Andrew: Likely needs a special case where the two get_altitude_distance() arguments have the same frame. Peter: I’m pretty sure it would still work. A: George, does your test fail on master? George: Yes, it does. A: Okay, merging your PR to my PR.
A: If you don’t have terrain data, it will put alt offset = 0. It’s not wrong, but not entirely right. Better yet, it should mark a “pending tarrain” request or something similar. Randy: In copter we would have a terrain failsafe. Although in the case of RTL, it would not help at all. Thankfully we nave had an ocurrence.
In general in Copter if we can’t do something, we don’t try our best; we just give up.
UTC0730
A: It’s semantics, but SPI is allready full duplex. A rename to a more accurate name would be nice.
Andy, I see you added a comment in AP_HAL.
The change gets rid of a lot of stack allocation calls, improving performance. Nice.
What testing has been done?
Andy: NONE!!!
A: It would be nice to choose a more descriptive name for the methods.
Left some requests.
I’d like to see testing on at least one Invensense v2 and v3 in ChibiOS.
UTC0742
P: Isn’t this useful for 2D PIDs? R: We’re looking to save space and I’ve never heard of anybody using this. A: I agree that we can remove it.
Merged!
UTC0748
A: If we merge this we’ll run out of space in many vehicles.
Of course you can merge it without getting built by default.
Pending a coding pattern change.
Andy: Is it time to compile with -Os across the board? A: Perhaps for 4.7 it’s time to do it.
UTC0758
P: I’d like to ensure that AP_PolyFence_Loader::write_fence(), which runs on the main thread, doesn’t have a chance to block for a long time.
Okay, I’m convinced. Let’s test it.
UTC0812
Asked for a few little changes, and then good to merge.
UTC0827
A: Needs to pass CI and we need to flight-test this.
UTC0858
A: This is a PR to fix an issue where in quadplane, when flying fast, falling and switching into QLOITER, the position controller tries to gain altitude quickly. But in the process it gives low priority to attitude control and consequently doesn’t arrest horizontal velocity for a very long distance.
Merged!
UTC0802
A: Needs Randy’s review.
UTC0804
Merged!
Updated on the 4.6 release:
Still some issues on 4.6.
AM32 passthrough
Quadplane fast attitude recovery.
Autodeploy landing
And we’re still finding issues.
2-3 weeks more for sure.
New beta will be out on the next few days.