Dev Call April 24, 2023

Issues & Pull Requests

Plane

Copter

  • to kick you back into auto

  • Set mode when in mode auto will probably do nothing

  • Short failsafes revert modes which is useful

UTC0002 - AP_DDS: Local Pose Publisher by pedro-fuoco · Pull Request #23480 · ArduPilot/ardupilot · GitHub

  • MergeOnCIPass
  • Local pose publisher

UTC0003 - Plane 4.4 add SpeedyBeeF405Wing by Hwurzburg · Pull Request #23495 · ArduPilot/ardupilot · GitHub

  • Speedybeeff405-wing
  • Merged!

UTC0004 - Plane: use dedicated quadplane function for stick mixing enable by IamPete1 · Pull Request #23513 · ArduPilot/ardupilot · GitHub

  • Dedicated function stick-mixing-enable for quadplane
  • Merged!

UTC0007 - make default FW approach land speed the same as Qplane by Hwurzburg · Pull Request #23531 · ArduPilot/ardupilot · GitHub

  • Make default fixed-wing approach land speed the same as quadplane
  • TECS_LAND_ARSPD=-1 means it will use a speed half-way between trim airspeed and airspeed_min
  • Overshoot problems?
    • Big quadplanes take a long time to slow down
      • Many hundreds of metres
        • Particularly if also descending
    • Lower speed
  • Spiral landing might have a slower approach after this?
  • Check for mode rtl method is incorrect
    • When doing long qrtl you slow down
  • This will be back

UTC0021 - Remove bootloader flashing code if we're not embedding the bootloader by peterbarker · Pull Request #23536 · ArduPilot/ardupilot · GitHub

  • Remove extra code when we’re removing bootloader flashing code
  • Short on RAM means we can’t decompress stuff at runtime
  • Can be merged after canmanager include removed

UTC0027 - Plane: fix error in Qplane wait for rudder neutral by Hwurzburg · Pull Request #23551 · ArduPilot/ardupilot · GitHub

  • Bugfix for wait-for-rudder-neuatral
  • Needs to come back into 4.4

UTC0028 - AP_Notify: fix incorrect buzzer pin type to stop always instantiating by Hwurzburg · Pull Request #23562 · ArduPilot/ardupilot · GitHub

  • Fix incorrect buzzer pin type to stop always instantiating
  • Running CPU cycles any time you get a notify….
  • Candidate for back-port

UTC0029 - ESP32 classic fixes and a new board by davidbuzz · Pull Request #23569 · ArduPilot/ardupilot · GitHub

  • Fix esp32 classic
  • Why the double maths thing?
    • There’s a separate define which says whether you’re generally doing double maths
    • There’s HAL_ HAVE_HARDWARE_DOUBLE
    • ALLOW_DOUBLE_MATHS just says this file can do double-precision
      • Forces people to use sinf etc normally
    • We should probably find a compiler to whitelist the ESP32 build on
    • Would be nice to get output of cpuinfo
      • Output-f405 etc etc
      • –target cpuinfo

UTC0042 - Mount: support GIMBAL_MANAGER_INFORMATION message by rmackay9 · Pull Request #23587 · ArduPilot/ardupilot · GitHub

  • Support GIMBAL_MANAGER_INFORMATION
  • MergeOnCIPass

UTC0046 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane update

  • No significant quadplane testing done as tridge’s supply is low

  • A 4.4 issue was found on testing yesterday, Paul’s been given a Replay log

  • No error reports on 4.4 so far

UTC0048 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

  • Only 1 or 2 reports\
  • Yaapu telemetry is saying second battery is erroring when it doesn’t actually exist
  • A number of positive comments as well
  • RTL speed problem’s partially resolved
    • Allow multiple ways of target speed to be changed
      • Do_change_speed or wpnav_speed or rtl_speed
      • If you update wpnav_speed your vehicle speed would change
        • Still thinking about the polling of parameters to change speeds
  • Backport of LOG_DISARMED=3 to 4.4 might happen
    • It’s now a candidate
    • So people can log replay all the time
    • 20% to 30% on Plane
    • More on Copter because of the lack of PID logging by default
      • Should we change the default to 65535
        • Because we often have to go back to the users to do another flight with PID logging on
        • Need to set smax to non-zero
          • Most important to see is the slew-rates
      • Can we get rid of RMS logging?
        • It can help you differentiate P and D
      • RATE?
    • SRATE is cool
      • Default 50 in Plane is essentially unlimited
      • But it means we get it logged
      • Maybe we should default it on in Copter too?
      • Always log it even if we’re not using it?
      • Leonard isn’t convinced state is useful on quadcopters
        • Never seen position controller oscillation
      • It might save your vehicle if you fat-finger a tuning value
    • Might play again to log without actually having a maximum value

UTC0114 - Rover beta

  • SCurves?
    • Fixing of position controller is the issue
    • Randy’s looking at it
    • Randy’s also working on Rover autotune

UTC0115 - modules: restore COLCON_IGNORE by srmainwaring · Pull Request #23574 · ArduPilot/ardupilot · GitHub

  • COLCON ignore files
  • MergeOnCIPass

UTC0119 - Crash Dump analysis tutorial straight after call

UTC0119 - Copter: parameterize rotation rate for flip mode by bnsgeyer · Pull Request #23578 · ArduPilot/ardupilot · GitHub

  • Paramterize flip-mode rate for flip mode for Copter
    • Problems on Helis because of max rotation rate
  • This just adds a parameter to set a requested date
  • Tridge has a PR which adds parameters for flip mode
  • Leonard will have a look

UTC0126 - Move NTF_LED_TYPES to hwdef, rename to new pattern, fix line endings in Sierra autopilots hwdefs by Hwurzburg · Pull Request #23589 · ArduPilot/ardupilot · GitHub

  • Move NTF_LED_TYPES to hwdef, rename to new pattern, fix line endings
  • Need to know if it has been tested on at least one board

UTC0128 - build: require gcc 10.2.x or later for ChibiOS builds by tridge · Pull Request #23571 · ArduPilot/ardupilot · GitHub

  • Now an error to try to build with gcc 6
  • 10.2 is now required
  • Will error off if you are not using the newer compiler
  • Merged!
  • This is a 4.5 change
  • ESP board might end up being the weakest link…
    • Need to fix the type-punning in LORD
      • Will make the DDS library much happier

UTC0129 - Pr/externalahrs config by peterbarker · Pull Request #23588 · ArduPilot/ardupilot · GitHub

  • Add backend options for external AHRS
  • Fiddle the Macros.h change a bit then an merge

UTC0144 - close