Dev Call Dec 12, 2022
December 12, 2022, 11:01pm
Issues & Pull Requests
Copter & Rover
December 13, 2022, 2:54am
Attendee count (max): 21
Linux board's don't support all features by LaneaLucy · Pull Request #4783 · ArduPilot/ardupilot_wiki · GitHub
Linux boards don’t support all features
Add documentation to that effect
Randy is asked once a day which autopilot to use
Thinks generally we should steer people away from them
Harder to get started with
What’s being sold?
Hats for RPi
Disco and Bebop
We do support them / provide the firmware
We could do the extract-features thing
ExtLibs: ArduPilot: Mavlink: try and pull AP firmware type from version string by IamPete1 · Pull Request #2972 · ArduPilot/MissionPlanner · GitHub
Pull AP firmware version from version string
The MAV_TYPE isn’t sufficient for MP to know what’s going on
E.g. Mode numbers are wrong in dropdowns
E.g. param descriptions can be wrong
See if we can wedge information into AUTOPILOT_VERSION
Copter: add weathervaneing by IamPete1 · Pull Request #21609 · ArduPilot/ardupilot · GitHub
Bill wants this tested on Heli
Can be merged after that testing
Plane: if RTL with VTOL active and within QRTL radius and alt then QRTL by IamPete1 · Pull Request #21883 · ArduPilot/ardupilot · GitHub
RTL / VTOL / QRTL fixes
Copter: Reserve G2 63 for Ship Operations by lthall · Pull Request #22251 · ArduPilot/ardupilot · GitHub
Reserve a parameter space for ship operations
AP_Airspeed:add warning for large offset change by Hwurzburg · Pull Request #22256 · ArduPilot/ardupilot · GitHub
Add warning for large offset change
Henry tried adding a prearm but it wouldn’t have given a message, so that change was reverted
Rebased using interface
“Resolve conflicts” is terrible, don’t use it
Double-rebase can get rid of the merge commit if you get one accidentally?!
“Retry” forgets the “no merge commit” selection
Payload Place by lthall · Pull Request #22258 · ArduPilot/ardupilot · GitHub
Randy will look at it so Leonard can test it on expensive aircraft
AP_Airspeed: move to per-instance params by IamPete1 · Pull Request #22297 · ArduPilot/ardupilot · GitHub
Overall airspeed enable
Renames ARSPD → ARSPD1
If first or second type is non-zero in storage it enables the driver
This won’t work for 4525
There’s a set-defaults call
Can we lose the “1” change?
Non-numbered ones are a bit confusing
Largest size impact is on Rover?
Follow-up is support for a third airspeed sensor
New airspeed type of “median”
Have to be careful a synthetic doesn’t collide with the real
Periph costs a lot because of conversion
Most parameters aren’t needed on AP_PERIPH
So we could more-aggressively remove them
Would be nice to do auto-detection but it’s basically not possible due to tube-length-range issues and looks-like-a-baro issues
Move controllers and PID objects to a real time update system by lthall · Pull Request #22298 · ArduPilot/ardupilot · GitHub
PID objects to a real-time-update system
First need to get his into master
Randy’s flown this
Backport to 4.3 with just the fast-task fix
Twitch went away
Ramp up scheduler loop rate…
Psc was still not happy, as expected as this wasn’t the full fix
Full fix got rid of twitch and PSC was fully happy
Compare position and velocity
Just do the multiplication yourself and you can see the slowdown pre-fix
Tridge thinks this should go into master now
Motors change in 6dof was more extensive than expected
MergeOnCIPass, but we need to discuss what goes into 4.3
New beta just went out
Tridge isn’t inclined to bring this into 4.3.2rc2
The smaller patch seems to do the job
Maybe in a 4.3.3?
If vehicles were running slow then this
Would be nice to have some comparative logs
Same vehicle, 4.2 back-to-back with 4.3
Can’t see why it should be slower
Should be faster in a lot of situations
If you have an example, please bring it up!
Much less likely to bring it back if we can’t see something that needs fixing
Low number of testers is problematic
Only 30 downloads of Copter beta vs over 2000 stable
A backport branch in case people have issues?
How long ‘til 4.4?
Are we still putting fires out in 4.3?
Not as good as 4.2 in some ways?
Not getting rid of the bugs fast enough?
Randy’s torn between fixing bugs and introducing features
Move back to a slower release cycle?
Tridge likes the shorter release cycle
Support for new hardware?
“Update backport release?”
Tridge thinks the shorter release cycles are great
The smaller changeset in 4.3 was a great relief
Particularly with lack of beta-testing?
Beta periods too short?
Nobody testing Plane except tridge?
Early days of open-source sees much more testing
As things get more stable fewer test the bleeding edge and more people using stables
[11:21 AM]timtuxworth: I’ve noticed that the testing cycle for a release seems very short.
[11:22 AM]timtuxworth: It always seems to me like from hearing there is a beta, I never even have time to run the beta before its already moved on to the next beta or the release
[11:22 AM]Peter Hall: We might get more beta testers if the beta cycles are more spread out.
[11:23 AM]timtuxworth: I don’t know about before
[11:24 AM]timtuxworth: I flew the current Plane beta and crashed (due to pilot error) - sorry no feedback. (edited)
[11:26 AM]rmackay9: sadly I need to drop my wife off at the train station shortly…
Drop beta releases entirely?!
A drop every 6 months
Kind of radical!
add support for mavlink in-progress message by peterbarker · Pull Request #22317 · ArduPilot/ardupilot · GitHub
Return in-progress mavlink messages for long-running tasks
Will test this weekend
What happens if you don’t have an airspeed sensor?
Plane: fix loiter-to-alt for short-distance waypoints by peterbarker · Pull Request #22353 · ArduPilot/ardupilot · GitHub
Fix consecutive loiter-to-alt commands
UTC0041 - Plane update
Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
New beta went out yesterday
Same as Copter and Rover betas
Timing issue fixes
MatekF405 loses SIRF and SBP for size reasons
Might need to allow NMEA in the future
Might go with a binary protocol for the unicore instead
Release before xmas
More people flying master rather than flying betas!
Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub
Copter: Simulink Model and init scripts for Copter-4.3 by fbredeme · Pull Request #22354 · ArduPilot/ardupilot · GitHub
CAN: added CAN statistics logging for DroneCAN by tridge · Pull Request #22359 · ArduPilot/ardupilot · GitHub
Add logging of CAN buses
Find bus failures
Later we might do separate protocols
Broadcast calls aren’t checked
Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub
Twitch fix is in new beta
Users who think the takeoff is much more aggressive than it used to be
non-GPS nav overshoot was a bit scary which needs looking at
Poor hover-throttle might explain this
Non-gps navigation arming issues
Ahrs and gps positions differ
Message rate issue
Possibly just streamrate parameters?
Compile AP_Generator_Richenpower in by default by Tabocim · Pull Request #22369 · ArduPilot/ardupilot · GitHub
Compile support for the Richenpower in by default
Enable it on boards that users are likely to use?
FRAM gives 256kB more flash which means to be premium you need FRAM?
Make it a LUA script?
Won’t be putting this onto boards by default
Custom build server and/or OEM compilation setup
AP_RangeFinder: skip GPIO arming check on analog backend by IamPete1 · Pull Request #22375 · ArduPilot/ardupilot · GitHub
Skip GPIO arming check on analogue backend
Plane: Auto Landing Refinement by rbeall · Pull Request #22378 · ArduPilot/ardupilot · GitHub
Headwind compensation factor currently hard-coded, this adds a parameter
Generally looks good, a couple of minor changes
hwdef: added MatekL431-BattMon support by tridge · Pull Request #22382 · ArduPilot/ardupilot · GitHub
Add hwdef for MatekL431-BattMon
Why are we doing Ah rather than Wh?
Leonard and Paul disagree on which is more useful.
Calculate it based on sag-corrected voltage
Put it into the flight controller rather than the nodes
Josh will keep looking at things
Node-capabilities for deprecating stuff
Applets:add SportPlaneAirshow schedule by Hwurzburg · Pull Request #22384 · ArduPilot/ardupilot · GitHub
Aerobatics Schedule update
DroneCAN: update submodules by tridge · Pull Request #22387 · ArduPilot/ardupilot · GitHub
Update dronecan submodules
UTC0131 - close