Georacer
(George Zogopoulos)
January 15, 2025, 8:56am
1
Attendees (max) : 8
Plane maintainers not present in the call, so can’t merge Plane PRs.
ArduPilot:master
← Georacer:pr/log_des_pitch_float
opened 12:30PM - 14 Jan 25 UTC
Alternative to https://github.com/ArduPilot/ardupilot/pull/28991
It converts … `Plane::demanded_pitch_cd` into a `float`, and can thus save a lot of headache: It is no longer necessary to have a second variable to track the value validity.
Still tested to work in SITL, by changing MANUAL->FBWA->MANUAL.
UTC0701
Peter : Looks good to me. We need Andrew or Pete to review it.
ArduPilot:master
← Georacer:pr/log_des_pitch_float
opened 12:30PM - 14 Jan 25 UTC
Alternative to https://github.com/ArduPilot/ardupilot/pull/28991
It converts … `Plane::demanded_pitch_cd` into a `float`, and can thus save a lot of headache: It is no longer necessary to have a second variable to track the value validity.
Still tested to work in SITL, by changing MANUAL->FBWA->MANUAL.
UTC0712
P : Deprecates the old BATTERY2 MAVLink message. We now have the indexed BATTERY_STATUS message.
Matt : Approved.
ArduPilot:master
← andyp1per:pr-rcmap-reverse
opened 05:51PM - 13 Jan 25 UTC
This fixes a long standing bug, where TX stick commands do not obey AP reversal … settings
UTC0717
P : get_aux_switch_pos()
and get_stick_gesture_pos()
are slightly different.
Randy : One uses reverse and the other does not.
P : One also uses limits.
Yeah, it’s AUX_SWITCH_PWM_TRIGGER_LOW
vs AUX_PWM_TRIGGER_LOW
.
It should be something like STICK_GESTURE_TRIGGER_LOW
.
Merged!
ArduPilot:master
← peterbarker:pr/volz-simulator
opened 05:23AM - 11 Jan 25 UTC
UTC0729
P : As an aside, currently the Volz DroneCAN message sent by Periph doesn’t contain the commanded deflection angle. So it’s hard to know what it is actually.
George : Could we switch to another servo telemetry messsage?
P : We only have the HiMark message. Which we could reuse.
M : Isn’t it possible to not introduce the FIXME on the temperature read and do it correctly instead?
P : It would make the PR huge, it doesn’t belong here.
Merged!
ArduPilot:master
← andyp1per:pr-spl06-fixes
opened 08:37PM - 01 Jan 25 UTC
Pulls in some bug fixes from betaflight to make the code more understandable.
E… nabled background updates by default (which is what the DPS310 driver does)
Uses external temperature sensor as required by the spec.
This results in much more accurate baro updates from this sensor.
UTC0746
P : No response from RadioLink. Poked him for a response.
ArduPilot:master
← peterbarker:pr/hal-chibios-remove-HAL_USE_UART-FALSE
opened 04:56AM - 06 Jan 25 UTC
this is the default
```
Board AP_Periph bootloader
Here4AP … * *
Hitec-Airspeed * *
HitecMosaic * *
f103-GPS * *
f303-GPS * *
f303-MatekGPS * *
```
(adjusted results to include bootloader results)
UTC0748
ArduPilot:master
← bugobliterator:pr-bridge-option-mcast
opened 04:03AM - 20 Dec 24 UTC
* Bridging between mcast CAN and HW CAN needs to be turned off by default. The r… eason is if there are more than 2 devices on the same HW CAN and Ethernet network that will cause network loops and potentially choke the CAN bus.
* Bridging needs to be always turned off for Bootloaders, and in the case of AP_Periph and ardupilot, it should be enabled by the user.
Changes done:
* Change option name from CAN1_MCAST_GATEWAY to CAN1_MCAST_ENDPOINT in NET_OPTIONS.
* Adds another option CAN1_MCAST_BRIDGED to enable bridging between MCAST and Hw CAN.
* Bridging option can be changed and will take effect on the same run, reboot is not required.
UTC0749
This group isn’t qualified to review network stuff. Needs Tridge to review it.
opened 01:00AM - 16 Dec 24 UTC
BUG
DevCallEU
## Bug report
**Issue details**
Servos go to full deflection on boot some … times and it damages hardware. @andyp1per has already created a fix that I have tested some and it appears to solve the issue. The code just needs to be merged I think so Matek H743 users can go to new versions of ardupilot.
**Version**
4.3.7 through 4.5.7 at least. I assume all previous versions
**Platform**
[x] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine
**Airframe type**
I discovered this on a Traditional Helicopter.
**Hardware type**
Matek H743 Mini
**Logs**
Previous discussion: https://discuss.ardupilot.org/t/servos-some-times-go-crazy-on-start-up/98641/56
Fix already created by @andyp1per that I have tested some already. Seems to fix the issue.
Please add @andyp1per's code to regular ardupilot code so I can use new versions of ardupilot. It looks like just a few lines so I hope this is a pretty simple fix.
UTC0752
Andy : There was a discussion last time regarding whether this PR needs to go in, or a hardware fix is prefrred. But we need Tridge.
ArduPilot:master
← andyp1per:pr-littlefs-flash-v3
opened 08:23PM - 24 Nov 24 UTC
This completely replaces the flash based support, including logging with a littl… efs backend. This results in much more reliable FS access as well as support for things like scripting.
With thanks to @ntamas for the original code
UTC0754
P : Why are some boards getting different size increases?
A : It depends on what new library is getting pulled in, along with LittleFS.
P : But the size difference can’t be scripting (that’s ~200kB). So what’s new?
A : Perhaps it’s terrain?
P : No, that’s not in there.
R : Does the flash chip get more worn out with LittleFS?
A : There’s a lot of wear already with logging. LittleFS introduces some wear levelling.
P : Would be nice to let people use that upon flashing this they’ll lose their logs.
We’d need Tridge before we merge this.
ArduPilot:master
← dakejahl:pr-compass_iis2mdc
opened 02:01AM - 13 Nov 24 UTC
Adds a driver for the ST IIS2MDC magnetometer
https://www.st.com/resource/en/da… tasheet/iis2mdc.pdf
UTC0808
P : It’s a bit unwieldy that we can’t deprecate I2C compass drivers any time soon. So new ones accrue. At least we can put them behind the custom build system.
ArduPilot:master
← MattKear:pr_heli_autorotation_restructure_mode
opened 12:25AM - 24 Sep 24 UTC
This PR is the next step in bringing on the autorotation flight mode. It builds… on the work done in #27786 and is dependant upon it. Hence, the diff looks very large at the moment.
The following changes have been made:
- A much needed re-structure to move more of the code out of the mode and down into the autorotation library
- Add pre-arm checks specific to the autorotation mode
- Improvement of the speed controller by moving to a full PID instead of just P and FF. Also, the accel limiting that I had previously implemented was a bit weird, so I have improved that.
- Move from a stabilise style control where pilot has to do both yaw and roll control, to a lateral acceleration controller, whereby pilot requests a lateral accel component and the controller figures out the roll angle and yaw rate needed to do a co-ordinated turn.
Testing has been in Real flight only.
The majority of this PR is still behind the SITL only wall.
**Special attention should be paid to the changes in AP_MotorsHeli_Single, _Dual & _Quad** whereby I have slightly modified the way we detect the collective is on land col min. A modification to the autorotation auto test highlighted that this flag was not tripping when collective was being constrained to land col min. **This bit is not SITL only**
UTC0811
[Various small coding improvement comments.]
ArduPilot:master
← peterbarker:pr/periph-must-define-gps-to-1-or-0
opened 05:49AM - 17 Sep 24 UTC
UTC0842
Needs Tridge to approve.
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.
On my fast rate copter with 2x ICM42688 running at 16Mhz or so I get:
Before:
```
idle PRI= 1 sp=0x3001F668 STACK= 296/ 504 LOAD= 4.7%
SPI1 PRI=181 sp=0x20003538 STACK= 848/1464 LOAD=17.7%
SPI4 PRI=181 sp=0x20003B50 STACK= 848/1464 LOAD=16.3%
```
After:
```
idle PRI= 1 sp=0x3001F670 STACK= 296/ 504 LOAD=12.8%
SPI1 PRI=181 sp=0x30021838 STACK= 816/1464 LOAD=19.1%
SPI4 PRI=181 sp=0x20002720 STACK= 824/1464 LOAD= 8.3%*
```
Which is the difference between on the edge and comfortable
With @bugobliterator 's SPI PR https://github.com/ArduPilot/ardupilot/pull/28093 I get further benefit:
```
idle PRI= 1 sp=0x3001F670 STACK= 296/ 504 LOAD=15.4%
SPI1 PRI=181 sp=0x30022188 STACK= 816/1464 LOAD=15.9%
SPI4 PRI=181 sp=0x30021B70 STACK= 824/1464 LOAD= 7.6%*
```
UTC0844
Andy has some new comments to address.
Needs Tridge to approve.
[Discussion on potentially re-working the airspeed library to handle 3D airspeed vectors and AoA/AoS]
xfacta
(Shawn)
January 15, 2025, 1:54pm
2
Alright, who let Tridge take time off? Did he get an approved PR for that?