Dev Call April 11, 2022

CraigElder · April 11, 2022, 11:00pm

Conference recap

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Clarify get_pilot_desired_lean_angles and fix limit

ArduPilot:master ← lthall:20220402_pilot_desired_lean_angles

opened 12:25PM - 02 Apr 22 UTC

lthall

+140 -37

I apologise for having another go at this function so quickly. While the equatio…n in the previous PR was correct the method the maximum lean angle was limited was not. The previous code resulted in the following shape: ![image](https://user-images.githubusercontent.com/100896/161383042-3d56dd6a-4963-45c2-9101-2d6cee109bba.png) The curves are nearly correct but the maximum lean angle is reduced on the diagonals. The changes below simplify and clarify the equations further by using vector2f and now handle the limits correctly. The new limits look like this: ![image](https://user-images.githubusercontent.com/100896/161383152-79d86957-7b8e-4746-9a85-52851a227053.png) Credit to Mark Whitehorn for discovering the limit problem.

github.com/ArduPilot/ardupilot

Fix setting GIT versions from environment

ArduPilot:master ← peterbarker:pr/git-versions-from-env

opened 02:58PM - 09 Apr 22 UTC

peterbarker

+6 -5

This should fix the github workflow where normal-vehicle builds aren't the same …checksum even for absolutely-NFC PRs. With command-line: ``` reset ; rm -rf build && ./waf configure --board=Durandal && CHIBIOS_GIT_VERSION="12345678" GIT_VERSION="abcdef" GIT_VERSION_INT=15 ./waf copter && cksum build/Durandal/bin/arducopter.bin ``` Before: ``` pbarker@bluebottle:~/rc/ardupilot(master)$ cat build/Durandal/ap_version.h // auto-generated header, do not edit #pragma once #ifndef FORCE_VERSION_H_INCLUDE #error ap_version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h #endif #define GIT_VERSION "abcdef" #define GIT_VERSION_INT 2847476283 #define CHIBIOS_GIT_VERSION "12345678" ``` Note `GIT_VERSION_INT` isn't taken from the env. After: ``` pbarker@bluebottle:~/rc/ardupilot(pr/git-versions-from-env)$ cat build/Durandal/ap_version.h // auto-generated header, do not edit #pragma once #ifndef FORCE_VERSION_H_INCLUDE #error ap_version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h #endif #define GIT_VERSION "abcdef" #define GIT_VERSION_INT 15 #define CHIBIOS_GIT_VERSION "12345678" pbarker@bluebottle:~/rc/ardupilot(pr/git-versions-from-env)$ ```

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.2.0 issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [x] arming c…heck for RTL_AUTOLAND != 0 when there is a DLS in the mission #20345 - [ ] avoidance bug https://github.com/ArduPilot/ardupilot/pull/15063 - [ ] add package drop support - [ ] add fw update from microSD to bootloader - [ ] motor reversal with DShot 3D: https://discuss.ardupilot.org/t/plane-4-2-beta-release/82502/73?u=tridge - [ ] auto-config not working with F9P firmware 1.30, and MON_VER not working https://github.com/ArduPilot/ardupilot/issues/20473 - [ ] log list with a sdcard with lots of files causes long pause and EKF errors - [x] @SYS files not logged when LOG_DISARMED=0 - [x] sum battery not updating percent remaining fix: #20357 - [x] rudder disarm should not cause yaw in Q modes fix: #20363 - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] changing home using GCS while in CRUISE mode changes height - [x] re-triggering of fence when RTL_AUTOLAND=2 fix: #20360 - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [x] need fence status on MissionPlanner https://discuss.ardupilot.org/t/no-message-for-geofence-breach/82720/3 - [ ] obey primary sensors with EK3_AFFINITY - [x] rangefinder offset applied twice (#17424) - [x] ~interrupt storm with misconfigured camera (#17465)~ (not a blocker as it was caught and a misconfiguration) - [x] add API for lock-step detection to suppress panic in pos controller init check - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Pending quadplane features from Kris: - [x] When the safety switch is disabled, the Tilt servos may oscillate considerably once when connected to the battery. This causes the propeller to strike the wing and damage it. Possible solution: Move BoardConfig.init_safety() in system.cpp to run BoardConfig.init_safety() 2 seconds after init has finished. Update: fixed in #15942 - [ ] In some cases, failsafe will change the flight mode before entering failsafe, which results in the AUTO mode not continuing. Need example log Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter & Rover

github.com/ArduPilot/ardupilot

Copter/Rover: 4.2.0 issues list

opened 05:16AM - 28 Feb 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.2.0 beta testing. … For reference [Copter-4.1 issues ](https://github.com/ArduPilot/ardupilot/issues/16478), [Rover-4.1 issues](https://github.com/ArduPilot/ardupilot/issues/17116). **Reports requiring Investigation** - [ ] Copter set-attitude-target doesn't accept roll,pitch angles and yaw rate ([issue](https://github.com/ArduPilot/ardupilot/issues/20444)) - [ ] BLHeli_S not working and "all zeros" watchdog ([discussion](https://discuss.ardupilot.org/t/spontaneous-crash-possible-problem-in-4-2bdshot-daily-build-from-feb-22/83297/16), [zeroWD issue](https://github.com/ArduPilot/ardupilot/issues/20092)) - [ ] OSD Group2 Params LINK_Q Items appear even for disabled OSD screens ([issue](https://github.com/ArduPilot/ardupilot/issues/18418)) - [ ] CubeBlack not-enough-memory with CAN enabled ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/19)) **Copter** - [ ] Tradheli autotune not properly exiting rate P/rate D tuning when max allowed gains are not determined ([PR](https://github.com/ArduPilot/ardupilot/pull/20447)) **Rover Specific** - [ ] Rover watchdog reset on MatekH743-Mini-bdshot ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623)) **Enhancement Requests (may or may not be done)** - [ ] MatekF765-Wing-bdshot requested ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/12)) - [ ] [Custom Build server](https://custom.ardupilot.org/) should support building beta and stable ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta1-available-for-beta-testing/82462/7)) - [ ] Log fence locations ([discussion](https://discuss.ardupilot.org/t/no-polygone-fences-in-the-dataflash-logs/82566), [issue](https://github.com/ArduPilot/ardupilot/issues/20213)) - [ ] SBP (aka Swift) GPS driver should accept yaw ([discussion](https://discuss.ardupilot.org/t/how-to-force-gps-yaw-to-rovers-yaw/82553/2)) **Wiki improvement Requests** - [ ] Improve optical flow wiki ([discussion](https://discuss.ardupilot.org/t/how-to-test-benefits-of-optical-flow-improvements/82488)) **Resolved Items** - [x] Balance bot not standing for user with brushed motors ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/7)) -- needed to set SERVOx_FUNCTION = -1 (need better docs?) - [x] Bi-directional dshot doesn't work on Rover ([PR](https://github.com/ArduPilot/ardupilot/pull/20374)) -- fixed in beta3 - [x] landing not slowing at LAND_ALT_LOW (Randy and PeterHall have logs) -- fixed in beta3 - [x] WP_SPEED from Ch6 tuning not working? ([discussion](https://discuss.ardupilot.org/t/wpnav-speed-as-a-chan-6-tune-parameter-working/83217)) -- vehicle config issue, works. - [x] DSHOT reverse range is inverted (4.2 issue. see [issue](https://github.com/ArduPilot/ardupilot/issues/19346), [PR1](https://github.com/ArduPilot/ardupilot/pull/20349), [PR2](https://github.com/ArduPilot/ardupilot/pull/20358)) -- resolved for beta3 - [x] BLHeli passthrough not working on CubeOrange's AUX1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20362)) -- but is likely a hardware issue - [x] MinimOSD not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta2-released/82959), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4231)) -- user needs to set SERIALx_PROTOCOL = 1 - [x] BalanceBot does not stand-up in Acro mode ([discussion](https://discuss.ardupilot.org/t/rover-4-1-3-rc1-released-for-beta-testing/79751/3)) -- resolved in beta3 - [x] takeoff stuck if alt-above-home is lower than alt-above-terrain ([comment](https://github.com/ArduPilot/ardupilot/commit/fb6c3ebb729a4b428da5dd14832cd95d71709a1e#commitcomment-68370961), [issue](https://github.com/ArduPilot/ardupilot/issues/20277), [PR](https://github.com/ArduPilot/ardupilot/pull/20153), [PR2](https://github.com/ArduPilot/ardupilot/pull/20285)) -- fixed in beta2 (the problem was only ever present in master, never made it to a beta) - [x] GPS-for-yaw with DroneCan GPS not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/6), [PR](https://github.com/ArduPilot/ardupilot/pull/20249)) -- resolved in -beta2 - [x] DShot esc issue ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/8), [PR](https://github.com/ArduPilot/ardupilot/pull/20247)) -- resolved in beta2

GSOC

CraigElder · April 12, 2022, 2:43pm

Attendee count (max): 18

UTC1110 - Conference recap

Went well
Videos are up
- No fancy editing, just blatted up
  - If anyone feels like doing all the splash screens and things they’re most welcome
Need to work out what to do next year
- Stream and zoom?
- Neither?
Redundancy this year
Would be nice to get mavlink forwarding for support without a static IP address
- STUN or proxy?

UTC1111 - templates: sort included headers in msg.h.em by peterbarker · Pull Request #5 · dronecan/dronecan_dsdlc · GitHub

Consistent output from the dsdl compiler
Merged!

UTC1114 - User request: add new target: revo-mini-sd by shellixyz · Pull Request #20077 · ArduPilot/ardupilot · GitHub

Revo-mini-sd
Same as revo-mini
Merged!

UTC1117 - External flash cleanups by andyp1per · Pull Request #20411 · ArduPilot/ardupilot · GitHub

External flash cleanup
Doesn’t seem to affect other-than-extf
Merged

UTC1119 - Adding ability to use multiple notches for multiple rpm sensors by lucascheuer · Pull Request #20400 · ArduPilot/ardupilot · GitHub

Multiple notches for multiple RPM sensors
Closed PR but might be a good one?
Need to configure existing harmonic notches to use second RPM sensor
We really need to rename one of the notches to show they’re the same sort of thing
- [9:31 AM] AndrewTridgell: INS_HNTC2_ENABLE
- [9:31 AM] AndrewTridgell: INS_HNTCH_ENABLE
  - For 4.2
Parameter conversion should be OK

UTC1136 - Copter update

Rc 1 released
- Probably should’ve been beta4
Looking forward to feedback
- Copter and Rover
A few things to resolve
- Probably one more before stable gets released
Sysid for 4.2?
- Should go into the next one
Zero watchdog fix is in this one
Would be nice to have reproduced on the Kakute, but couldn’t
Maybe tryto repro on omnibusf4pro?
If we get a crash log, please ftp a copy of the crash log before reflashing the board!
- Writing to SD card automatically would seem to be a good idea?
Seems to be someone who can reproduce on omnibusf4pro-bdshot
Set_attitude_target change
- Covered by Leonard in presentation
- Need to clarify in documentation?
Blheli-s not working?
OSD group2 parameter link
Cubeblack memory?
- New version is using more memory
Rover could go out anytime, really
How much more memory is black using?
- 6kB?
- Dual-CAN and FTP….
- Are we regressing from 4.1?
  - Need numbers on this
  - Parameters have been supplied
- Need to test this
If there are bug fixes that should go into 4.2 please ping Randy
Query on visual stuff not working on 4.2?

UTC1152 - Tools: add airspeed defaults to vehicle defaults files by Hwurzburg · Pull Request #20423 · ArduPilot/ardupilot · GitHub

Add airspeed defaults to defaults files
Merged!

UTC1153 - Clarify get_pilot_desired_lean_angles and fix limit by lthall · Pull Request #20428 · ArduPilot/ardupilot · GitHub

Pilot lean angle fixes
Should be mergeable after CI passes
Change in Plane hasn’t gone into the PR?
- Multiple copies in Plane?!
Flight testing would be good….
- Marked needstesting
Shouldn’t be going past 85 degrees with this algorithm….
- Add an explicit check?
Set_control_in needs to die

UTC0001 - Matek F765 Wing bdshot by andyp1per · Pull Request #20468 · ArduPilot/ardupilot · GitHub

MatekF765 bdshot
Merged!

UTC0003 - hwdef: minimal GPS support for Flywoo boards by Hwurzburg · Pull Request #20474 · ArduPilot/ardupilot · GitHub

Minimal support for GPS boards
Missed one that needs minimal GPS thrown in
merged!

UTC0004 - AP_AHRS_DCM: fix normalization reset by hendjoshsr71 · Pull Request #20475 · ArduPilot/ardupilot · GitHub

Fix normalisation reset
What does 1,0 actually mean here?
It’s a normalised thing, so this is a sanity check that the normalisation succeeded

UTC0011 - Move logging of RPM, Beacon and Proximity into relevant libraries by peterbarker · Pull Request #20476 · ArduPilot/ardupilot · GitHub

Move logging of RPM, Beacon and Proximity over
Needs testing

UTC0021 - Remove instance id from EK2 external interface by peterbarker · Pull Request #20483 · ArduPilot/ardupilot · GitHub

Remove -1 from ekf2 interfaces
Saves a few bytes
merged

UTC0024 - AP_NavEKF3: store and use lastKnownPositionD by peterbarker · Pull Request #20484 · ArduPilot/ardupilot · GitHub

Fixed-position mode
Need Paul’s input on this
Need to fix m vs cm

UTC0029 - Add specific compile options for Volz/RobotisServo by peterbarker · Pull Request #20485 · ArduPilot/ardupilot · GitHub

Compile-options for Volz and RobotisServo
Rather than relying on AP_Periph
Merged

UTC0035 - Fix setting GIT versions from environment by peterbarker · Pull Request #20492 · ArduPilot/ardupilot · GitHub

Gate GPS backends
Build hitec mosaic
- SBF based GPS
- Make sure build size not changing
And f303-universal
And f303-gps

UTC0054 - Plane update

Adsb issue needs to be looked at
Nate’s issue really needs looking like
Mid-flight motor reversal
- 1000 degrees/second rotation
- No explanation as yet
- Interrupt flood from camera feedback pin?
New ubox firmware problems
- 1.13 to 1.30
- Configuration protocols have changed
  - Need to fix this as new GPSs might start to come with 1.3.0 firmware
  - Drastically bad
Might be able to stop statting each file on fatfs
- Posix API

UTC0108 - Pitch-based weathervaning

Need that in 4.2

UTC0110 - Tidy sending of start-sending-init-blob by peterbarker · Pull Request #20494 · ArduPilot/ardupilot · GitHub

UTC0110 - CRSF check against failsafe defaults

Lowers warning threshold on displays
merged
Should use the EKF parameter

UTC0115 - cleanups for sending GPS blob initialisation

Merged

UTC0122 - AP_Periph: updated peripheral bootloaders by tridge · Pull Request #20505 · ArduPilot/ardupilot · GitHub

Simplify building of boards