Dev Call April 25, 2022

Development Team
1

Issues & Pull Requests

Plane

Copter & Rover

GSOC

2

Attendee count (max): 18

UTC1100 - Compass: per instance params take 2 by IamPete1 · Pull Request #19490 · ArduPilot/ardupilot · GitHub

  • Compass per instance params (again)
  • Do we have an issue when users go from 4.3 back to a 4.2?
  • Compass priority params might be OK
  • Sort by priority IDs…
  • Maybe should move all compass parameters up to AP_Vehicle?
    • CubeBlack, 3 compasses, 16kB of storage
      • Short on space?
      • Need to check space before/after, so what the parameter conversion cost is
        • 200 to 250 bytes to do the conversion?
    • Need a plan if we run people out of storage
    • Moving as part of this change makes sense otherwise we’ll definitely cost ourselves vast amounts of storage!
  • General storage solutions?
    • Reduce waypoints, add more param storage space?
      • upgrade/downgrade issues….
        • Storing in extra space then shrunk it again?

UTC1124 - Copter: improve shaping of rate controlled axes by bnsgeyer · Pull Request #20307 · ArduPilot/ardupilot · GitHub

  • Improve shaping of rate-controlled axes in Copter
  • Also in Plane and Sub
  • 9:25 AM Peter Hall: The set calls are way better than having it on every input call.
  • Maybe move them into the attitude control library?
    • So they become Q_A_ parameters
  • Multiple instantiations of a new class, one for pilot one for acro?
  • Problem with incremental approach is that more and more parameter conversion enters the code
  • If moving pilot params we should take the advantage of the opportunity to move to SI units.
  • Prevents getting bad AHRS trim with Q_TRIM_PITCH set, gives warning rather than silently getting a bad trim
  • Merged
  • More useful warnings about GPIO and servo output pin conflicts.
  • Resolving some pain points following the removal of BRD_PWM_COUNT

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Large gap where Peter didn’t have connectivity

UTC0028 - AP_Scripting: support true aliases by IamPete1 · Pull Request #20612 · ArduPilot/ardupilot · GitHub

  • Proper AP_Scripting aliases
  • Rather than the renames we did have

UTC0028 - Relay log by Hwurzburg · Pull Request #20616 · ArduPilot/ardupilot · GitHub

  • Add logging for relays
  • Excludes activation when SIM_ON_HARDWARE
  • Flooding protection good?
    • Drop to 10ms rather than 100ms

UTC0038 - Plane: stable 4.2.0 issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane stable
  • Beta6 coming…
  • uBlox 1.3 firmware still needs help
    • Probably 4.2.1
      • Need to get stuff out there!

UTC0041 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

  • Copter update
  • ModalAI Voxel problem
    • Voxel system itself reporting it is upside down?
    • Tridge doesn’t have one of these any more
  • AP_Button internal error / ISR flood
    • Floating pin?
    • Don’t attach interrupts to floating pins….
  • CubeOrange
    • Bidirectional buffer might be screwing things up?
      • Buffer has to guess which one you’re doing, input or output
  • Vision position estimates from internal origin rather than the global origin
    • Pushes into buffer with public origin, pulls from buffer and then corrects it
    • This all looks right, but Randy willtest in SITL
  • Vibration failsafe triggering in acro much more easily than it did in RC3
    • Beta3 worked great, rc1 not so much
    • The z-bias fix is being pointed at
      • Somehow relying on the bug to avoid the vibration failsafe
    • Maybe we need some way to disable the vibration compensation?
    • Don’t trigger vibration compensation if you’re in Acro mode?
    • So only trigger if it will matter to the current flight mode?
      • “Is the vertical position controller running?”
    • Assumption about what the vehicle’s doing in Acro
  • Low vibration impossible in a high performance vehicle?
    • Not just acro, but also stab with high throttle
    • Vibration compensation will trigger on normal flight on vehicle
    • High rotation rates will do it
      • maneuvarability
  • Callisto?
    • roll/pitch rates mean you won’t see these effects
  • Will disable in acro
  • Should it be disabled in stab?
    • Not for now?
    • has_manual_throttle()?
    • Arguments against is that if you’re disturbed
    • Don’t turn on if they’re demanding huge rates?
    • Need less talent to throw things around in stabilize…
  • Slow MP parameter download
    • Michael’s found the issue
      • New beta coming out

UTC0122 - Add PARAMETER CONVERSION comments by peterbarker · Pull Request #20623 · ArduPilot/ardupilot · GitHub

  • Can be merged on pass
  • Adds parameter conversion dates

UTC0125 - close