Dev Call Aug 14, 2023
August 14, 2023, 10:55pm
Issues & Pull Requests
August 15, 2023, 4:20am
Attendee count (max): 17
Pre-Agenda: Tridge merged a bunch of PRs
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.
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
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
If we get rid of this completely
FENCE_AUTOENABLE in plane needs a patch
Just remove this conversion code for 4.5 instead
Tools:add bootloader for YJUAV_A6 bd by Hwurzburg · Pull Request #24565 · ArduPilot/ardupilot · GitHub
Add bootloader for YJUAV_A6
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
“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
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?
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
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
IMU: added support for IIM46234 IMU by tridge · Pull Request #24602 · ArduPilot/ardupilot · GitHub
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
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
There are full gravity maps available
Peter will review after the call
AP_BattMonitor: expose CAPACITY param on periph by IamPete1 · Pull Request #24603 · ArduPilot/ardupilot · GitHub
Battery - expose CAPACITY param on peripheral
Some testing needed
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
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
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
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
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
They can use the custom build server
People could put a SkyViper in a Plane
Should we be building SkyViper for Plane too?
Should only be built for Plane by default!
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
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!
Regain phase margin
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
Probably not trivial!
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!
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