Issues & Pull Requests
General
- firmware download handling (new manifest code)
GSOC
Tracker
Plane
Copter
Rover
Issues & Pull Requests
General
GSOC
Tracker
Plane
Copter
Rover
Attendee count (max): 17
UTC2304 - University of Maryland organ flight
UTC2307 - https://github.com/ArduPilot/ardupilot/pull/11195
Important related bugfix went in this morning
This one hasn’t been reviewed yet
Adds additional parameters for speed-scaling options
Bitmask for options
Boost for surface throws at low throttle
Changes default max gain goes from 5 to 2
Speedminspeedmax interpolates between plane and copter gains as a function of airspeed
Minimum value you can scale to (.2 / .4)
Reduces surface throws as throttle increases and tilt angle increases
All three options off by default
This seems to do other things as well
If statement based armed around outputs call
No tailsitter movement when disarmed?!
Will be fixed
Needs to be tested on real vehicles
Mostly tested in SITL
Debug code also looks a little odd
Style issues
Need to have same surface movements armed/disarmed
Intending for Peter Hall’s changes to affect quadplane?
UTC2309 - https://github.com/ArduPilot/ardupilot/pull/11110
Reinstate tailsitter roll limit
Bad rebase of the onion caused code loss?
Some sort of audit required to ensure we haven’t lost other code
Working out which commits may have been lost?
Last October?!
2,500 commits since then
192 in ArduPlane directory
Tridge will go back through the patches with any help he can muster
Servo jitter fixes
UTC2326 - https://github.com/ArduPilot/ardupilot/pull/11094
Merged!
Clang builds fixed!
UTC2330 - https://github.com/ArduPilot/ardupilot/pull/11017
Uavcan flow sensor
No Sid on call
Lots and lots and lots of patches
What’s the point of discussion here?
Randy’s keen to get this into master
Devcall was added 21 days ago
Would be nice if the patches were appropriately squashed
Devcalltopic removed
UTC2331 - https://github.com/ArduPilot/ardupilot/pull/10941
Need the signed/unsigned char thing fixes
Need to address Michael’s concern
UTC2335 - https://github.com/ArduPilot/ardupilot/pull/10443
Merged!
Was rewritten - delaying it was correct!
UTC2337 - https://github.com/ArduPilot/ardupilot/pull/10409
Merging this will let GCS authors get on with generalising their code for upload/download
[9:46 AM] (Channel) LV: IMHO We must try to push fence sooner rather than later due to several regulatory stuff coming to law soon
Hopefully get this merged this week
UTC2346 - https://github.com/ArduPilot/ardupilot/pull/10402
Would like to get this governor code merged
It’s quite mature
Lots of rsc changes are hinging on this
When RPM is unhealthy it defaults to throttle curve
New subgroup of parameters
Already being flown by a considerable number of users on 3.6 Copters
Droop-speed governor
Moves reference according to load
Electronic version of a Woodward mechanical governor like on constant speed Plane and Copter motors for years
Randy would like to review it a bit more
https://github.com/ArduPilot/ardupilot/pull/10402/files#diff-9dac2836c888bb8d5d194c71ffc2e174R163
Array size assumption needs to be fixed
Won’t have effect if vehicle is flying
Some oddities commented that should be looked at
Initialisation of variables to zero
new() / static things don’t need zeroing
[9:57 AM] To Weekly devcall: Welll… not adding new ones, rather than removing old ones
[9:57 AM] To Weekly devcall: 'though removing old ones would have prevented this discussion
Note that classic c / c++ says to zero things
UTC2348 - https://github.com/ArduPilot/ardupilot/pull/9506
Low-pass filter in Plane
Would want a reasonably high sink rate for Copter
Off by default
UTC0004 - https://github.com/ArduPilot/ardupilot/pull/11221
firmware download handling
Making changes to the way downloads are handled
Scraped out of Michael’s binary repo old stable releases
Manifest will include those
Michael is changing MP to use the manifest
Will give you a list of firmwares that match the board
Fmuv5 boards shipping with px4 bootloader
Need to coordinate with Don so QGC gets done
http://ardupilot.org/dev/docs/bootloader.html
How about just “flash_bootloader”
http://ardupilot.org/dev/docs/using-DFU-to-load-bootloader.html
Duplicated information?
Also Luis’ Bootloader on STM32 boards (PixHawk family) running Chibios
QGC allows you to flash the bootloader once an ArduPilot firmware is loaded
New bootloaders reboot a lot faster on watchdog reset
UTC0013 - lots of PRs being slowed down
On adding const
UTC0017 - CubeBlack issue
Essentially resolved with new Plane and Copter releases
HW fault
Service Bulletin issued
Baro + 2 gyros + 2 accels on isolated board we
Vibration and heating over time
Remediations
If you lose an IMU then we can fly on the internal IMU if it is high enough quality
CubeBlack adds boot checks that all sensors are there
[10:19 AM] To Weekly devcall: Should we add equivalent checks for all boards - that all your internal sensors are actually present?
Sensors vary on e.g. fmuv3
Imagine non-CubeBlack board
Maybe add “required” to the hwdef?
Manufacturers do upgrade their sensor suite
Things won’t “just work”
“Must find IMU on this chipselect line” might be a good check?
UTC0027 - GSoC update
Slots have been allocated
Google don’t want the number discussed until after their announcement
Not sure when the announcement will be
7th, apparently
A couple of days until student selections are finalised
UTC0029 - Tracker release
Good feedback received
MissionPlanner isn’t loading correct firmware
Battery issue
UTC0031 - Plane release out
Remediations for Cube issue
Marco did a nice video
Septentrino updates went in
Retries to flash storage of parameters
Reduce chance of parameter reset on F4 boards
Microsd fixes on PixHack
Fixes power flags on second power input on fmuv5 so you see both supplies
UTC0034 - Copter update
Need to do releases of Copter and Rover with latest hardware fixes
CubeBlack is already out in Copter
But follow-on changes need to go in
3.6.9rc1 later today
Rover later today too
Beta testing for a week or two
UTC0035 - navigation code
Randy’s planning on restructuring the navigation code
Navigation library at top which gives you roll/pitch
In Rover you speed controller is at top and then your navigation controller then your steering controller
UTC0036 - 3.7?
Have enough stuff to justify a 3.7 release
Randy wants to do more object avoidance stuff before 3.7
Stayout zones
Backing away from objects
Sometime in next couple of months
Bill and Chris want to do stuff on spool logic before 3.7 so Randy’s not the only hold-up
UTC0038 - Close