CraigElder
(Craig Elder)
August 24, 2020, 10:57pm
1
Issues & Pull Requests
ArduPilot:master
â IamPete1:scripting_metadata
opened 07:31PM - 23 Aug 20 UTC
ArduPilot:master
â rmackay9:ahrs-rover-no-fallback-dcm
opened 04:48AM - 24 Aug 20 UTC
ArduPilot:master
â tridge:pr-iomcu-rc-failsafe
opened 10:49PM - 23 Aug 20 UTC
ArduPilot:master
â tridge:pr-matek-gps
opened 05:55AM - 23 Aug 20 UTC
ArduPilot:master
â peterbarker:pr/revert-private-channel-change
opened 03:30AM - 23 Aug 20 UTC
ArduPilot:master
â tridge:pr-gps-accuracy
opened 05:23AM - 21 Aug 20 UTC
ArduPilot:master
â peterbarker:pr/rci2
opened 08:57AM - 19 Aug 20 UTC
ArduPilot:master
â rmackay9:beacon-sitl-fix
opened 08:22AM - 19 Aug 20 UTC
ArduPilot:master
â tridge:pr-terrain-loiter-alt-plane
opened 09:13AM - 31 Jul 20 UTC
opened 10:30PM - 27 May 20 UTC
This is to track issues found in the plane 4.0 release.
Release discussion: https://discuss.ardupilot.org/t/plane-4-0-release/47188
Issues for 4.0.6beta2:
fly for at least 10s on...
DevCallTopic
Plane
opened 10:33PM - 12 Oct 19 UTC
This is a list of issues discovered during Copter-4.0 testing:
Common support problems:
users can't figure out which barometer is being used...
Copter
DevCallTopic
opened 05:28AM - 07 Oct 19 UTC
This is a list of bugs and features that have been reported as part of Rover's 4.0 beta testing (category on...
DevCallTopic
Rover
GSOC
Vote reminder
1 Like
CraigElder
(Craig Elder)
August 25, 2020, 9:10pm
2
Attendee count (max): 26
UTC1100 - https://github.com/ArduPilot/ardupilot/pull/15137
Metadata for script bindings
Second pass to turn the binding descriptions into a Wiki or something
Links to git hashes arenât a good ideaâŚ
Linking to code somewhere on github
Can we link to a function by name?
Not for C++ on github it seems
Generate directly from generator rather than using an intermediate format
Need to do this in Python rather than C
Parsers canât get out of sync or problems happen
Multiple data items probably needed to create good documentation
Also committing a generated cpp file into the treeâŚ
Stand-alone Python script instead of intermediate format
Would mean redoing the entire parser
Python thinks that would be faster
Donât want this compiler to be a monster
Using the compiler means the code always has to be valid and more protection is afford to the documentation
Get some syntax and data into place?
Something for bindings.desc
For a future parser?
No git hashes!
PH will come back with this later
UTC1110 - https://github.com/ArduPilot/ardupilot/pull/15148
Donât fall back to DCM
Pulling issues out of larger PR
Wheel encoders and GPS enabled
Doesnât work ATM
AHRS nav ekf checks to see if you have a gps enabled and if you have one enabled but arenâ;t using it shifts the vehicle to use DCM instead
Weâve been moving away from allowing DCM on Rover
Speed controller
EKF failsafe
Using gps flag is insufficient to tell you if there is an error?
If we had a flag that said, âconfigured to use gpsâ but the gps wasnât using the GPS then the ekf is in an error state and we should fall back to EKF
If you are configured NOT to use GPS when you shouldnât fall back
Why do we want to continue to use DCM?
Planes fast and far away so positioning isnât critical
Copters arenât expected to move
Rovers just sit there or are things like mowers
10cm precision is expected
DCM doesnât have the accuracy people want
Supporting an AHRS which doesnât have that accuracy?
No requests for any edge cases saying DCM would be a good thing
EKF diverging?
When EKF diverges its position goes bad rapidly and extremely
This check is supposed to catch that
Large bots and large rovers can go really, really badly wrong
Lagging GPS data caused a divergence this week
EKF stopped fusing GPS and didnât start to fuse again
This could happen on any vehicle
Rover would HOLD in that case though
Acceptable in all modes?
Might not be able to get home from out-at-sea
Rare, rare case
More often a mower
Donât want to âdo our bestâ!
Randyâs not sure we should ever drop back to DCM
Tridge thinks we should still have it as an option so the vehicle can be saved
Randy says we donât have a lot of vehicles crossing the oceanâŚ
Tridge says we need a flag in the filter status which is true when we are configured to use a gps but we arenât currently using it
When weâre rejecting the GPS we should fall back
But when weâre just not using it we shouldnât fall back
EKF failsafe would need to work with DCM
Boats going around Northern Australia, multi-month trips
EKF going bad on them?
Configuration option if you want fallback to DCM to get you home
UTC1142 - https://github.com/ArduPilot/ardupilot/pull/15140
Honour the failsafe bits
Works on FMU but not on IOMCU
This munges the input from the IOMCU on the FMU
This is an option you have to turn on saying you should ignore s.bus failsafe
Unusual situations
E.g. outback challenge where youâre flying a very long way away
Petrol Ignition based on RC
Autonomous heli
Petrol ignition
And collective
No-pulses is by far and away what should be being done in the vast majority of cases
This only affects receiver failsafe bits, NOT the throttle failsafe
Several of these fport, s.bus, âŚ
Not dsm
UTC1150 - https://github.com/ArduPilot/ardupilot/pull/15129
Multi-sensor canbus AP_Periph device
Matek made this one, Hitek is about to produce another
Release will be F3-based
⌠also a CAN compass with an i2c port
UTC1159 - https://github.com/ArduPilot/ardupilot/pull/15128
Route learned too early, race condition
We did the original PR without testing on hardware - that was a mistake
MdB will do another patch that sets the parameter default
UTC0003 - https://github.com/ArduPilot/ardupilot/pull/15121
Several issues
EKF average timing doesnât detect lagged data
When uart pushed too hard the GPS lags the data inside the GPS
Could be over two seconds old
EKF stops fusing GPS data
Position estimate goes bad
Could happen on any vehicle
GPS raw data for post-analysis
5 samples in a row with a lot more than the expected lag marks the GPS unhealthy
Fallback to dcm wasnât working because we were setting using-gps when gather data but not when fusing data
Should we be complaining more if we fall back to DCM?
AHRS should be marked unhealthy if not using your configured estimator
EKF will go redâŚ
Can now simulate very high accuracy
Second issue when a GPS claims higher accuracy than you actually have
RTK fixed ,status 6
EKF will diverge as the sensor is lying to it
Fusion is scaled according to accuracy
Parameters for minimum accuracy
Simulate 1cm
Can get SITL to diverge
Detecting lag -> difference between GMS and TimeUS
EKF canât converge from any state
Reinitialise EKF from DCM?
Failures when DCM appears when it doesnât want you
UKF, particle filters, âŚ.
KFs make assumptions about the inputs
1s of bad sensor input can scramble the EKF to the point it canât recover
This PR would save aircraft
merged!
UTC0026 - https://github.com/ArduPilot/ardupilot/pull/15104
Really want the RCOU equivalent
merged!
UTC0027 - https://github.com/ArduPilot/ardupilot/pull/15103
Beacon stuff
Fixed simulator
EKF/AP_Beacon fixed for number of beacons
Increasing beacon buffer size by 1âŚ
All consumed by EKF
Reduce by one and it didnât process everything
Time horizon issues?
Weird +1 thing in the EKF side of things?
UTC0038 - https://github.com/ArduPilot/ardupilot/pull/14956
Merged!
Terrain loiter-to-alt fix
UTC0039 - Plane update
Compass fixes
New beta coming
Hoping this will be the last beta
Ability to test stable releases is limited
Cherry-picked compass fixes
Canât get the tests back
Edge-cases
Weâve been in 4.0.6 for a very, very long time
With a fundamentally broken feature
Stable releases donât get same testing as autotest does
Confidence in master
But not in the betas
Rather ambitious betaâŚ
Crsf⌠other major changes
Definitely learning the lesson from this
If weâd done a 4.1 we wouldâve gotten that out sooner
We canât go back at this point
Weâd be invalidating what testing we have had
Tridge is not delighted about this release
HoTT telemetry should have been 4.1
Compass was another thing that should have been 4.1
UTC0045 - Copter update
New beta coming
Really good dev work going on
Ignore obstacles before takeoff
Cylinder around home where it ignores obstacles
Last change to go in for GSoC is to use both bendy ruler and dijkstra at the same time
Walking robots
Still a chunk of work to get stuff into master
Randy will be focussing on this this week
UTC0053 - Rover update
UTC0053 - GSoC
Close to merging EKF affinity
Multiple airspeed sensor failover support
Autotest for blocked pitot
Slow-drift in flight
Error-score based on innovations of 0.2 will mean lane-switch
Slow baro drift wonât trigger
MatLAB
Most work is in
More docco coming
Wiki section on matlab
Blog/summary post coming
Fabs vs abs?
UTC0058 - vote pending on google groups
UTC0100 - close
1 Like