Dev Call Aug 14, 2023

Issues & Pull Requests



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
    • 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
  • 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
  • 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
    • 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

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
  • 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…

UTC0153 - close