Georacer
September 11, 2024, 9:55am
1
Attendees (max): 11
ArduPilot:master ← andyp1per:pr-ang-log
opened 11:17AM - 10 Sep 24 UTC
Introduces a new high rate attitude message - ANG - to replace the use of ATT fo… r the attitude controller.
UTC0702Andrew : Would be nice to have the attitude controllers log attitude, not the vehicles.
ATT.DesRoll and ANG.DesRoll don’t agree during a transition.
This is because the MR copies the current angle to the desired. Only the rate controller is functioning then.
It is preferrable to only log the ANG messsage when the MR angle controller is actually active.
ArduPilot:master ← peterbarker:pr/stop-using-python-is-python3
opened 02:59AM - 10 Sep 24 UTC
UTC0734
ArduPilot:master ← peterbarker:pr/cubered-probe-external-compasses
opened 07:25AM - 05 Sep 24 UTC
UTC0738
ArduPilot:master ← tridge:pr-mcast-can
opened 04:37AM - 08 Sep 24 UTC
This allows the PPPGW peripherals to act as CAN multicast gateways, which allows… any device on the ethernet network to interact with CAN devices on the flight controllers CAN networks
It also means we can configure and update the PPPGW peripherals without knowing the IP address it is configured for, as we can use DroneCAN GUI tool with interface mcast:0 or mcast:1 to get at CAN1 or CAN2 and configure parameters
This gateway is enabled in both AP_Periph with PPPGW and in the network enabled AP_Periph bootloader, which means this can also be used to update the firmware on the AP_Periph PPPGW device
This costs about 450 bytes, which comes from the change to the hal.can API to allow registration of more than one callback. We could have a new API that only appears when this option is enabled, but it would be a duplicate of the current register function, just with a new cb targets, maybe cb_mcast.
UTC0740A : Would be nice to have a Time To Live for the packets.
This would allow the users to decide if they want to see CAN traffic all the way to their ground station.
Would also be nice to have Mission Planner support UDP multicast.
Windows 11 might be blocking UPD Multicast packets.
ArduPilot:master ← bugobliterator:pr-eth-loopback-test
opened 01:41AM - 11 Sep 24 UTC
Tested working on CubePilot PPPGW
UTC0748Sid : Comments seem reasonable.
ArduPilot:master ← tridge:pr-rangefinder-tailsitter
opened 02:28AM - 05 Sep 24 UTC
this is principally for tailsitters where rangefinders would be orientation with… RNGFND1_ORIENT=12 (PITCH_180), but also allows for custom orientations which will be useful if the rangefinder is tilted forward
Tested in SITL using the quadplane-copter_tailsitter frame
UTC0755
mavlink:master ← mhkabir:mhkabir-patch-1
opened 05:17PM - 13 Apr 15 UTC
So two messages should now give us full back-to-back ROS-PX4 interoperability :
… 1. LOCAL_POSITION_NED_COV (this PR)
2. ATTITUDE_QUATERNION_COV
Originating system is expected to send these with same timestamps and receiver publishes them simultaneously, if required, after receiving the last message.
UTC0813Peter : That’s a lot of data to be logging at high rate.A : Who is the recepient/consumer of this information?
ArduPilot:master ← radiolinkW:drivers/SPA06_baro
opened 02:46AM - 23 Aug 24 UTC
The SPA06 is a high resolution low noise barometer pin-to-pin compatible with th… e SPL06.
I have been flight testing this baro on RadiolinkPIX6 and driver it seems to work well.
Here is the datasheet: [SPA06-003_datasheet.pdf](https://github.com/radiolinkW/binary/blob/master/SPA06-003_datasheet.pdf)
UTC0826
ArduPilot:master ← inertiallabs:ilabseahrs
opened 03:20PM - 15 Aug 24 UTC
Fix bugs and add the new data handling
UTC0828A : An altitude field has no place in a barometer message.
Would be nice to eventually move external AHRS drivers to the custom build server.
ArduPilot:master ← andyp1per:pr-primary-gyrp
opened 09:36AM - 15 Aug 24 UTC
Split out from https://github.com/ArduPilot/ardupilot/pull/27029
This normali… zes the usage of the "primary" gyro in the IMU drivers and gives an opportunity to take action when it changes. We were doing this before with random calls into the AHRS, but really the IMU needs to know this information. This makes it possible to take specific required action in future PRs.
I've turned this into a demo of what this can be used for, most notably to slow down FIFO read rates on non-primary gyros.
On a CubeOrange+ with ```INS_GYRO_RATE=2``` (4KHz):
Before:
```
idle PRI= 1 sp=0x30021CF8 STACK= 296/ 504 LOAD=22.0%
SPI4 PRI=181 sp=0x3002AF58 STACK= 896/1464 LOAD=23.2%
SPI1 PRI=181 sp=0x3002B668 STACK= 824/1464 LOAD=25.2%
```
After:
```
idle PRI= 1 sp=0x30021D00 STACK= 296/ 504 LOAD=34.7%
SPI4 PRI=181 sp=0x3002AF58 STACK= 816/1464 LOAD=22.0%
SPI1 PRI=181 sp=0x3002B668 STACK= 816/1464 LOAD=14.1%
```
The saving is not as great as you might expect, probably down to SPI overhead which can't be avoided but still substantial
UTC0835A : There’s a risk that the sensors will get their FIFOs full and this may cause glitches/bugs.Andy : IMU whitelisting could be done in the IFDEF for the variable sampling rate feature.A : Hopefully Sid will find a bug in our SPI driver and this will inform this PR as well.
ArduPilot:master ← MattKear:pr_heli_autorotation_mode_switching
opened 03:48PM - 07 Aug 24 UTC
This PR does the following:
- Removes the linking of autorotation flight mode a… nd the interlock.
- Consolidates the autorotation state into its own class within the RSC.
- Moves the bailout logic out of the autorotation mode and into RSC making it common to both the mode and manual autorotations.
Reasons for this:
- The linking of the flight mode switching and interlock was creating lots of edge cases that were proving to difficult to prevent. This is simpler and just like any other flight mode **(this is still SITL only)**.
- Removing this link between interlock and flight mode means, in the future, we can add partial power reduction in assisted autorotations via the flight mode which will make initial setup and testing more gradual and less intimidating.
- All bailout out handling for the manual autorotation has been tidied up and consolidated into the RSC. The autorotation flight mode will be changed to use this bailout logic in the RSC to remove duplication.
This PR is WIP. I still have the following to address:
- [x] Get bailouts working in autorotation flight mode.
- [x] Fixup the autotests to accept this new way of entering the autorotation flight mode.
- [x] Add autorotation flight mode exit handling e.g. don't allow exiting the flight mode to non-manual throttle modes unless the interlock is engaged and the RSC has flagged the bailout as complete.
UTC0842Matt : Trying to decouple the interlock data, their interpretation is open to edge-cases.
A bailout should also be possible now.
We’ll need Bill and other heli experts to weigh in.
The changed parameters are a fixup to using the correct units and better names.
ArduPilot:master ← dg9oaa:master
opened 03:49PM - 25 May 24 UTC
I have several airplanes and drones that I have equipped with GPS modules. Among… them are BN-880 and HGLRC M80 PRO. I have used the BN-880s that are also suitable for APM and Pixhawk according to the description. Most of the time, however, a QMC5883 was fitted. The compass could never be calibrated with this chip. In the telemetry of the remote control transmitter I saw that the Gaussian values reached the 4000 mark quite quickly and showed virtually no sine function with further rotation.
I then used the really great MAGFit web tool to calibrate the compass by generating the correction parameters. I noticed that the measured Gaussian values were very large and the error message "PreArm: Check mag field (xy diff:373>100)" appeared in the messages. Of course several times and with different values.
I then started to read out the compass modules with a Raspberry Pi Pico via i2c and took a closer look at the measured Gauss values. I also played around with the parameter settings. I noticed that setting the Gauss Scale Rate does not change the output value, except for a single module and that was an Arduino test board.
So I think it makes sense to leave the Gaussian rate at the default and simply divide the output value by 4. I also got the idea from an INAV, as there is a scale factor that was set to ~4000 for my tested modules.
The other idea I had was to introduce such a scale factor in Adopilot, which would probably be more complex.
Best regards and thank you very much for your great work
(sorry - I mistakenly deleted the first request)
UTC0850P : The author reports that some ICs’ registers don’t seem to work.
Probably they are knockoffs.
A : Probably QMC never had those registers, they were inherited from the previous sensor version.P : Tested, the change is breaking people’s calibration. Can’t be backwards compatible.
ArduPilot:master ← cuav:cuav_pr_compass_bmm350
opened 06:56AM - 06 May 24 UTC
UTC0906
ArduPilot:master ← yuri-rage:advance-wp-applet
opened 02:50AM - 29 Apr 24 UTC
Advance Waypoint (`advance-wp.lua`) allows for advancing the current mission way… point via an RC switch. When the RC switch state is high, the mission waypoint is advanced to the next waypoint (wraps back to WP 1 if the end of the mission is reached).
PR is an evolution of the helper script from [this discussion](https://discuss.ardupilot.org/t/scripted-magfit-flightpath-generation/97536).
Adds configurable parameters and optional features for relocating waypoints using the vehicle (or an ArduPilot enabled survey tool, as described in the markdown).
UTC0913
ArduPilot:master ← tridge:pr-AHRS_CINS
opened 04:51AM - 24 Aug 23 UTC
This is the ANU CINS estimator worked on by @patwilt and @pvangoor
This is stil… l experimental but is giving promising results in test flights
UTC0915A : We could have an autotest for this.
But hopefully CINS will not be part of EAHRS for long.
Not enabled for all boards yet, due to flash space.
There will be a talk in the conference about this.
Not tested in GPS-denied conditions.
Questionable if double-precision is beneficial.
There needs to be a separate protection for a zero-value INS reading.
It’s a struggle to fit in a lot of boards.