Dev Call Aug 27, 2018 2300 UTC

CraigElder · August 27, 2018, 10:25pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Copter: Tradheli - fix issue with position moving while on ground

ArduPilot:Copter-3.6 ← bnsgeyer:loiter_fix_3.6

opened 06:46PM - 27 Aug 18 UTC

bnsgeyer

+10 -3

This PR will fix an issue users may experience while spooling down. Currently t…he code does not initialize the Nav controllers while the aircraft is spooling down spooling down or sitting on the ground with rotors static (armed or disarmed). This can cause the aircraft to roll over because as the rotor is spooling down it still has sufficient control power to apply inputs from the Nav controller. this is only being pushed to Copter-3.6 because the spool logic PR for tradheli is scheduled to go into 3.7 which remedies this situation. It is a simple change. Here is a plot of position controller velocity command and actual velocity. a longitudinal velocity command from the transmitter was made to show when the controller was still allowed to make inputs the aircraft. the first lift off and touchdown demonstrates an in air disarming. Note that the controller followed the actual. this means that in the event of an actual in flight disarming, the pilot will have to revert to another mode to control the aircraft, which is desirable in any case as the pilot as no control in the vertical axis. the second takeoff and landing shows the effect of disabling motors interlock while in flight. this shows that the nav controller command was not zeroed until the land complete flag was true which follows the logic in the code. ![loiter_fix](https://user-images.githubusercontent.com/9907906/44678636-d2ebe200-aa06-11e8-9a50-ca8834c2bbe8.jpg) @ChristopherOlson if you have a chance to test this, it is always appreciated. I had done my testing in the SITL. I feel it is low threat and would be fine if you didn't but always good to have someone take a second look.

github.com/ArduPilot/ardupilot

ChibiOS not respecting BRD_SAFETYENABLE intermittently

opened 11:13AM - 23 Aug 18 UTC

closed 05:24AM - 04 Sep 18 UTC

Pedals2Paddles

BUG Safety ChibiOS

### Bug report **Issue details** Pre-arm and arming check of safety switch int…ermittently fails even with parameter `BRD_SAFETYENABLE` disabled on initial power up and never clears until reboot. This never happened in nuttx, and I've experienced this on multiple occasions in ChibiOS (master and 3.6-RCx). Rebooting clears the problem until it happens again, seemingly at random. I can see that the switch handling is a little different in ChibiOS than Nuttx. Something seems to be sneaking by once in a while on initial power up. I don't have disarmed logging enabled, but I don't think there's anything in the DF log that would related to this? @rmackay9 for FYI. I experience this in copter, but I don't think it's a copter issue since the copter code just gets its information from board libraries. **Version** Copter 3.6 and 3.7 master **Platform** [ ] All [ ] AntennaTracker [X] Copter [ ] Plane [ ] Rover [ ] Submarine **Hardware type** Cube

github.com/ArduPilot/ardupilot

AP_Mission: Reduce the number of places _set_cmd is called from

ArduPilot:master ← WickedShell:wickedshell/mission-intf

opened 10:43PM - 22 Aug 18 UTC

WickedShell

+17 -51

I'm looking into making commands skippable if the vehicle will not actually pref…orm any actions (as part of #9186) however to do this we need to honor the return value of starting a command. This PR simplifies the paths through the code that call _cmd_start. This is also worthwhile as `set_current_command` was missing the protection against endless do jump loops that `advance_current_nav_cmd` has. (Which means that a malformed mission can lock the FMU if a set_current_command points into the sequence). This is meant to be a no functional change and presented by itself for easier review.

github.com/ArduPilot/ardupilot

Plane: Add a manual only form of stick mixing

ArduPilot:master ← WickedShell:wickedshell/plane-less-mixing

opened 02:23AM - 18 Aug 18 UTC

WickedShell

+47 -23

This adds a more constrained form of stick mixing then `STICKING_MIXING_DISABLED…`. Despite the name on stick mixing disabled it actually does a lot of mixing, anything other then an auto navigation mode (and FBWA failsafes) preforms stick mixing. This is particularly noticeable with the rudder where it is passed through in all the modes. On plane this pass through is frustrating when in cruise (or FBW, auto tune) as with large control surfaces you get unexpected, uncoordinated perturbations of the aircraft. EDIT: Tested in SITL with MANUAL_CONTROL messages, behaves as expected.

github.com/ArduPilot/ardupilot

Plane: Do_change_speed => cannot return to default

opened 06:15PM - 17 Aug 18 UTC

jace26

When using the Do_Change_Speed command during an auto flight there is no way to …revert control of the speed/throttle to automatic control. For a AS change this isn't to terrible, as you can just create a Do_Change_Speed command to return to the default AS for the aircraft, but with throttle changes this is a huge issue. If I command a throttle change for whatever reason, I am from that point on responsible for throttle output through all phases of flight, until the FC resets. It appears that reloading WPs, changing modes out of auto, and disarming will not reset the AS or Throttle control to default. Another major problem here is that an RTL will not take control over this either so I've simulated driving this into the ground during an RTL with a low throttle commanded by a do_speed_change This has all been done in simulator runs. I propose a change where by setting either of these to 999 with the do_change_speed would return them to auto control. And an RTL should set throttle and AS to default, as should a disarm. **Version** 3.9 3.8.51 **Platform** [ ] All [ ] AntennaTracker [ ] Copter [ x] Plane [ ] Rover [ ] Submarine

github.com/ArduPilot/ardupilot

Method to avoid bad RC trims

opened 08:23AM - 17 Aug 18 UTC

tridge

This is a proposed method to avoid people having bad RC trims. The idea is to …add an arming check that checks if the roll/pitch and yaw sticks have been within the dead-zone for at least 2 seconds continuously since boot. If they haven't been, then give a RC calibration error on arming. This idea was inspired by issues with people using the trim tabs to trim planes, but this also applies to copters. Related to this is to have an option to behave like we do on the skyviper, which is to automatically set the roll/pitch and yaw trim if a radio is connected and the values don't change at all for 2 seconds, and the values are within 25% of center.

github.com/ArduPilot/ardupilot

UAVCAN Refactor Part 1: Move Sensor related code to Sensor Libraries

ArduPilot:master ← bugobliterator:pr-uavcan-refactor

opened 01:09PM - 20 Jul 18 UTC

bugobliterator

+826 -1362

* Moves Sensor Msg handling to respective UAVCAN backends for each Sensor Librar…y * Adds Frontend Backend-Registry Binder to link msgs to relevant Backend Subscribers and also create separate instance if new Node is detected. * Only instantiates new Baro Backend if a new StaticPressure is detected, StaticTemperature is read if comes from registered node. * Remove AP_UAVCAN dependencies on AP_GPS, AP_Battmonitor, AP_Baro and AP_Compass. Tested only with GNSS Fix message, Testers and Reviewers for other devices would be appreciated.

github.com/ArduPilot/ardupilot

AP_Frsky_Telem: added IMU temperature to FrSky PassThrough telemetry at 0x5001

ArduPilot:master ← neurons9:master

opened 10:09PM - 19 Jun 18 UTC

neurons9

+16 -1

Issue #8660 This is my first pr, I have read a lot of code but I'm not sure if …this is the right and best way to get the IMU temperature. Since there is no need for quick updates, I simply attached the value to 0x5008 as the 6th parameter. There is no IMU heater on my test board, it seems like the temperature is from baro and it is rounded. In yaapus Lua you could now read the temperature as follows: 909: elseif paramId == 6 then 910: IMU_temp = paramValue 911: end A simple LUA with temperature can be found here: [https://github.com/zenuavsolutions/Mavlink_Passthrough_Widget](https://github.com/zenuavsolutions/Mavlink_Passthrough_Widget) ![img_9206](https://user-images.githubusercontent.com/7430902/41626870-2943f5c6-741e-11e8-91ce-fc326f385ec2.jpg)

github.com/ArduPilot/ardupilot

Solo Slew Rate software fix for ESC signal issues

opened 02:11AM - 04 Apr 17 UTC

closed 11:16PM - 22 Jan 19 UTC

proficnc

Enhancement Copter Library Solo

#### Issue details _Please describe the problem, or desired feature_ Solo ESC'…s have a serious flaw that can cause them to stop for a second or two if they fail to receive pulses above 2.4v the overall design of the Solo electrical system causes a ground lift of over 1v in some situations. So at 3.3v signal level coming out of the flight control is only seen as 2.3v at the esc in this situation, causing the ESC to register no pulses, and shut down there are some seriously negative side effects of trying to fix this serious hardware problem in software, however, upgrading the autopilot in the solo is a cost, and some people may be happy with the reduced performance of adding the slew rate limiter. It is also worth noting that even with this limit, a heavily loaded vehicle could still have this symptom regardless of the slew rate setting. #### Version _What version was the issue encountered with_ Any version that may be used on a SOLO or any other airframe with this issue. #### Platform [ ] All [ ] AntennaTracker [ X ] Copter [ ] Plane [ ] Rover #### Airframe type _What type of airframe (flying wing, glider, hex, Y6, octa etc)_ SOLO #### Hardware type _What autopilot hardware was used? (pixhawk, pixracer, PX4FMU etc)_ Pixhawk 2.0 Pixhawk 2.1 (no mod) Doesnt affect the Solo Green cube modified version of the cube. This version outputs 5V on the PWM lines which gives a 2.6v head on the ESC required voltage level.

DroneCore

Update

Redundancy

Scripting

Plane

Copter

Rover Boat

Sailboat

CraigElder · August 28, 2018, 5:24pm

Attendee count (max): 22

UTC2305 - https://github.com/ArduPilot/ardupilot/pull/9298

Behaviour change for loiter mode for tradheli
When disarmed or inflight or autorotation using motor interlock disabled
Allow pilot to get manual control from loiter mode
Navigation controller active as aircraft spooling down
Behaviour changes coming in 3.7 to do with spool states
These are smaller changes for 3.6
Interlock disabled and aircraft disarmed sets position to current position of aircraft
Wasn’t this supposed to be handed by the don’t-navigate-near-ground?
- Might have been broken
- Soften-for-landing?
- Land-complete-maybe is a slightly easier thing to achieve
Backportable to 3.5?
- Probably
- 3.6 is close
merged!

UTC2314 - https://github.com/ArduPilot/ardupilot/issues/9266

Random intermittent faults with safety switch
Brd_safety_mask parameter when it should be allowing channels it is not
- ChibiOS only
- https://github.com/ArduPilot/ardupilot/issues/9268
Tlog required
When you reboot it sets safety on when you reboot
- Communication with iomcu may not be reliable after it reboots
MdB: Nates I think is because we don’t have a mixer…
Safety mask is a mixer feature and we don’t do mixers on ChibiOS?
- No, it’s not a mixer feature
- Controlled by the FMU, not by rc on IO
- Shouldn’t need mixer
- [9:18 AM] To Weekly devcall: Also, if it’s an intermittent failure it’s not a good theory?
Tridge has to concentrate on OBC stuff
Two incidents
- Reboot-in-flight issue meant he didn’t have control
- On reboot no surface control
- Works on NuttX
  - No px4io mixer support in ChibiOS
- MdB: also kinda curious how it rebooted IE electrical things probably take out IO processor anyways
- [9:21 AM] (Channel) MdB: So you still wouldnt have servos…
- [9:21 AM] (Channel) MdB: (until we got far enough in the cycle)
Rebooting in flight isn’t really supported
Doing the mixers is on the todo list
Need to find a mechanism for reproducing the intermittent one
- Or at least a pattern

UTC2314 - https://github.com/ArduPilot/ardupilot/issues/9256

Meant to be NFC
Grew a bit of FC
Reduce code duplication and calls to _start_cmd
Fixes outstanding bug where we’d get into an infinite loop
- Set-current-cmd and lots of do-cmds
Fixes mission restart related to jump-to-landing
- You will get naks if you mavlink set-cmd to do-cmds that don’t have a nav after them
Removes code duplication
- Removed code didn’t have the protections in it
Lots of SITL testing done
Cleanup prefacing more work to come
Should we be using 0 as a flag value here?
[9:29 AM] To Weekly devcall: I considered suggesting adding a parameter to indicate whether you should use the index - but decided what MdB had was as good.
Tridge is going to do some testing
- [later] merged!

UTC2331 - https://github.com/ArduPilot/ardupilot/pull/9243

3 questions.
Use godbolt to test the std::swap
Not being pure-virtual is OK (already the case in HAL)
MdB: we do have a bswap set of helpers already as well for swapping (all defer to builtin though)
- libraries/AP_Common/missing/byteswap.h
No screams of pain, we can move on!

UTC2334 - stick-mixing and rudder

https://github.com/ArduPilot/ardupilot/pull/9221
Adds extra version of plane flight options to only do mixing in manual stabilize or acro
Removes caching of input
Doesn’t change default behaviour
Makes no-stick-mixing mean exactly that
Diff makes things a little non-obvious
merged!

UTC2340 - https://github.com/ArduPilot/ardupilot/issues/9218

Relative to what?
- I.e. cumulative or not?
Randy thinks it should be relative to baseline
Tridge thinks it should be relative to current speed
Would be based on target airspeed
Add an enumeration value?
Lost-packet problem
Peter to do a PR for discussion based on it being a non-cumulative value

UTC2354 - math float-equals https://github.com/ArduPilot/ardupilot/pull/9196

No objections
Merged

UTC2355 - uavcan refactor

https://github.com/ArduPilot/ardupilot/pull/8972
FF to review tomorrow
Tested with https://github.com/ArduPilot/ardupilot/pull/8878
- Changes pool size
- Needs a bit of a rebase
6,000 packets/second out of a PixHawk
- Maxing out the can ports
- Running very well
- No scheduling issues

UTC2358 - https://github.com/ArduPilot/ardupilot/pull/8690

Frsky telem
- IMU Temperature
Was too complicated last week
Brought out a variable
Still too complicated
Could fix it ourselves
Too many ternary operators
Has a merge commit in it
Needs a squash and rebase

UTC2358 - https://github.com/ArduPilot/ardupilot/pull/8397

Tridge couldn’t fault this
Nate’s not on call
Needs a rebase

UTC0002 - DroneCore update, Peter

Similar to DroneKit
Tested. Required some changes, present in Peter’s branch
Required two PRs:

Message rights
Extended status to give vehicle flight state
Anything needed from upstream?
Not PR’d to upstream, currently only Peter’s fork
https://github.com/peterbarker/DroneCore/commits/ardupilot
Testing can be conveniently run in SITL
DroneCore currently incomplete compared to DroneKit Python.
[10:31 AM] To Weekly devcall: https://gist.github.com/peterbarker/90af4fc611e97282c4c32c2d551e7c59 <- instructions for testing dronecore on Linux
[10:32 AM] To Weekly devcall: (and ardupilot )

UTC0010 - redundancy

https://docs.google.com/document/d/1pzd2OG3xlH8vVdBiFtKdwCysSJ6eNsWU45uwpCTpcZQ/edit
Lots of talk, not match action
- This this document!
Discussion document on how things might work
Tom’s looking for input as he’s going to look more at it
- So work isn’t wasted

UTC0012 - streaming updates

https://docs.google.com/spreadsheets/d/1r5vWASOm9gDrIcQtZCEyIc9XUb0izTBYoh8m0vVshts/edit#gid=0
Comments document - so comment!
No promises or commitments
- Especially no commitments from MdB
RM: we gotta get it done before next Canberra meetup!
Year’s worth of incremental work

UTC0016 - Plane refactoring

Want to get Tom’s stuff in
Both Randy and tridge are keen

UTC0016 - Plane update

Log download will be faster on USB in latest beta
3.9.1 will go out shortly
Safety fix in in last week
- Reboot causing vehicle movement
- Trim settings
More test flights required
3.9.2 in next few weeks
- More boards
  - Hwdef.dat gives some surety
Three new boards in last week
- Drotek p3 pro, speedy, ?
S0up active ATM
Rescue mode in betaflight?
- Rtl mode in Copter without a compass
- Yaw determination without compass
- Creates fly-forward assumption
  - Kind of like drift mode
Outstanding bug
- Only boot on battery power and not on USB?
- Tridge spent some time chasing it yesterday
- Bootloader issue?

UTC0023 - Copter - new rc out soon

Reasonably close to 3.6 official release
- Few weeks
Tower issue
- 3dr usb id problem
- Forcing usb strings in hwdef.dat makes it work
Need to check if rc calibration is working on USB
- RC_CHANNELS_RAW vs RC_CHANNELS
- Mavlink2 vs mavlink1
- Probably MP is looking for the wrong one
PR for fixing twitch related to new loiter code

UTC0028 - Rover

Sailing code fits OK so far
- No tacking so far
- Coming along well
- Interesting discussion and papers going on
- Iampete
- Need to incorporate roll
- As much sheet on while remaining level
- Airflow over sail
- Windvane support coming
- Randy to test in next week
Efforts continue on getting non-gps navigation using lidar and ROS
Hectorslam does a terrible job on a bumpy surface
- Replace with google’s cartographer?
Obstacle-distance message support coming

UTC0043 - CAN testing with Nate

Will try to look at it tonight

UTC0043 - quick PR to go in to fix builds

https://github.com/ArduPilot/ardupilot/pull/9302

UTC0044 - CI and caching issues

Both systems have problems
OK ATM

UTC0046 - funding update

Partner-sign-up for August is looking good!
- Micro-aerial projects
- http://araceuas.com
  - Tridge had a good chat the other night
Three others
- Thanks to Hex!
Over 40 partners at the moment?!
Tridge’s Believer arrived
- How does he say “thanks”?
  - Olivier to supply email address
- Won’t fly it for at least a month
- Just the foam
  - Will need drive-train recommendation
  - [10:55 AM] (Channel) J:
  - Benchmark Test of the Twin Engine Mapping Planes
Tom’s arrived
Paul’s was damaged
- Will try to get a replacement wing
Randy’s volunteered to write the Wiki page

UTC0050 - contribution of the month

Not merged yet
Tridge is considering nominating s0up for board ports

Thanks to Conor and others for help on the notes this week - Peter