Dev Call Dec 5, 2022

Development Team
1

Issues & Pull Requests

Plane

Copter

2

Attendee count (max): 16

UTC2300 - Allow flashing autopilot from file-on-SD-card by peterbarker · Pull Request #21474 · ArduPilot/ardupilot · GitHub

  • Allow flashing from SD card
  • Only CubeOrange and Pixhawk6X so far
  • Need some statics
  • Be nice to get ftp distribution of file to multiple vehicles
  • Abin files include checksums which is why we’re using them.

UTC2320 - AP_Airspeed:add warning for large offset change by Hwurzburg · Pull Request #22256 · ArduPilot/ardupilot · GitHub

  • Add warning for large airspeed offset change
  • Make this an arming failure into the future?
  • Need MdB to approve (or at least dismiss his review…)

UTC2320 - AP_TECS: Remove unused TECS_LAND_PTRIM parameter by priseborough · Pull Request #22271 · ArduPilot/ardupilot · GitHub

  • Lowering flaps on approach you need to reset your angle references in terms of limits
    • Large changes in trim angle depending on aircraft
    • Pitch-trim-flaps
      • Flaps-slew-rate would be used to bring the trim in over time
    • Accessor function that specific a change in angle of attack?
      • Pct flaps * that?
      • Keep angle alc outside TECS
      • Ask k_srv_channels for percentage?
      • And a max value for change
  • merged

UTC2328 - https://github.com/ArduPilot/ardupilot/pull/22298

  • Move controllers and PID objects to a real-time update system
  • Long and convoluted story
  • Problems in the scheduler meant not all fast-loop tasks were being run
    • Tridge has fixes coming
  • These changes take the controllers and mixers to a real-time-update thing
    • Uses real delta-time not configured loop period
  • Plane will need to start to use the fast-task code to make sure things get run when they should
  • Randy’s got some reporting stuff coming
    • And Wiki pages to tell the user what to do should the reporting be triggered
  • A few minor changes to Sub
    • Leonard would like some help/review from Sub people on this one
    • [10:35 AM]Willian Galvani: I’ll take a look at the sub thing
  • New canary in coal-mine
  • Do we need to tell people how to fix their loop rates?
    • You will see poorer handling
    • The internal error was there to ensure people used position controller correctly
    • Should we then run Copter at 800Hz instead?
      • Leonard says yes from a control perspective
      • LUA scripts might not run then….
      • Insidious problems can creep in with slow loop rates…. On the edge sometimes vehicle can be crap
        • Object avoidance!
      • Support nightmare playing whack-a=mole when autopilot is just running out of CPU
  • More flight testing….
  • Still work to do in here yet
    • Motors stuff needs more fleshing out
    • Motor slew was affected by slowdowns
    • Do not want to run this branch if you’re using slew-rated-ESCs
      • E.g. Solo…. And big aircraft
  • This was slated for 4.3 as people are noticing problems
    • But this is starting to sound large
    • Fast-task fix might be sufficient?
      • Combined with the parameter logging
      • And Plane to use fast-task
      • And internal error sitl-only
    • Most common reason for internal error was parameter write-out
      • False-positive in that the thing was still flyable
    • Don’t want people to be inured to internal errors

UTC2354 - Copter: add main loop performance warning by rmackay9 · Pull Request #22320 · ArduPilot/ardupilot · GitHub

  • Add main loop performance warning
  • … and more PM entries
  • Some vehicles want massive loop rates and will always trigger stuff?

UTC0101 - SITL: added SIM_TIME_JITTER by tridge · Pull Request #22343 · ArduPilot/ardupilot · GitHub

  • Add SIM_TIME_JITTER
  • Merged!

UTC0103 - AP_Scheduler: guarantee that FAST_TASK tasks do run on every loop by tridge · Pull Request #22346 · ArduPilot/ardupilot · GitHub

  • Guarantee that fast task do run on every loop
  • Need to mark lots of tasks as not-achieved
  • Conflated second patch

UTC0111 - Plane: added FAST_TASK() for key scheduler tasks by tridge · Pull Request #22350 · ArduPilot/ardupilot · GitHub

  • Add FAST_TASK for Plane
  • If you don’t use it then the integration of position controller may not add up right

UTC0118 - Add forced-reboot via mavlink by peterbarker · Pull Request #22325 · ArduPilot/ardupilot · GitHub

  • Add “reboot force” option
    • Particularly handy on tracker

UTC0121 - Plane: Quadaplane: add aux function for Qstabilize by IamPete1 · Pull Request #22328 · ArduPilot/ardupilot · GitHub

  • Add aux-function for qstabilize
  • Merged!

UTC0122 - Support for MambaF405-2022B by andyp1per · Pull Request #22332 · ArduPilot/ardupilot · GitHub

  • Support for MambaF405-2022B
    • Same board ID as before
  • merged!

UTC0124 - AP_HAL_ChibiOS: correct defaults and readme for ReaperF745AIO board by Hwurzburg · Pull Request #22333 · ArduPilot/ardupilot · GitHub

  • Fix ReaperF745AIO defaults and README
  • Removed LED stuff as there’s no actual LEDs….
  • merged!

UTC0127 - AP_Baro: restore GND_TEMP reset in init() by robertlong13 · Pull Request #22334 · ArduPilot/ardupilot · GitHub

  • Removes persistent nature of the parameter
    • Does not persist across reboots
  • Documentation is out-of-date, rather than code being wrong
    • We changed the behavior on purpose

UTC0137 - Correct dependencies for CRSF in build options by Hwurzburg · Pull Request #22342 · ArduPilot/ardupilot · GitHub

  • Deps for CRSF

UTC0139 - .github: use older cygwin installer by peterbarker · Pull Request #22351 · ArduPilot/ardupilot · GitHub

  • Maybe cygwin/cygwin-install-action@v2

  • Move to 64-bit?

UTC0141 - Plane update

  • Patches flown for the next Plane 4.3
  • 4.3.2beta1
  • Plane 4.3 · GitHub
  • New beta required with new patches….
  • Resync needed between Copter and Plane
  • Cam-min-interval is an important fix for mapping-type missions
  • Need to decide on the fast-loop change
  • NMEA moving baseline?
    • Flown on Sunday
    • Problem found…
      • Fix reduces flash usage…
    • PR has been updated
    • Still some work to work on not breaking existing implementations
      • Slave antenna lat/lng issues…

UTC0146 - Copter/Rover update

  • 4.3.1 went out yesterday
  • Beta-testing for 2 or 3 weeks
    • Not a lot of feedback, so out it went
  • MissionPlanner can’t install firmware, fails download?
    • There are two installers…
      • Legacy page and non-legacy page
  • Pixhawk1 and CubeOrange both fail?
  • MissionPlanner.log might show reason?
  • Too many d-shot leds lead to not booting and sbus out not working?
    • Need to work on Leonard’s stuff first
  • Rover is still in purgatory
    • May go straight to 4.4

UTC0152 - off the floor

  • There’s a DevTeam vote available

UTC0153 - close