Issues & Pull Requests
Plane
Copter
Attendee count (max): 17
Pre-Agenda: Tridge merged a bunch of PRs
UTC2300 - add support for RC in AP_Periph by peterbarker · Pull Request #23805 · ArduPilot/ardupilot · GitHub
- Support for RC in AP_Periph
- Parameters are going into single top-level table
- We should move these into a sub-table
- Want to be able to SIM these things
- Ca probably clock the peripherals and test them in SITL
- Peter will move these into a table
- One more thing
- D-shot stuff has been merged
- Ppmsum cost us 40kB of flash because of PPM!
- Needed an entirely separate IOMCU firmware
- One with d-shot, one without
- Needed an entirely separate IOMCU firmware
- If we are willing to deprecate ppm RC input we can get the flash back
- So an adapter to support ppmsum
- Everything old is new again
- Dragonlink systems were ppm!
- Older RFD firmware was PPM
- It added lag
- Many boards don’t support PPMSUM as they don’t have timer inputs
- [9:12 AM]Peter Hall: I think INAV has dropped PPM.
UTC2307 - GCS_MAVLink: remove ap_message<->mavlinkid mappings for unused ids by peterbarker · Pull Request #24556 · ArduPilot/ardupilot · GitHub
- Remove mappings for messages which aren’t ever going to be sent
- Merged!
UTC2314 - Add option to compile out polyfence storage conversion code by peterbarker · Pull Request #24561 · ArduPilot/ardupilot · GitHub
- Option to enable or disable conversion code from old polyfence load
- Just remove the polygon fence
- Maybe we could bring back the “must have polygon fence” stuff
- Randy finds fences are annoying
- LUA scripts?
- If we get rid of this completely
- FENCE_AUTOENABLE in plane needs a patch
- Just remove this conversion code for 4.5 instead
UTC2327 - Tools:add bootloader for YJUAV_A6 bd by Hwurzburg · Pull Request #24565 · ArduPilot/ardupilot · GitHub
- Add bootloader for YJUAV_A6
UTC2334 - Enforce bootloader present or specified as not present in ChibiOS builds by peterbarker · Pull Request #24573 · ArduPilot/ardupilot · GitHub
- Enforce bootloader is present or specified as not-present
- Different approaches?
- “Allow build with no bootloader”
- Having an option to say “just use that thing over there” in hwdef?
- MissionPlanner upgrade of AP_Periph firmware needs a little bit of help
- Needs to use manifest
- Need to get platform name right when stuck in the bootloader
- Where the cp has been done things are not quite right
- Some OEMs have said, “don’t add bootloader into my firmware”
- Because they’d need to requal
- Tridge has marked some which we need to fix straight away
- Then this can go in on top of it
UTC2347 - AP_Mission: show tag or jump index on WP change by magicrub · Pull Request #24580 · ArduPilot/ardupilot · GitHub
- Adds a statustext output to show more information about the jump
- More arguments coming for jump tags
- Doing a task and using arguments
- Maybe use float16s?
- 10 bytes
UTC2352 - GCS_MAVLink: Add singleton support to GCS_MAVLINK class by Ryanf55 · Pull Request #24600 · ArduPilot/ardupilot · GitHub
- Singleton for GCS_MAVLink
- Doesn’t make sense, tridge meant something else
UTC0000 - AP_Scripting: add argcheck to default userdata creation functions by IamPete1 · Pull Request #24601 · ArduPilot/ardupilot · GitHub
- Add arg check to default userdata creation functions
- Vector3 can bite you
- Optional constructor arguments?
- Doesn’t actually work
- Optional constructor arguments?
- Can’t do this
- We have to throw warnings, not die
- We might break scripts out there that are constructing vector3s!
- And will only die when crossing the code-path, a runtime check
- Critical fence-breach behaviour
- Won’t know it will happen before-hand
- We might break scripts out there that are constructing vector3s!
- We have to throw warnings, not die
- Will throw a warning
- Will not allow arming if warnings have been thrown
UTC0007 - IMU: added support for IIM46234 IMU by tridge · Pull Request #24602 · ArduPilot/ardupilot · GitHub
- New IMU
- ADIS was our top end
- This TDK one is a little more interesting
- 6IMUs in one SPI-accessible unit
- Hard to use!
- But then Holybro sent tridge a 6X with on of these onboard!
- ADIS is only 1MHz on bus
- This is 12MHz on bus
- 8G limit
- High-vibration vehicles will clip!
- 1kHz sample rate only
- Same as ADIS
- High-accuracy == low sample rate?!
- Internal sample rate is high
- Same as ADIS
- Need to test dead-reckoning technologies
- “Locked position mode” is coming…
- Health checks followed by inertial-only takeoff, no GPS
- Gravity is actually really important for this stuff
- Formula for latitude and altitude is available
- 9.79584 in Canberra
- 6m difference
- There are full gravity maps available
- Peter will review after the call
UTC0028 - AP_BattMonitor: expose CAPACITY param on periph by IamPete1 · Pull Request #24603 · ArduPilot/ardupilot · GitHub
- Battery - expose CAPACITY param on peripheral
- Some testing needed
UTC0029 - Create shim AP_AHRS_NavEKF3-isa-AP_AHRS_Backend by peterbarker · Pull Request #24613 · ArduPilot/ardupilot · GitHub
- Shim AP_AHRS_NavEKF3 backend
- Uses a lot of flashes
- Scripting should always get consistent data
UTC0042 - AP_RPM: correct compilation when AP_RPM_ESC_TELEM_ENABLED is disabled by peterbarker · Pull Request #24619 · ArduPilot/ardupilot · GitHub
- Correct compilation when AP_RPM_ESC_TELEM_ENABLED
- Came to light from previously merged PR
- Periph acting as a motor controller
- Sending esc telemetry back over CAN
- Temperature library
- Lots of temperatures
- Custom node firmware could have gotten information from RPM?
- Esc telemetry is what you want
- Flow of data….
- ESC ->RPM vs RPM->ESC
- If type 5 then it means incoming else outgoing
- Dumping RPM into an ESC?
- Only makes sense when used in Periph?
- Parameters in ESC telemetry to pull data in from the ESC telemetry library
- Original PR was abusing mask as an index
- Periph acting as a motor controller
UTC0107 - Copter 4.4: AP_BattMonitor: UAVCAN: allow battery reset if not using CAN SoC by IamPete1 · Pull Request #24627 · ArduPilot/ardupilot · GitHub
- Backport Allow battery reset if not using CAN SoC
- Will be for 4.4.1
UTC0108 - hwdef: unrestrict builds of HEEWING bds to Plane only by Hwurzburg · Pull Request #24629 · ArduPilot/ardupilot · GitHub
- People are taking these HeeWing board out of the HeeWing and putting something in which can log
- These are just sitting around
- Not a very useful board
- No logging!
- They can use the custom build server
- People could put a SkyViper in a Plane
- Should we be building SkyViper for Plane too?
- No
- Should we be building SkyViper for Plane too?
- PixFlamingo
- Should only be built for Plane by default!
UTC0115 - Cortex-M4 loop alignment · Issue #24635 · ArduPilot/ardupilot · GitHub
- Cortex M4 loop alignment
- Might be a good performance improvement
- Need to know flash cost and performance impacts
- PID filtering at filter rate rather than PID rate
- 2kHz
- The IMU would give you the derivative values
- Should be much less noisy
- INS would need to instantiate derivate filter for each of the frequencies you want
- Could push the D-gain to be stronger
- Maybe run PIDs at loop rate instead?
- Much larger code change
- Too much noise in the derivatives right now!
- Noise-limited
- Higher-d-gain
- Regain phase margin
- Tighter tune
UTC0127 - Plane update
- Beta5 is out
- Release was going to be done
- Then a number of significant bug-fixes came in
- Twitching-of-gyro was significant
- One final beta?!
- Release 4.4 release date?
- Probably a week
- Maybe this coming Saturday
- CAN RC backport
- Maybe….
- Probably not trivial!
UTC0119 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub
- New beta out
- 4.3.8beta1 PR ready
- Probably won’t have Rover stable release
- SCurve issues still!
UTC0135 - GSoC update
- Arsh and Pedro are doing well!
- Exciting stuff
- 5th September for all 4
- Shiv’s doing well
- Things are PR’d
- Peter needs to do a lot of review
- Asif’s working hard on the camera stuff
- Siyi’s firmware changes are causing a few issues
- Last project will be status FOV feature in place
- Move the pointing-at calculation into C++
- And then pulush the camera FOV
- Ground control stations aren’t really keeping up!
- Need to get MissionPlanner features in place…
- Comparing ArduPilot:master...peterbarker:mavproxy_video · ArduPilot/MAVProxy · GitHub
- Need the video stream status information
- Camera is something takes pictures
- We should be sending video stream information…