Dev Call Aug 8, 2022

Development Team
1

Issues & Pull Requests

Plane

Copter & Rover

GSOC

2

Attendee count (max): 23

UTC1100 - AP_RangeFinder: Add TeraRanger Neo Rangefinder by Hwurzburg · Pull Request #20983 · ArduPilot/ardupilot · GitHub

  • Teraranger neo support
  • Merged!

UTC1102 - AP_BattMonitor: Add FuelLevel_Analog support by TunaLobster · Pull Request #21008 · ArduPilot/ardupilot · GitHub

  • Fuel level analogue support
  • For analogue fuel sensors

UTC1105 - Wip/opendroneid by BluemarkInnovations · Pull Request #21075 · ArduPilot/ardupilot · GitHub

  • Cast of 1000s helping with this one
  • Thanks to bluemark for initial PR
  • Want this for partner’s call
  • Want to get backports to 4.1 and 4.0
  • Must be enabled in hwdef.dat
    • Enabled by default in SITL
    • Have to have locked down parameters to be compliant
    • Can’t have a generic firmware
    • Must be company specific specifying where all the devices are
      • Otherwise won’t be compliant with ASTM scheme
    • Almost no flash on nearly all boards
      • Adds a couple of features there, ‘though
      • Wgs85 in gps_raw_int
        • Thanks to Josh on ellipsoid stuff
    • In the future we might add saner options in other regulatory domains
      • September 16th is cutoff
        • Can’t see vehicles without remoteid support in it
  • Dongle firmware is at GitHub - ArduPilot/ArduRemoteID: RemoteID support using OpenDroneID
    • ESP32-S3-M
      • Buy the exact model to avoid issues
  • Wikineeded
  • MAVProxy has a module to support OpenDroneID
    • MO has said MP will get support
  • Operator position ID must be sent at at least 1Hz
  • CAN GPSs
    • Sending wgs84 and amsl
      • Will need to update the can thing
  • Phone application is OpenDroneID
    • Shows all drones around you
    • Including AP when running all of this stuff
  • Still need bt5 support

UTC1125 - AP_Gripper: Servo Gipper enhancments by lthall · Pull Request #21130 · ArduPilot/ardupilot · GitHub

  • Servo gripper enhancements
  • Merge commit needs fixing
  • Leonard will ping peter once the commit list is fixed and he’ll stick a mergeoncipass on it

UTC1125 - AP_Mount: all backends send gimbal-device-attitude-status by rmackay9 · Pull Request #21243 · ArduPilot/ardupilot · GitHub

  • Testing’s a bit of an issue

  • Solo gimbal isn’t working with Solex?

    • Integration not working properly
    • Lack of heartbeats because of private channel

  • Repeated quat init code?

  • Send_struct is cool

  • MOUNT_STATUS?

    • This will utterly kill anyone using MOUNT_STATUS message

  • Tridge has a trick for forwarding serial….

  • LUA bindings for mounts?

    • And for everything else as well
    • Need to make the lua bindings more efficient
      • Exposing a single bit?

  • Should we really retain all of this stuff?

    • E.g. Solo gimbal
    • OpenSolo4 was last major release
    • Lost our supporter
    • Need a maintainer?
      • If someone wants to step up then poke Buzz

UTC1142 - AP_TECS: fix broken logging bitmask enable by Hwurzburg · Pull Request #21302 · ArduPilot/ardupilot · GitHub

  • Fix broken logging bitmask enable for TECS
  • Merged

UTC1146 - Tools: FilterTool: add support for query strings by IamPete1 · Pull Request #21304 · ArduPilot/ardupilot · GitHub

  • Query strings
  • Click to give someone a link so they can see what you’re seeing
    • 1000-character-long string

UTC1146 - Move arming checks for terrain-all-loaded up to common Arming library by peterbarker · Pull Request #21325 · ArduPilot/ardupilot · GitHub

  • Give Plane some prearm checks for terrain
  • Make 3x3 larger?
  • Increase the cache size from 12?
    • Parameterize?
  • Terrain failsafe on Plane?
    • Hard to get it right?
  • Would be great if someone would release a SD card with entire terrain database too
    • 90m grid is ~30GB
    • 30m grid is ~300GB
  • Maybe hardware vendors could ship their vehicles with prepopulated SD cards?
  • [9:55 AM] ConorMcCaffrey: What’s the biggest SD size supported by an STM32?
  • [9:56 AM] Josh Henderson: ^^^^ this
  • [9:56 AM] timtuxworth: I put a 128G card in a Durandal and it couldn’t read it.
  • [9:56 AM] timtuxworth: Nope
  • [9:56 AM] mturnbull: i can also say with certainty that the ESP32 sd library is not 100% in compliance with the spec – don’t remember what the limit is, but i’ll see if i can find it

UTC1146 - Tools: fix errors in build_options.py by Hwurzburg · Pull Request #21326 · ArduPilot/ardupilot · GitHub

  • Fixes for the build_options.py
  • Need a maintainer for CustomBuild!
    • MR has a lot to do and can’t get back to the build-stable stuff

UTC0001 - AP_Motors: refactor motor matrix to cleanup and make symbols by Hwurzburg · Pull Request #21327 · ArduPilot/ardupilot · GitHub

  • Also from the extract_features stuff
  • Motorsmatrix only assigned values to variables
  • Could just actually declare a symbol
    • Need an attribute macro for it
  • 200 bytes on Copter, roughly the same on Plane

UTC0001 - Copter: RC_Channel: reserve IDs used by the Skybrush fork by ntamas · Pull Request #21330 · ArduPilot/ardupilot · GitHub

  • RC_Channel: reserve IDs used by the Skybrush fork
  • Reserve a bunch of 10 “user” functions?
  • Lots of companies build on top of SkyBrush
  • Which namespaces are small enough that we care?
    • Parameter tables
  • New area which we’re playing around
    • Randy would love to merge all of it
    • Tridge would like it in too
    • Need to rope tamasz in so he can tag issues and whatnot

UTC0018 - AP_Arming: display 'Arm: ' instead of 'PreArm: ' for arming failures by peterbarker · Pull Request #21339 · ArduPilot/ardupilot · GitHub

  • Say Arm: on arming failure not PreArm:
  • Merged!

UTC0019 - need to vet parameter set() calls · Issue #21341 · ArduPilot/ardupilot · GitHub

  • set() to disable features sucks
    • Can accidentally get those temporary values into parameter files
  • Shadow parameters instead?
  • Mechanism to disallow parameter downloading?
  • Some sort of magic new parameter which stores both values?

UTC0019 - SRV_Channel: Passthrough mapped RC channels by TunaLobster · Pull Request #21347 · ArduPilot/ardupilot · GitHub

  • New servo functions that map the rc input to the servo min/trim/max

  • Mostly people would map 1-1

  • Swap RC transmitters around without breaking things

    • So long as the RC is calibrated

  • Should we remove the mixing from the IOMCU?

    • Never saved a Plane?
    • Lot of infrastructure which doesn’t get anything?
    • Open issue somewhere?

  • [10:31 AM] Josh Henderson: Need a different UI

  • [10:31 AM] Peter Barker: Do we need better markup?

  • [10:31 AM] Josh Henderson: Maybe, but dropdowns in the UI per group.

  • And marked up better in the code to do so

  • [10:32 AM] Peter Hall: I mean, I already just look in the code…

  • Needs to handle “reversed”

  • Probably don’t want deadzones but this has them?

    • use

  • Deadzones each way?

  • Angle based or range based?

  • Review left

  • Several people have asked for this over time

UTC0019 - Copter: move motors check to be must-run prearm by peterbarker · Pull Request #21349 · ArduPilot/ardupilot · GitHub

  • Clean up some motor prearm checks
  • Merged!

UTC0019 - Plane update

  • Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
  • Tridge flew the beta
  • Some significant changes in it
  • 4.2.3 beta copter would be nice
    • Pixhaw6e and 6x vendors would love that
  • No navigator support still?
    • There’s a backport PR….
  • INA init stuff…
    • Probed for ina at boot…
    • Plug all batteries in simultaneously was a bit of an ask
  • 4.3 beta in next week or two….
  • OpenDroneID into a final 4.2?
    • Before 16th September
    • Patches were changed yesterday to make backporting easier

UTC0049 - Copter update

  • Randy’s back….
  • A few new issues to chase
    • An object avoidance one….
    • Climbing-when-landing is also a bit of an issue
  • Still questions on hexacopter redundancy
    • Tuning!

UTC0053 - Copter: fix take-off velocity limits by lthall · Pull Request #21361 · ArduPilot/ardupilot · GitHub

  • Fix takeoff velocity limits

UTC0055 - Plane: Quadplane: allow servo auto trim for motors only tailsitter asist by IamPete1 · Pull Request #21356 · ArduPilot/ardupilot · GitHub

  • Allow servo auto trim for motors oly tailsitter
  • Merged

UTC0057 - AP_AHRS: modify AHRS type check for compass-less setups by Hwurzburg · Pull Request #21360 · ArduPilot/ardupilot · GitHub

  • No compass for yaw means you bounce between DCM and EKF
    • New arming check means you can’t arm a lot of the time
  • Relax arming checks for compass-less changes
  • Really high end guys won’t get protection any more
    • All compasses disabled and using GPS for yaw
  • Underlying bug where we’re switching between DCM and EKF?

UTC0102 - Plane: Quadplane: add option_is_set helper for Q_OPTIONS by IamPete1 · Pull Request #21362 · ArduPilot/ardupilot · GitHub

  • Option_is_set helper and use it
  • Merged!

UTC0108 - Fast attitude logging at loop rate and filter logging by andyp1per · Pull Request #21369 · ArduPilot/ardupilot · GitHub

  • Fast attitude logging at loop rate and filter logging
  • Logging at 400Hz mises attitude information if running >400Hz
  • MergeOnCIPass

UTC0108 - Notch esc index bug by andyp1per · Pull Request #21370 · ArduPilot/ardupilot · GitHub

  • Fix applying notch to wrong motor on telemetry fail

UTC0113 - Add back in bdshot targets for KakuteF7 and CubeYellow by andyp1per · Pull Request #21373 · ArduPilot/ardupilot · GitHub

  • Build bdshot on CubeYellow….
  • More build server time

UTC0115 - Plane: only trigger fence action for new breaches (allowing mode change after breach) by IamPete1 · Pull Request #21371 · ArduPilot/ardupilot · GitHub

  • Allow mode change and install a backup fence
  • This was deliberate
    • Fence was For when the pilot’s about to fly into the ground
    • Flight option bit
  • ?Golden rule?: assume pilot is qualified and useful….
  • Add flight option bit to enable this functionality
  • Tridge: Should always have an RC option switch to enable fence as if the EKF goes bad (or bad GPS glitches) then you might fly to a bad location
  • Randy: not allowing mode changes is second-guessing the pilot?
    • Tridge: pilot input might not be coming from the user, may be bad transmitter
      • Randy: bandaid in wrong spot if you’re patching fence!
    • There were cases where CASA mandated the current Plane behaviour
  • Will also fix the switching that Plane does
    • Refuse mode change
  • Copter will get option to not allow mode changes while breached

UTC0027 - Copter: logging disentangle and correct bugs and rename bitmasks by Hwurzburg · Pull Request #21372 · ArduPilot/ardupilot · GitHub

  • Fix logging bitmasks in Copter
  • We’ll look at this DevCallEU

UTC0033 - Logging metadata updates and style change by Hwurzburg · Pull Request #21379 · ArduPilot/ardupilot · GitHub

  • Metadata changes
  • Merged!

UTC0039 - tridge would like review on 4.2 backport for OpenDroneID

UTC0040 - close