12:00pm

VTOL control and airspeed fault detection
Discussion of work that has been going on around VTOL during the last year:
- rate controller architecture change
- weathervane
- tailsitter transition improvements (Xvert)

Airspeed fault detection:
- support multiple airspeed sensors
- airspeed module which detects airspeed faults and generates a "best" airspeed
estimate to be used by controllers"

Speakers
avatar for Roman Bapst

Roman Bapst

Flight control engineer, Auterion
PX4 Maintainer



Friday June 21, 2019 12:00pm - 12:30pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

12:30pm

Energy-efficient electric propulsion in modern UAV systems
Zubax Robotics has developed an integrated motor control circuit that enables third-party hardware engineers to design sophisticated electric drives using its cutting-edge field-oriented control technology. With this solution, a regular hardware engineer without prior experience with motor control applications can design a custom electric drive in a few days. The motor control technology utilizes new patent-pending approaches to digital signal processing that facilitate reduced heat rejection, thereby increasing the energy-efficiency of the drive and enabling higher endurance. Extensive empirical testing indicates that innovative electric drives built on the Zubax motor control technology outperform similar solutions based on TI InstaSPIN (which is widely used by numerous well-known vendors such as DJI and T-Motor).

Speakers
avatar for Pavel Kirienko

Pavel Kirienko

Founder/CEO, Zubax Robotics
Helping enterprises around the world create aerial transport of the 21st century: electric, autonomous, dependable.
AS

Alexander Sysoev

VP Hardware Engineering, Zubax



Friday June 21, 2019 12:30pm - 1:00pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

1:00pm

Lunch
The summit does not provide lunch. But there are many options within ETH and around ETH for your choice.

ETH Main Mensa https://www.ethz.ch/en/campus/getting-to-know/cafes-restaurants-shops/gastronomy/restaurants-and-cafeterias/zentrum/mensa-polyterrasse.html

Tannenbar https://www.ethz.ch/en/campus/getting-to-know/cafes-restaurants-shops/gastronomy/restaurants-and-cafeterias/zentrum/tannenbar.html

Hot Pasta http://hotpasta.ch/

Friday June 21, 2019 1:00pm - 2:15pm

2:15pm

Vision and offboard control interfaces
Presentation of the current status of the offboard control interface in PX4 and its interaction with Flight Tasks. The focus will be on the obstacle avoidance use case given its increasing importance for commercial BVLOS operations and consumer FollowMe features. Brainstorming and workshop on possible interface developments and community feedback.

Speakers
avatar for Martina Rivizzigno

Martina Rivizzigno

Computer Vision Engineer, Auterion
PX4 Avoidance Maintainer



Friday June 21, 2019 2:15pm - 3:15pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

3:15pm

Coffee Break
Friday June 21, 2019 3:15pm - 3:30pm
HG D Nord

3:30pm

PX4 in STEM education: How we taught a thousand students how to program drones
This session introduces an educational platform based on PX4 hardware and software, which also consists of open-source libraries, free Raspberry Pi image for drone control, documentation and hardware drone kit. Thousands of students in Russian schools, colleges and centers of STEM education use this educational kit, and developed and performed autonomous flights in OFFBOARD mode via simple ROS API. This session will also introduce the drone challenges and competitions that have been organized using this platform, and will seek inputs on how to promote this initiative in other regions of the world.

Speakers
avatar for Andrei Korigodskii

Andrei Korigodskii

CTO, Copter Express
avatar for Aleksey Shlykov

Aleksey Shlykov

COO, Copter Express
avatar for Oleg Kalachev

Oleg Kalachev

Lead Developer, Copter Express



Friday June 21, 2019 3:30pm - 4:30pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

4:40pm

MAVLink3 Update
Speakers
avatar for Lorenz Meier

Lorenz Meier

cofounder, Auterion
PX4 Author



Friday June 21, 2019 4:40pm - 5:10pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

5:10pm

UTM: regulation and open source
The Swiss Federal Office of Civil Aviation (FOCA) supports the development of an open and interoperable UTM concept. The architecture includes an open source project as one of its key component for strategic deconfliction. FOCA is interested to present its UTM architecture and to engage with the community to further explore how to integrate open source in its development.

Speakers
avatar for Benoit Curdy

Benoit Curdy

Innovation & Digitalization, Federal Office of Civil Aviation FOCA


utm pdf

Friday June 21, 2019 5:10pm - 5:40pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza

5:40pm

Closing remarks
Speakers
avatar for Ramon Roche

Ramon Roche

Program Manager, Dronecode


Friday June 21, 2019 5:40pm - 6:00pm
HG E5 Rämistrasse 101, 8092 Zürich, Suiza