Dev Call Aug 1, 2022

Development Team
2

Attendee count (max): 24

Pre-agenda:

  • Issues with terrain
    • Defaults changed in MAVProxy
      • Being fixed
  • Network issues?
  • Changes to srtm database server?
  • Peter’s PR to cache in autotest directory should fix

UTC11100 - Hazard: Z offset due to gravimetric model EGM96 and solution to this altitude shift · Issue #4480 · ArduPilot/ardupilot_wiki · GitHub

  • We assume AMSL everywhere
  • If you need the egm96 model everything goes wrong (remoteid requires it)
  • Srtm is NOT wgs84
    • We use AMSL set
  • We don’t measure altitude using gravity?!

UTC11120 - Support VTOL_LAND options by WickedShell · Pull Request #14874 · ArduPilot/ardupilot · GitHub

  • VTOL_LAND options
  • Circle or straight-in to land
  • Mavlink submodule issue?
  • Soaring changes need to be removed

UTC1126 - hwdef: KakuteH7 bluetooth switch by chobitsfan · Pull Request #20419 · ArduPilot/ardupilot · GitHub

  • KakuteH7 Bluetooth switch
  • Mergeoncipass

UTC1126 - AP_RangeFinder: Add TeraRanger Neo Rangefinder by Hwurzburg · Pull Request #20983 · ArduPilot/ardupilot · GitHub

  • Teraranger neo
  • Henry will flight-test then we’ll merge this

UTC1130 - Airspeed Sensor Failure Handling Improvements by priseborough · Pull Request #21040 · ArduPilot/ardupilot · GitHub

  • Airspeed sensor failure handling improvements
  • Need airspeed-blockage-on-a-switch?
  • Tridge still wants to do the median stream
  • Labelled NeedsTesting

UTC1135 - Add RockBlock SBD satellite modem support by stephendade · Pull Request #21068 · ArduPilot/ardupilot · GitHub

  • Add RockBlock SBD satellite modem
  • Mavlink telem via RockBlock
  • 2.6kB of flash is a lot
  • Why is mavlink involved?
    • Why isn’t it just bytes?
    • Not a transparent serial port
    • Specific mavlink handling?
    • LUA script to take bytes and wrap AT commands around it?
    • Why does the script need to know about mavlink at all?
    • Intercept at serial port layer
    • Or a queue of messages to pass into LUA?
      • [9:43 AM] Peter Hall: less specialised in the c++ anyway. You can go crazy in the script :wink:
      • [9:45 AM] Peter Hall: Virtual serial would be useful.
      • [9:45 AM] Peter Hall: For NMEA for example.
      • [9:45 AM] Buzz: something like ?
      • uartX->pre_send(“AT xxxx”)
      • …
      • uartX->post_send(“AT xxxx”)
      • [9:45 AM] Charlie Johnson: CAN node more serial devices?
    • Need to tightly control sending data to/from modem
    • Like locking of serial ports for passthrough?
    • Stephen only wants to send the high-latency messages
    • Lua script could look at header bytes and discard
    • LUA script to be able to handle the uart buffer
    • [9:51 AM] Peter Hall: This sounds more complex than just implementing the MAVLink in lua…
    • [9:51 AM] Peter Hall: for this use case anyway.
    • [9:52 AM] Buzz: id suggest just accepting htis, and tridge’s suggestion can be for the next version.?
    • There’s a pymavlink LUA backend
  • 9:55 AM] Peter Barker: I wonder what else we could use that other “virtual uart” thingy for… where ArduPilot’s output for a uart can be read by a LUA script…
  • [9:57 AM] Buzz: @Peter Barker - it hypothetically could do arbitary mavlink-to-X lua scripts. eg mavlink-to-CSRF or mavlink-to-MSP or something, which would be nice.

UTC1155 - AP_Gripper: Servo Gipper enhancments by lthall · Pull Request #21130 · ArduPilot/ardupilot · GitHub

  • Gripper enhancements
  • At boot will go to trim setting
  • State machine needs a bit of a look at
    • PH to re-review

UTC1158 - Copter: fix take-off velocity limits by lthall · Pull Request #21131 · ArduPilot/ardupilot · GitHub

  • Adds limit to a velocity
  • Very self-contained
  • Leonard needs help proof-reading the comments

UTC0006 - HAL_ChibiOS: hwdef: add README.md for PixSurveyA1 by mfe-xiao · Pull Request #21211 · ArduPilot/ardupilot · GitHub

  • README.md for PixSurveyA1
  • Henry will squash and merge

UTC0007 - Support ICM42670 on Pixhawk6X by tridge · Pull Request #21233 · ArduPilot/ardupilot · GitHub

  • Pixhawk6x, holybro6x and icm42670
  • Compass compensation generalization
  • 42688 filtering enabled and much better light performance
  • Disable i2c DMA on H7
    • Good for boards short on DMA channels
  • Will be backported

UTC0007 - Add AUX switch to pause logging of streaming log messages by Hwurzburg · Pull Request #21269 · ArduPilot/ardupilot · GitHub

  • Log-pause on-a-switch
  • merged!

UTC0015 - NavEKF3: Option to disable logging of EKF log messages by Hwurzburg · Pull Request #21276 · ArduPilot/ardupilot · GitHub

  • Disable logging of EKF3 log messages
  • Enumeration giving a log level
  • XKF4_GSF gives normalised innovations and the GSF
  • XKF4 for just innovations
  • Could cut down on the GSF logging too
    • Don’t need things at max rate
  • merged!

UTC0021 - AP_Logger: add increment metadata to allow <1Hz logging by Hwurzburg · Pull Request #21279 · ArduPilot/ardupilot · GitHub

  • Allow <1Hz logging in documentation
  • Merged!

UTC0023 - Change logging to be designated as streaming by Hwurzburg · Pull Request #21283 · ArduPilot/ardupilot · GitHub

  • LAND is marked streaming
  • merged!

UTC0023 - Guided Mode support MAV_CMD_DO_CHANGE_SPEED by lthall · Pull Request #21286 · ArduPilot/ardupilot · GitHub

  • DO_CHANGE_SPEED in guided mode
  • Stops speeds being changed in wrong mode
  • Merged!

UTC0027 - Plane: Quadplane: add option to refuse change to FW mode at low altitude by IamPete1 · Pull Request #21289 · ArduPilot/ardupilot · GitHub

  • Refuse FW mode at low altitudes
  • Quadplane landing aborts will no longer work properly
    • The phases of landing might still allow it?
  • QRTL → RTL would be broken ATM
  • Should be restricted to just pilot-commanded changes?
  • Assumption of ground → takeoff location is bad?
  • Terrain-relative fence heights would be good
  • Plenty of ways to kill vehicles with switches….
  • This is optional
  • Refuse mode change or to a qland?
  • Is this a failsafe action?
    • Most failsafes are qland?
  • Proper interlocks on the controllers instead?
    • They may not be capable
  • Leonard thinks second-guessing the pilot is appropriate here from a manufacturer’s perspective
  • This is optional
  • Gating on launch/recovery zone
    • Rtl radius?
    • Special radius?
  • Parameter to set launch/recovery radius
  • Height-above-terrain it triggers at?
  • PH will go away and have another think about this

UTC0046 - AP_LandingGear: SITL: only set defualts is SITL pin is set avoiding enable via param conversion by IamPete1 · Pull Request #21292 · ArduPilot/ardupilot · GitHub

  • Param conversion / landing gear always enabled
  • Merged

UTC0048 - SITL: SIM_Buzzer: hide params if not WITH_SITL_TONEALARM by IamPete1 · Pull Request #21293 · ArduPilot/ardupilot · GitHub

  • Hide parameters if sitl tonealarm not set
  • Set defaults needs to be called
  • Had parameters but not code

UTC0049 - Plane: fix attitude logging logic and rates by Hwurzburg · Pull Request #21301 · ArduPilot/ardupilot · GitHub

  • Fix attitude logging logic
  • Rates were all wrong
  • No longer get IMU messages
  • Doesn’t change default behaviour
  • Merged!

UTC0052 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane update
    • 4.2.3beta PR
      • VTOL landing issues fixed
      • Overshoot bug fixed
      • UGCS ground station bug creates many waypoints as if you’d triple-clicked
        • Disastrous for landing code
        • We’ve added an arming check to try to catch this
        • If you do overshoot it handles it more gracefully
      • Airbrake tecs commanding speedup is bad
        • Also fixed
        • Approach speed, not based on distance
          • Can actually ask for speed above cruise speed
      • Turning into a large release
      • 52 patches so far
      • Pixhawk6 is the bug stuff
      • But VTOL landings too
    • Tridge would like feedback on the patchset….
    • Very close on flash space
  • 4.3 should start beta very soon
    • Randy’s on holidays
    • So start early next week?
    • If we don’t do another Copter beta we won’t get Pixhawk6 support until 4.3 is out

UTC0102 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0103 - AP_TECS: fix broken logging bitmask enable by Hwurzburg · Pull Request #21302 · ArduPilot/ardupilot · GitHub

  • Fix TECS logging bitmask enable
  • Will be merged…

UTC0106 - Plane: change CURRENT to BATT_MON in log bitmask metadata by Hwurzburg · Pull Request #21305 · ArduPilot/ardupilot · GitHub

  • Naming change from current to BATT_MON
  • Sonar is next on agenda

UTC0109 - Fix bootloader flash storage by andyp1per · Pull Request #21308 · ArduPilot/ardupilot · GitHub

  • Flash storage
  • Tridge will test

UTC0112 - autotest: Create a features.json (like manifest.json) from extract_features.py output by peterbarker · Pull Request #21315 · ArduPilot/ardupilot · GitHub

  • Create a features.json
  • If we update extract_features.json
    • All existing binaries
  • Keep the elf around instead
  • Separate script?

UTC0122 - EKF messages have out-of-order timestamps · Issue #21316 · ArduPilot/ardupilot · GitHub

  • TimUS can be out-of-order
  • Suck it up for the time bein
    • Tools need to be able to cope

UTC0123 - Plane: improve target airspeed in landing approach by tridge · Pull Request #21317 · ArduPilot/ardupilot · GitHub

  • Plane improve target airspeed in landing approach
  • Merged

UTC0123 - Tools: added build features list to extract_features.py by Hwurzburg · Pull Request #21320 · ArduPilot/ardupilot · GitHub

  • Added build features list to extract_features.py
  • Henry’s breaking out functions
  • Peter will change things to use regexes to generate the symbols to look for
  • Included features/excludes features html pages
  • stable/master versions
  • Need generators for html

UTC0125 - Tools: FilterTool: add support for PIDs and other updates. by IamPete1 · Pull Request #21322 · ArduPilot/ardupilot · GitHub

  • Add support for PIDs and other updates
  • Time or frequency
  • RPM - assumes single-bladed prop
    • Just scaling on Hz
  • Tridge will test

UTC0125 - autotest: Cache terrain data within autotest directory by peterbarker · Pull Request #21323 · ArduPilot/ardupilot · GitHub

  • Mp_elevation depends on srtm and srtm depends on
  • Stores data in ardupilot tree
  • Maybe populate tilecache just on VMs?
  • Copy over tilecache?

UTC0202 - close