Attendees (max) : 8
ArduPilot:master
← tpwrules:pr/kdecan-timeout-us
opened 04:21AM - 09 Oct 24 UTC
For consistency with other parts of the code.
Turns out there is no compiler … output change (unless I change a timeout value); the compiler already does this optimization. But I already wrote the code and spent the CPU to test it... The eventual goal is to make `CANSensor::write_frame` take a 32 bit value.
```
Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub
CubeOrange-periph-heavy *
Durandal * * * * * * *
Hitec-Airspeed *
KakuteH7-bdshot * * * * * * *
MatekF405 * * * * * * *
Pixhawk1-1M-bdshot * * * * * *
f103-QiotekPeriph *
f303-Universal *
iomcu *
revo-mini * * * * * * *
skyviper-v2450 *
```
UTC0700
Thomas has been diving into CAN protocols.
Apparently the change doesn’t have byte changes.
Would be nice to make KDECAN part of the custom build server.
It’s a non-negligible flash size save.
To be merged once no size-change is verified.
ArduPilot:master
← peterbarker:pr/all-temperature-sensors-more-than-2MB
opened 01:43AM - 09 Oct 24 UTC
this includes SITL but should also include CubeRed etc
UTC0708
MergeOnCIPass
Won’t do for 4.6, as Cube Red reports >2M flash, we need a workaround for this.
Possibly via Pr/hal program size limit kb by peterbarker · Pull Request #28362 · ArduPilot/ardupilot · GitHub .
Andrew : Ensure the bootloaders aren’t affected by this.
Peter : This PR overflows some RAM regions, weirdly.
A : Ensure that RAMfuncs are placed on the first section of the map.
Too many functions are loaded in RAM and they overflow it.
Or it could be too much RAM data.
We should check an object dump and see what is there.
Andy : That particular SPRacing H730 is quite unique in that it’s the only one that’s causing trouble and is not widely used.
We could turn it into an FPV board and save feature space.
ArduPilot:master
← andyp1per:pr-neg-notch
opened 07:43PM - 04 Oct 24 UTC
UTC0730
Merged!
ArduPilot:master
← andyp1per:pr-ubx-rtcm-info
opened 03:07PM - 15 Apr 24 UTC
UTC0732
A : Would be nice to test with option not set, to prevent false positives.
Andy’s PRs on fast rate : They’ll have to wait for review until after the conference, unfortunately.
ArduPilot:master
← peterbarker:pr/ap-bitmask-stop-it
opened 01:09AM - 09 Oct 24 UTC
```
Board AP_Periph blimp bootloader copter heli iofirm… ware plane rover sub
CubeOrange-periph-heavy *
Durandal * * 16 120 * * *
Hitec-Airspeed *
KakuteH7-bdshot * * -184 -152 * * *
MatekF405 * * -120 -128 * * *
Pixhawk1-1M-bdshot * -136 -144 * * *
f103-QiotekPeriph *
f303-Universal *
iomcu *
revo-mini * * -120 -128 * * *
skyviper-v2450 -208
```
Tested in SITL by generating a simple log-disarmed log and looking at the message, and using `du32_change.py` to see bits are changing appropriately
UTC0746
P : Saves some space and should make it a lot easier to modify/remove existing flags/states.
A : There is a much more compact way to achieve the same goal, see comment.
ArduPilot:master
← menschel:fix_tecs_tkoff_igain
opened 07:26PM - 08 Oct 24 UTC
The referenced commit below did remove an is_zero() check which in my case made … a belly landing out of an auto takeoff because the parameter TECS_TKOFF_IGAIN is 0 (default) and pitch error is not corrected.
fixes: b163e139642bac450f45dfed9155009ff62ed0de (AP_TECS: Fixes to reset state )
UTC0801
A : Perhaps we need to restore the default to nonzero.
Asking the reporter to provide a log.
George : The gain is not zero, it’s using the normal IGAIN.
A : Nice. But please check again if we missed an obvious bug.
ArduPilot:master
← Georacer:pr/takeoff_idle_throttle
opened 07:12PM - 08 Oct 24 UTC
I thought I'd tackle https://github.com/ArduPilot/ardupilot/issues/20754.
A n… ew parameter `TKOFF_THR_IDLE` has been added and a new option bit 1 to `TKOFF_OPTIONS` to enable it (off by default).
In TAKEOFF and AUTO modes, while in `FlightStage::TAKEOFF` and while the throttle is suppressed, `TKOFF_THR_IDLE` is output to the throttle.
Here's how it looks like in a catapult takeoff, for `TKOFF_THR_IDLE=20`:
![image](https://github.com/user-attachments/assets/402b91f3-4cdc-40d3-8ec7-f350487681f4)
UTC0812
A : We do have this for ICE.
G : I think the reporter wants this for folding propellers.
A : The option bit is not needed, the parameter can be defaulted to zero.
ArduPilot:master
← peterbarker:pr/mode-change-assistance-evaluate
opened 10:47AM - 08 Oct 24 UTC
this avoid the AHRS being told we are flying forward - because we are no longer … in a VTOL mode - and instantly being told we are not flying forward - because we are providing assistance
The following two plots are plotting the fly-forward flag being shoved into the Replay log.
Before:
![image](https://github.com/user-attachments/assets/e8f7c928-a4f6-4680-9185-7e3cec0801cc)
After:
![image](https://github.com/user-attachments/assets/895ef927-d101-4dee-be7a-577937a05796)
This is particularly important when an external wind estimate has been supplied to the vehicle, as setting the FF flag causes EKF3 to completely nuke the wind estimates. The following graphs are from a different test where the wind estimate is set externally:
Before:
![image](https://github.com/user-attachments/assets/fcfec5dc-03d8-4ef1-bd24-1b0128e0ca64)
After:
![image](https://github.com/user-attachments/assets/b7ea005c-b0f7-4005-a3ed-963ff406df30)
... the EKF wind estimate is still suffering when the FF flag is finally set after FF is *correctly* set - but at least we have transitioned with the flag set!
UTC0815
Merged!
https://github.com/ArduPilot/ardupilot/pull/28389
UTC0823
A : Good one. Please add a backport to 4.5.7 for testing.
P : Some reformatting for legibility would be nice.
ArduPilot:master
← tridge:pr-quadplane-inverted-recovery
opened 11:46PM - 05 Oct 24 UTC
This makes recovery to level a lot faster from an upset attitude when using a Q … mode as a recovery mode. It resets the target thrust angle to be within the limits set for the vehicle, which prevents the input shaping from trying to keep the vehicle inverted
builds on https://github.com/ArduPilot/ardupilot/pull/28316
thanks to @lthall
With GriffinPro in RealFlight
![image](https://github.com/user-attachments/assets/06f02ba0-c0e1-4322-bc5c-3b1b31e98564)
without this change:
![image](https://github.com/user-attachments/assets/86bb3ba5-fd62-4c28-90fe-80dd84b6b76b)
UTC0829
A : Not happy with it yet, would like to discuss with Pete.
In the case of an inverted configuration, the current suggestion would nose down and lose a lot more height.
We might need to move towards what Paul suggested.
ArduPilot:master
← peterbarker:pr/rangefinder-over-327
opened 05:57AM - 21 Aug 24 UTC
UTC0835
A: 0xDD71C118 : eyesore of the year award!
It would be better as a string compare.
P : The checksum test is more all-encompasing.
A : Then strcmp the format and the labels.
Ah no, it won’t work because other non-related fields could have changed and we still want the conversion.