Dev Call April 10, 2023

Issues & Pull Requests



Attendee count (max): 13

UTC1101 - mavproxy_link: MAVProxy locks onto both sysid and compid based on heartbeat by peterbarker · Pull Request #1168 · ArduPilot/MAVProxy · GitHub

  • Lock onto both sysid and compid in MAVProxy
  • Merged

UTC1106 - mavproxy_wp: use MAV_CMD_DO_SET_MISSION_CURRENT to set waypoints by peterbarker · Pull Request #1167 · ArduPilot/MAVProxy · GitHub

  • Maybe could use the same accepts hash for whether the vehicle accepts other command
  • merged

UTC1108 - AP_Mount: Add clear_roi_target() function by sypaq-nexton · Pull Request #23265 · ArduPilot/ardupilot · GitHub

  • Adds clear-roi-target command with target 0,0,0
  • Merged!

UTC1111 - waf: per library C and C++ flags support by tridge · Pull Request #23288 · ArduPilot/ardupilot · GitHub

  • Per-library C and C++ flags example
  • No change in DDS now
  • Merge-on-ci-pass

UTC1112 - AP_Motors: Tricopter: rework yaw servo defaulting, remove yaw from mix if no servo is setup by IamPete1 · Pull Request #23355 · ArduPilot/ardupilot · GitHub

  • Tricopter yaw servo cleanup gain
  • Add_motor_num takes care of the defaulting so the problem we thought about last week isn’t a problem
  • Merged

UTC1113 - AP_Arming: AP_Arming ensures mission items present when in auto mode by peterbarker · Pull Request #23409 · ArduPilot/ardupilot · GitHub

  • Prearm checks for mission present when arming in auto
  • A few minor re-works but can be merged after that

UTC1116 - Move Estop prearm up into Arming and add exception by Hwurzburg · Pull Request #23415 · ArduPilot/ardupilot · GitHub

  • Move e-stop prearming check up
  • Henry uses this option on every vehicle
    • stops you disarm in mid-air, e-stopping you instead
  • This PR Adds an exception so you
  • The switch is ignored for arming purposes after this PR (i.e. just because you are e-stopped you can still arm
  • merged!

UTC1123 - AP_Camera/AP_Scripting/AP_Mount: allow scripts to control camera and implement driver by rmackay9 · Pull Request #23423 · ArduPilot/ardupilot · GitHub

  • Allow scripts to control camera
    • E.g. take photo
    • No way for a driver to say, “yes I took a picture”
  • Why this not tuple?
    • Some debate about flash costs
  • Structure will change soon…. We haven’t released so that’s OK.
  • Maybe a special way to get data out of this user-data structure?
  • Need a semaphore to protect the data structure?

UTC1136 - Plane: correct compilation when AP_Rally disabled by peterbarker · Pull Request #23426 · ArduPilot/ardupilot · GitHub

  • Correct Plane compilation when rally disabled
  • Merged!

UTC1136 - KDECAN re-write for CANSensor by magicrub · Pull Request #23238 · ArduPilot/ardupilot · GitHub

  • Simulator?
    • No
  • Enabled KDECAN in periph
    • Translator periph!
  • CANTester has been removed
  • No parameter conversion
    • Could be a problem for dynamic harmonic notch filter
    • Num_poles will need to be reset for those using that parameter!
  • Not returning a reference from get_periph is interesting
    • Getting a copy of things
  • Return nullptr instead….
    • Or get_protocol
  • Is_motor change might not be good
  • This would stop forward ICE engines
    • Output mask missing in KDECan now
  • Changes outside kdecan are the concern - KDECAN itself is well-tested
  • No enable parameter
    • The CANManager protocol is what enables things
  • Allocations?
    • KDECAN and KDECAN-driver
      • Former always allocated, second isn’t
  • Separate masks for first and second driver?
  • Some question as to whether this works with DroneCAN on first bus and KDECan on second
  • Can now valgrind this code talking in SITL to real devices!
  • tools/scripts/ scripts
  • Would be nice to instantiate CAN escs
    • Only have GPS
  • Not under autotest ATM but would be nice

UTC0001 - Add SpeedyBeeF405WING by Hwurzburg · Pull Request #23428 · ArduPilot/ardupilot · GitHub

  • Add SpeedyBeefF405-Wing
  • Customer’s tested, Henry’s tested
  • Seems to be working
  • Merged!
  • Need to choose one of defaults.parm or hwdef define!
    • Rcin wasn’t working so they added 23 into defaults.parm
  • Atomrc navi Henry had trouble with
    • Removing Defaults in hwdef seemed to be saving bytes
  • Defaults.parm has an issue in that the defaults is a linked list at runtime
  • Tridge would prefer things in the hwdef
    • Defaultsparm isn’t error checked
    • Better logical grouping

UTC0020 - DroneCAN: rename drivers and defines by tridge · Pull Request #23431 · ArduPilot/ardupilot · GitHub

  • Get rid of most of the UAVCAN naming
  • DroneCAN is the name!
  • The protocol messages include uavcan namespace
  • No parameter name changes
    • UC vs DC?
  • Generated code
    • Except for one patch
  • merged!

UTC0031 - Use AP_BEACON_ENABLED everywhere, remove BEACON_ENABLED by peterbarker · Pull Request #23439 · ArduPilot/ardupilot · GitHub

  • Use AP_BEACON everywhere
  • Change from (void) to #if and merge

UTC0035 - AP_Airspeed: reuse airspeed backend contructor in more backends by peterbarker · Pull Request #23440 · ArduPilot/ardupilot · GitHub

  • Re-use base backend constructor for AP_Airspeed backends
  • Merge on ci pass

UTC0037 - Plane update

  • Not much to say
  • Andy and Tridge need to get synchronized aerobatics merged!
  • Didn’t get to 4.4 beta this call

UTC0039 - Copter update

UTC0041 - Rover update

  • Need to get the stable ready for this!

UTC0041 - GSoC

  • Proposals are in!
  • Mentors need to check the proposals!

UTC0042 - RTL speed doesn’t work?

  • Leonard’s looking at it

UTC0044 - p.s.

  • Defaults.parm goes onto the end of binary rather than into the ROMFS!
  • 1kB of space allocated for params on end of binary
  • Can we recover this 1kB?
  • Remove the feature from minimized boards?
  • Got a kB of space
  • 1MB is 1kB 2MB boards is 8kB
  • Auto-size to defaults.parm?
  • Apj tool was only way of adding parameters to builds
    • Should be using defaults.parm in-tree now-adays
    • Should we remove apj_tool?
      • Or do some auto-sizing?
      • Or enable it and you have to turn it on
      • Need to know if vendors are using the apj-tool to fiddle parameters when shipping master, that sort of thing
      • Could remove the feature completely on 1MB boards
  • Defaults.parm is really supposed to be for vendor customisations rather than base-board-builds
    • Henry will look at changing the LED setups

UTC0103 - close