Dev Call Aug 29, 2022

Issues & Pull requests


Copter & Rover


Attendee count (max): 22

UTC1100 - Pre-agenda

  • Amilcar and co are going to be working towards a PR for system-identification stuff

UTC1100 - Add opt-in --fast option to use environment caching for in… by TunaLobster · Pull Request #4519 · ArduPilot/ardupilot_wiki · GitHub

  • Adds –fast option to environment caching in Sphinx
  • Merged!

UTC1102 - Logger: log polygon fence points by IamPete1 · Pull Request #18892 · ArduPilot/ardupilot · GitHub

  • Log polygon fence points
  • Merged!

UTC1107 - AP_BattMonitor: move read_block up to SMBus base class by hendjoshsr71 · Pull Request #20692 · ArduPilot/ardupilot · GitHub

  • Move read_block up to SMBus base class
  • Merged!

UTC1110 - Take-off throttle slew time by lthall · Pull Request #21158 · ArduPilot/ardupilot · GitHub

  • Take-off throttle slew time
  • Landed → flying transition handling
  • Detect specific moment of takeoff to avoid i-term buildup
    • Moves code into takeoff procedures
    • Was As soon as throttle above zero in manual modes
  • Some factoring would help here
  • Bugs set incorrectly here are significantly bad
    • Land complete remaining or set to true will cause vehicle to drop from sky
    • Randy’s worried the new code structure is more fragile
    • Randy will have another look at it

UTC1118 - Copter: fix auto mode is_taking_off by rmackay9 · Pull Request #21567 · ArduPilot/ardupilot · GitHub

  • Fix is-taking-off flag
  • Leonard’s not happy with the takeoff code
  • Fixes are coming…
  • PH and Bill will test and we might merge it tomorrow

UTC1124 - Custom Controller Support 2nd Version by esaldiran · Pull Request #21216 · ArduPilot/ardupilot · GitHub

  • Custom controller support 2nd version
  • PH thinks this is extremely close
    • Good to get this in soon
  • Can be merged after the autotest is fixed

UTC1124 - PrecLand: support LANDING_TARGET ext field by chobitsfan · Pull Request #21329 · ArduPilot/ardupilot · GitHub

UTC1139 - AP_Param: move complex AP_ParamT functions to cpp by IamPete1 · Pull Request #21344 · ArduPilot/ardupilot · GitHub

  • Move complex AP_ParmT functions to cpp
  • Saves 1.5k to 2k on 1MB boards
    • Much more on 2MB boards!
  • Costs 200 bytes on some Periph boards
    • Too few parameters to balance cost
    • Mavlink allows you to do stuff in either header or cpp
  • We can’t break existing builds…
  • Eliminating the float parsing code will save vast amounts of space
  • Eliminate the uart on Hitec-Airspeed to make it fit there

UTC1139 - KakuteH7Mini-Nand rename by andyp1per · Pull Request #21451 · ArduPilot/ardupilot · GitHub

  • Renames an unreleased board to a more appropriate name
  • Merged!

UTC1153 - Don't provide zero udpates for ESCs that have never been used by andyp1per · Pull Request #21497 · ArduPilot/ardupilot · GitHub

  • Don’t do zero-updates for escs that have never been used
  • Before this If second motor stops giving RPM then the notches would get wrong data
    • Jump in frequency in notch
      • Shot noise
    • Andy saw the RPm coming in and out
  • Tridge wants a slew limitter
    • Don’t change centre-freq of notch filter faster than the notch filter rate
    • Ratiometric slew limit?
    • Leonard would like references to papers discussing how notch filters can be moved
  • Need a test suite which evaluates filter’s ability to handle rapid changes
    • Check attenuation and max frequencies
      • Leonard was injecting complicated data to reproduce the shot noise
  • Merged!

UTC0003 - AP_Mount: allow users to disable yaw on 3-axis gimbals by rmackay9 · Pull Request #21546 · ArduPilot/ardupilot · GitHub

  • Allow user to disable the yaw axis on a 3-axis gimbal
  • Multis can fly sideways to do yaw
  • Randy wants to more stuff
    • Randy would like to stop using cdeg in mount library
    • pan/tilt to roll/pitch
    • Use rc channels library
    • Stop using stab parameters
    • Split servo into brushless and one into normal
  • Servo mount rc channels are used to do output stretching
    • Servo scale passthrough can fix that

UTC0010 - Copter: Arming: check EKF height variance by IamPete1 · Pull Request #21551 · ArduPilot/ardupilot · GitHub

  • Check EKF height variance as well as other variances
  • Failsafes are done on the maximum?
  • Merged!
  • Still need to handle alt-hold case
  • Requiring position should be an arming option

UTC0014 - Copter: Payload Place: Improve touchdown test by lthall · Pull Request #21553 · ArduPilot/ardupilot · GitHub

  • Improve touch-down test in payload place
  • Should this be a LUA script?
  • Maybe move this out later
  • [10:19 AM] Peter Hall: Yeah, I second scripting.
  • [10:19 AM] Peter Hall: Could add rangefinder check.
  • [10:19 AM] Peter Hall: Or switch input or something.
  • [10:22 AM] Peter Hall: I did have that PR to move altitude wait to scripting on plane.

UTC0027 - HWDEF: correct default params file and readme for SPR H7 by Hwurzburg · Pull Request #21557 · ArduPilot/ardupilot · GitHub

  • Correct default params file
  • SPRacingH7 fixes

UTC0027 - Scripting: add arming check by IamPete1 · Pull Request #21560 · ArduPilot/ardupilot · GitHub

  • Add arming check function for scripting
    • Any error means prearm failure
  • Error pointer could be bad
    • Might be OK here?
    • Mutex it is

UTC0032 - Added secure boot support by tridge · Pull Request #21566 · ArduPilot/ardupilot · GitHub

  • Secure boot support
  • Uses monocypher
  • Based on Sid’s earlier work
  • Small enough to fit on AP_Periph boards
    • Will allow for remoteid with high degree of tamper resistance with locked-down ESCs rather than ArduPilot
      • DroneCAN escs
      • India is secure-boot-or-can’t-fly so this won’t work there
      • Maybe Currawongs
      • Secure mobile phone app speaks to ESCs via MSP to “unlock” them
      • Will avoid GPLv3 issues on consume drones
        • Hard lock-down on ESC firmware, no recourse but to throw them out in case of problems
  • There’s a minimum-encryption rating in Indian market!
  • Three keypairs in the DevTeam
  • Workflow incorporates AP keys
    • Tools/scripts/ardupilot/keys
    • There’s –omit-ardupilot-keys
    • We want standard workflow to incorporate AP keys
      • So if a vendor goes out of business customers aren’t stuffed
    • We might need multiple sets of keys - one set for each regulatory domain
  • Needs a sticker from Sid from merge

UTC0046 - AP_RPM: added AP_Generator support by tridge · Pull Request #21570 · ArduPilot/ardupilot · GitHub

  • Add RPM generator support
  • Merged

UTC0055 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane beta starting in the next couple of days
  • Release notes are on the todo list

UTC0100 Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

UTC0109 - RemoteID update

  • Wurzbach Development Set is available now

UTC0111 - Add relay support to PCA9685 by Williangalvani · Pull Request #21571 · ArduPilot/ardupilot · GitHub

  • RCOutput drivers to have Relay support
  • PCA9685 is a generic PWM controller

UTC0116 - SRV_Channel: Passthrough mapped RC channels by TunaLobster · Pull Request #21347 · ArduPilot/ardupilot · GitHub

  • RC passthrough scaled
  • Just need approval from Henry

I’ve been working on UTC0032 when i try to create bootloader from by declaring the boardname it is showing board…it is showing this error…can you someone help me on this…