Dev Call Dec 18, 2023

Issues & Pull Requests

Plane

Copter & Rover

NO DEV CALL NEXT WEEK!

Attendee count (max): 19

UTC1100 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

  • Relay rework to fix parameters
  • Merged!
  • Also adds function for relied so they can be looked up by function

UTC1101 - AP_Scripting: added external AHRS scripting backend by tridge · Pull Request #25678 · ArduPilot/ardupilot · GitHub

  • Scripting backend for ExternalAHRS
  • Set-ins-data instead of passing a block of data through?
  • (H7 uarts can do 25Mbit, apparently)
  • Discussion of cooked IMU data vs uncooked data and how they should flow
  • Allows you to insert data into various libraries via scripting / external ahrs backend
  • We have 11 backends now for ExternalAHRS
    • We haven’t any results on whether there are better results that internal AHRS yet
    • But people are currently doing measurements
    • Will be able to do experiments using external FOG with in-built EKF3

UTC1122 - DDS - REP-147 Goal Interface Support for Plane (position only) by Ryanf55 · Pull Request #25722 · ArduPilot/ardupilot · GitHub

  • Goal interface support for DDS
  • DDS can now work with LLH
  • Should we force scripting to control vehicles via ExternalControl?
    • Yes
    • But don’t break existing users

UTC1131 - AC_PID: tidy interface and add logging of resets and I term sets by IamPete1 · Pull Request #25753 · ArduPilot/ardupilot · GitHub

  • Tidy interface and log resets of PIDs
  • Needs Leonard to approve again as changes were made

UTC1137 - AP_Motors: Heli: RotorControlState to enum class and helper to remove duplication by IamPete1 · Pull Request #25767 · ArduPilot/ardupilot · GitHub

  • RotorControlState becomes enum class
  • More heli tidying!

UTC1138 - ArduPlane: convert parameter TRIM_PITCH_CD to PITCH_TRIM by timtuxworth · Pull Request #25768 · ArduPilot/ardupilot · GitHub

  • Convert TRIM_PITCH_CD to TRIM_PITCH_DEG
  • Should we have the _DEG
  • Lots of arguments on the PR on this matter!
    • And more on the call
  • We could come back in 5 years and rename to get rid of the _DEG
  • Should we make the parameters more consistent in naming too?
    • E.g. ptch vs pitch?
  • TRIM_AIRSPEED_CM
    • ARSPD_CRUISE?
    • Tridge realises he’s inconsistent here as he wants to have better naming on these
    • Need to distinguish between this and ARSPD library parameters
  • Tridge thinks we might be able to do some of the conversion within the parameter library
  • Convert_centi_parameter
  • Why does TECS need to know about TRIM_PITCH_CD?
    • Looks like current code doesn’t work, so we can just remove it
  • Tridge will force-push with a cd-conversion thing in AP_Param

UTC1216 - Plane: Quadplane: log tailsitter speed scaling in TSIT msg by IamPete1 · Pull Request #25776 · ArduPilot/ardupilot · GitHub

UTC1221 - Plane: Quadplane: log tailsitter speed scaling in TSIT msg by IamPete1 · Pull Request #25776 · ArduPilot/ardupilot · GitHub

  • Deadline scheduling for CAN in AP_Periph
  • Want Sid’s review on it
  • May improve moving baseline yaw

UTC1224 - Plane:fix auto fence enable in Mode Takeoff by Hwurzburg · Pull Request #25788 · ArduPilot/ardupilot · GitHub

  • Fix auto-fence-enable in mode-takeoff
  • Enables above level-alt in mode takeoff
  • Vs after takeoff mission item in auto modes
  • Put it on mode exit?
    • Symmetry with completing mission item?
    • Instant fence breach on mode change problem?
    • Maybe just above target alt?
  • Need to have an option bit to enable the fence once you’re 5m above instead?
  • Henry thinks we shouldn’t be able to breach min-alt fence until you’ve actually gone above it!
    • For Copter too?
    • Might already have it and it’s not working?

UTC1239 - ChibiOS: faster millis micros64 implementation by tridge · Pull Request #25790 · ArduPilot/ardupilot · GitHub

  • Faster millis/micros implementation
  • IOMCU change was merged
    • 4xbdshot on IOMCU now
    • Subset of boards only
    • Henry will need to work with Andy on the details
    • Set BRD parameter to enable dshot on IOMCU
      • Will re-flash the IO firmware
      • You then get bdshot
    • Tridge ran across an issue with it this morning
    • Boot-time internal error
    • Not reverting yet
    • Just a timing issue at startup?
    • Planes only probably
    • Does affect e.g. CubeOrange
    • Hex 0x3000
    • Tridge and Andy chasing
    • Big transfer of mixer
      • Remove mixer would fix it…
  • Big system-level changes, so please everyone be aware and vigilant
    • If you see something say something…
  • Twice as fast for millis/micros after this PR is merged
  • Merged!

UTC1240 - EAHRS is performing duplicate temperature compenstation · Issue #25792 · ArduPilot/ardupilot · GitHub

  • EAHRS is doing temperature compensation twice
    • Need to make it optional
    • Some sort of enum?
  • Compass offsets are also problematic

UTC1259 - Copter/AC_Avoidance: option to support "fast waypoints" when using Dijkstras by rmackay9 · Pull Request #25793 · ArduPilot/ardupilot · GitHub

  • Stop stopping at all waypoints when using Dijkstra’s
  • SCurves made this problematic
  • Takes a second or so to calculate
  • Could get a fence breach after this if the wp was close to the waypoint
  • Can now cruise around at full speed, no stopping
  • Need to set an option
  • No full path calculated for next point
  • New parameters in cm or cdeg should be labelled as such

UTC0105 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane update
  • Time to push out 4.4.4?
    • Terrain problem?
      • Treating relative as absolute
    • QRTL terrain-following thing with terrain disabled
      • User wiped everything and it’s all working
    • Pre-existing issue as it was 4.4.3

UTC0110 - Copter-4.4.4 / Rover-4.4.0 release by rmackay9 · Pull Request #25795 · ArduPilot/ardupilot · GitHub

  • Copter update
  • Pwm output on navio+ not working?
    • Navigator is working
    • Might just be arming switch?
  • 4.4.4. Will probably go out today
  • Willian’s been testing 4.4.0
    • Stable Rover 4.4!
    • Still no L1
      • New system or bust

UTC0118 - off the floor

  • Henry wants help to help Marco

UTC0123 - update on Web Tools with PH

  • ArduPilot Web Tools
  • Uses a github API to turn a hash back into a commit anywhere on github
  • ArduPilot Hardware Checker
  • New Online magfit tool
    • See blog post
  • New PID review tool
    • Experimental
    • PH is still working out what it’s useful for
    • Add a settling time requested

UTC0138 - fractional loiter-turn support

  • Integer-only ATM

UTC0140 - no call next week

  • Xmas day
  • Should we do New-Year’s day?
    • Maybe a quick one?

UTC0140 - close

NO DEV CALL NEXT WEEK!