Dev Call Aug 30, 2021

Make terrain margin a float…
Changes recent stuff we added
Not in new stables
Max needed to use old incorrect terrain data across entire globe is larger than what fits in an int16
Change to use metres instead
Changing units of a parameter isn’t something we like to do
But it has only been in very briefly
Also made default values a different value and a wider allowed range

UTC2325 - https://github.com/ArduPilot/ardupilot/pull/18160

Rst emit for latex pdf

UTC2328 - https://github.com/ArduPilot/ardupilot/pull/17626

Now have a 1-d model
C++ library for JSON example
Peter to check this over and then merge

UTC2329 - https://github.com/ArduPilot/ardupilot/pull/18134

Pitch_cd_flight option to for GCS and OSD to include or exclude Plane’s pitch-trim from the reported numbers

UTC2331 - https://github.com/ArduPilot/ardupilot/pull/18451

Fix compiler warning
Iteration to initialise seems extreme
Cast _v to void* instead?
- We’ve done that elsewhere
Which compiler?

UTC2334 - https://github.com/ArduPilot/ardupilot/pull/18461

Fix corner case in new auto-rtl mode
Merged!
New issue to be created on having an “ok_to_enter” callback

UTC2340 - https://github.com/ArduPilot/ardupilot/pull/18466

Move taking of semaphore
Should make OSD and crsf have more time
Can be merged after it has been flight-tested and log looked at

UTC2344 - https://github.com/ArduPilot/ardupilot/pull/18471

Eliminate get_location
We’ll rename get_position to get_location later
merged!

UTC2346 - https://github.com/ArduPilot/ardupilot/pull/18475

Couldn’t get past the “neutral values” RC check
Plane: remove use of recompute_pwm_no_deadzone in training mode

UTC2348 - https://github.com/ArduPilot/ardupilot/pull/18480

Move calls around to avoid resetting of pin state
Quadplane is playing too much!
This is a workaround for a deeper problem
https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Vehicle/AP_Vehicle.cpp#L185
- Was supposed to fix it
Perhaps this is SITL-only
Maybe make everyone have a safety switch?
We need to look more closely at what’s going on here

UTC2356 - https://github.com/ArduPilot/ardupilot/pull/18487

Need to set the init_ms
Breaks initial transition into qloiter and rampdown after being in assisted flight
Significant issue - backport to 4.1
Transitions to qloiter and/or assist second one might be dodgy
Probably won’t crash you but will look untidy

UTC2359 - https://github.com/ArduPilot/ardupilot/pull/18495

Remove safe-pwm from Rover and then from everywhere else it had its fingers
Need to redo the iofirmware
- Probably won’t commit new builds just for this
IOMC message

UTC2359 - https://github.com/ArduPilot/ardupilot/pull/18502

Stop having to modify things other than hwdef when adding boards

UTC2308 - https://github.com/ArduPilot/ardupilot/pull/18506

Zeroing accumulators without holding locks!
merged!

UTC2309 - https://github.com/ArduPilot/ardupilot/pull/18507

Speed improvements for USB on F7
Merged!

UTC2312 - https://github.com/ArduPilot/ardupilot/pull/18509

Save vast amounts of flash by using data structures
Mechanically done
Some weird ones
Several little things to fix up but can then be merged

UTC2323 - https://github.com/ArduPilot/ardupilot/pull/17337

Simplify get_wp_destination_loc
Needs more testing

UTC2327 - https://github.com/ArduPilot/ardupilot/pull/17977

Fix comments
Merged!

UTC2331 - https://github.com/ArduPilot/ardupilot/pull/18343

Polarity on the IOMCU pin?
Make sure heater is left off if disabled

UTC2332 - https://github.com/ArduPilot/ardupilot/pull/18384

Fixes wobbly horizon on ahrs cal
One loop without assisting as well…
merged!

UTC2332 - https://github.com/ArduPilot/ardupilot/pull/18417

Airmode in forward flight for surface-less tailsitters
Qassist is always active except at zero throttle
This adds in airmode which is active at zero-throttle
Need to adjust the defaults file for the Swan-K1
No need to set the throttle-min any more
Will allow for “gliding” in these vehicles
Needs a flight test on a surface-ful tailsitter
May allow for transition fixes
Z-controller init issues?
- Stop using z-controller initially
- Run q-stab code with low throttle until we hit some threshold
- Then init the z controller
- Another state in the back-transition?
  - PH is trying to avoid adding them….
Tailsitters are weird

UTC2342 - https://github.com/ArduPilot/ardupilot/issues/15941

Plane update
Another week, another beta
In-sync with Copter
Pretty happy with the way things are going in beta series
Big change is 60ms scheduling delay fix
- More important than expected
- Bug can actually happen at any time
  - Not just on timer wrap
  - 32-bit would be a watchdog reset

UTC2350 - https://github.com/ArduPilot/ardupilot/issues/16478

Copter update
Generally a good story
Slight uptick in issues over last week
Dijkstras is not working in guided in position control mode
- Guided mode doesn’t use wpnav any more so can’t use dijkstras
  - Can use simple avoidance
  - Working with Leonard on this one
Crsf and gps not working well together?
- Extraordinarily bad crystal
- 6600ppm crystal error
- Capacitor error?
- GPS-time vs system-time advance showed it quite clearly
Channel 6 tuning of wp speed is busted
- Constantly changes target speed, s-curves don’t like that
- Change things so we don’t poke too often?
- Lots and lots of calculations to redo the s-curve
  - Currently do it at 3Hz?
  - Slow that down and require it to be stable for 1 second before making the change?
Pitch control in loiter seems significantly changed
- We have logs for the problem?
- Need PID data!
Surface tracking with downward-facing lidar is laggy
- Blocker for release?
  - Do we need to get 4.1 out the door?
    - So make this a non-blocker?
    - There are bad bugs that are fixed in 4.1 and we’re not back-porting them

UTC0004 - https://github.com/ArduPilot/ardupilot/issues/17116

Everyone seems to be happy with this release candidate
Bendy-ruler is working less-well?

UTC0007 - GSoC update

All done!
Three successful GSoC students!
Rishabh’s blog post series is coming
- Next week or so

UTC0008 - off the floor

Lincoln
- Flight control software from scratch? In four months?
- Bit of history of ArduPilot
- Expectations have changes for autopilot software
  - Older videos are laughable now-a days
  - People now complain if you’re off by more than cm
  - Could probably put a sketch on an Arduino in 4 months which got off the ground, but why would you?
- Freertos?
  - We use that on the esp32
- Research channel!
- [11:15 AM] Josh Henderson: also trying to do both large hardware & large software development is way too much… for a small team even with baseline software that is stable.

UTC0017 - close