Dev Call April 18, 2022

Issues & Pull Requests


Copter & Rover


Attendee count (max): 16

UTC1100 - compass per-instance parameters

  • Failing CI
    • AP_Periph GPS is too big on old compiler
    • One compass costs more flash, more than one saves flash
    • New compiler is fine
  • Nobody sees why we should keep the older compiler in CI
  • PH will put together a PR to disable it

UTC1104 - Copter/Global: Console output can be disabled by muramura · Pull Request #20340 · ArduPilot/ardupilot · GitHub

  • DEV_PRINTF in place of console->printf
  • Flow control in sys/uarts.txt would be good
  • Tridge doesn’t want them to compile them out
  • Only see these on error usually
  • Tridge doesn’t want to get rid of them globally
  • DEV_PRINTF macro is harmless if it produces same result
  • Removing them needs case-by-case basis
  • Don’t want to worry people too much over trivialities
  • Someone is going to have to do a hundred at a time
  • This is bulk flash savings - 4kB at least
  • Doing the maco change is a reasonable start

UTC1118 - AP_Motors: Add a seprate spool down time, if it's 0 use spool up time by WickedShell · Pull Request #20356 · ArduPilot/ardupilot · GitHub

  • Use different spoolup/spooldown times on quadplanes
  • So avoid desync on startup but move from idle to stop fast
  • Needs to check which way we’re going when going to idle
  • Little more work but it’s close

UTC1123 - AP_AHRS_DCM: fix normalization reset by hendjoshsr71 · Pull Request #20475 · ArduPilot/ardupilot · GitHub

  • Dcm normalization comment added to say the 10 is probably wrong but we need evidence to fix it

UTC1128 - AP_Periph: updated peripheral bootloaders by tridge · Pull Request #20505 · ArduPilot/ardupilot · GitHub

  • Bootloader update
  • Merged

UTC1128 - AP_HAL: remove BRD_PWM_COUNT reference by yuri-rage · Pull Request #20517 · ArduPilot/ardupilot · GitHub

  • Remove reference to BRD_PWM_COUNT
  • Too many commits
  • Two developers already tried to fix it for the new dev but can’t push to the branch

UTC1129 - Enable two full harmonic notch filters by tridge · Pull Request #20521 · ArduPilot/ardupilot · GitHub

  • Harmonic notch filter fixes.
  • INS notch turned into harmonic notch but without full capabilities of harmonic notch
  • Bit of a hack
  • Missed it when merging
  • Tridge created a proper parameter conversion
  • Fixed notch would be broken when moving to 4.2 from 4.1
  • This makes it two harmonic notch filters
  • Maybe not a candidate for 4.2.0?
    • But 4.2.1
  • Different KV motors front and back? This can support that
  • Vtol and petrol motors - can have a harmonic notch on both
  • Large but relatively mechanical change
  • Values of hidden parameters were being used
    • I.e. feature disabled but using those params anyway
    • But values can affect behaviour of the code
  • Saves 228 bytes on Plane on Matekf405
    • Mainly removes indirections
  • Parameter conversion code will go into 4.2.0
  • merged

UTC1133 - SITL: JSON: add more keywords to define a vehicle by IamPete1 · Pull Request #20529 · ArduPilot/ardupilot · GitHub

  • Add more keywords to describe a vehicle
  • Allows specification of moments of inertia
  • merged

UTC1144 - AP_AHRS: View: return invalid rotation if pitch trim is set by IamPete1 · Pull Request #20533 · ArduPilot/ardupilot · GitHub

  • Trim incorrect for tailsitters without pitch offset
  • Rotation + trim…
  • Get_rotation_and_trim?

UTC1152 - Copter: move rangefinder state to surface distance libbary by IamPete1 · Pull Request #20535 · ArduPilot/ardupilot · GitHub

  • Move Copter filtering up so it can be used in Plane
  • Tailsitter landing doesn’t work so well
  • How does this interact with Plane’s existing RangeFinder filtering?
    • Hasn’t been looked at
    • Tridge has a rangefinder complementary filter he should get ready
  • Wrapper class with params would be good
  • Need to make sure dropouts are handled correctly

UTC1157 - AP_Logger: must set default fd = -1 by xianglunkai · Pull Request #20540 · ArduPilot/ardupilot · GitHub

  • File descriptor zero being closed inadvertently
  • Merged

UTC1159 - Plane: add Q_OPTION for RTL always on VTOL RC failsafe for ship landing by Hwurzburg · Pull Request #20509 · ArduPilot/ardupilot · GitHub

  • Plane: add Q_OPTION for RTL always on VTOL RC failsafe for ship landing
  • If you get an RC failsafe in vtol mode it will go around an do ship landing appropriately
  • Comments need fixing

UTC0003 - Plane: remove support for alt wait by IamPete1 · Pull Request #20548 · ArduPilot/ardupilot · GitHub

  • Actively being used
  • Alt-wait
  • Needs the one user on the planet to actually move off using it
  • Add option for LUA script to take on responsibility for a mission item?
    • Would still cost us flash to pack/unpack into storage
  • This is for dropping gliders from a very long way up
  • Have to have the LUA script before we can remove this

UTC0008 - AP_Logger: fixed log listing with gap, and EKF error on log list by tridge · Pull Request #20555 · ArduPilot/ardupilot · GitHub

  • Fixes two issues
    • Upset EKF
    • Reset ESCs
  • Peter will look at aftercall

UTC0014 - Rover: stop using distance_cm method on rangefinder by peterbarker · Pull Request #20560 · ArduPilot/ardupilot · GitHub

  • Tests for Rover horizontal rangefinder
    • And change that to use distance in m rather than cm
  • Merged

UTC0027 - Plane: stable 4.2.0 issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane updates
  • Found problem with zero-watchdog in omnibusf4pro
    • Probably an issue in d-shot
    • May affect 4.1 also
  • QRTL error
  • Stop flying away in avoidance recover
    • Tridge needs to look at
  • A few small things for 4.2

UTC0029 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

    • DO_SET_SERVO stops working?!
    • The servo x function default is still zero which breaks things now
    • Users have to set to -1
    • Should they get an arming failure if they don’t set things correctly?
    • Lots of users are having issues with it
    • Default setup on CubeOrange used to specify pin as two functions
      • But BRD_PWM_COUNT kinda made things work
    • Can’t default it or we might disable people’s parachute release
    • Message length in mission planner means have to keep the message short
    • Just document our way out of it?
    • Might be able to do better on the RPM pin
    • Still some nasty stuff on some Linux boards in terms of defaults
    • Randy will look at it
  • Still lost memory between 4.1 and 4.2 by ~4kB
    • Baseline memory usage increase
    • Probably not a single patch
    • Second CAN driver uses twice the memory?
      • Depends on how you allocate things
  • OSD: hide parameters correctly on var_info2 by tridge · Pull Request #18533 · ArduPilot/ardupilot · GitHub
    • Parameter hide issues
  • Compass learning on Copter basically worked
    • Might be taking a little longer
      • Most people don’t use off-diags and scale factors
        • Magfit is definitely the best way of doing things
      • COMPASS_LEARN=3 should be good on 4.2 for Copters
  • Dance needed for rotations
  • Compass_lean should be able to get orientation
  • GSF takes about 3 seconds to determine yaw
    • Takeoffs where vehicle was above plate in ground causing temporary but significant incorrect heading at takeoff
      • GSF wasn’t fast enough…
    • All-but-one-agreeing sometimes happens
    • Limit lean angle based on GSF innovations?
    • Control innovations?
      • Control failsafe?
      • Position controller should be able to say we’re not achieving what we want to
      • Maybe correlating poscon and ekf innov would let you tell difference between wind and estimation problems?
      • Poscontrol failsafe does non-GPS-land?

UTC0009 - GSoC

  • Near end of submission period
    • Less than 24 hours to go?
  • Wording around new contributors is worrying
  • Way too many Rover submissions…

UTC0015 - close