Issues & Pull Requests
Plane
Copter & Rover
Attendee count (max): 15
UTC1100 - Copter: improved follow at close distances by tridge · Pull Request #26138 · ArduPilot/ardupilot · GitHub
- Follow at close distances fix
- Review by Georacer
- Need to fix z-limit of velocity
- Will close tridge’s and use Georacer’s PR
- GeoRacer will ping us in #code-review to have a look at it
UTC1106 - AP_Scripting: raise max FLTE for yaw to 8 by tridge · Pull Request #24933 · ArduPilot/ardupilot · GitHub
- Raise max FLTE for yaw to 8
- Scripted Quiktune limit
- Unlimited bad
- TVBS dolphin didn’t go well with this sort of thing
- Perhaps a function which indicates whether we should use higher gains or not based on many other parameters
- Tridge and Henry will work on that
- Filtering on vectored thrust shouldn’t have values other than 0 says Leonard
- Quick-tune might not be appropriate for yaw on these vehicles
- Change default filter on yaw axis for tilt-vectored vehicle from 2.5?
- Might break people who have set a P-gain manually
- Leonard’s not sure
- Might break people who have set a P-gain manually
- Recommending quiktune over autotune?
- Warning of ESC de-sync issue on autotune
- Would be nice to have autotune testing
- Tridge has seen some bad results
- Leonard thinks relaxing the prereqs is the problem
- Needs a base reasonable tune
- Quik-tune should be good for this
- Autotune is not takeoff-and-fly-autotune-to-get-working-vehicle
- Needs base-tune
- Standards were dropped and it stopped working well and people lost confidence
- Filtering failures?
- Quik-tune is based around Leonard’s tuning method
- MUST be able to detect oscillations
- Can’t touch accels
- People are generally happy with the way it works out…
UTC1135 - Mode takeoff fixes for fence autoenable by Hwurzburg · Pull Request #25804 · ArduPilot/ardupilot · GitHub
- Auto-enable fence on takeoff
- Uses correct nav roll/pitch and throttle calculations afterwards
- This changes the takeoff profile a lot
- Was causing Pitot tune test to fail because the pressures were moving too rapidly
- Merged!
UTC1145 - Plane: rework `isHeadingLinedUp` function for loiter breakout by IamPete1 · Pull Request #26102 · ArduPilot/ardupilot · GitHub
- isHeadlingLinedUp fixes
- Some weirdnesses fixed up
- JR opened up a related issue
- Curve-into-other-curve with normal ArduPilot missions
- Currently breakout logic is a bit weird within 5% of radius
- This PR is much less sharp and more intuitive
- Clean curve exit
- Probably some follow-up PRs
- JR is most of the way there with his stuff
- But some around mavlink compatability
- Merged!
UTC1148 - Plane: output nav scripting throttle with rest of nav scripting stuff by IamPete1 · Pull Request #26148 · ArduPilot/ardupilot · GitHub
- Output nav-scripting-throttle differently
- From stabilize function which is why it works for tricks-on-a-switch
- Tricks-on-switch definitely not going to work in training or manual!
- merged!
UTC1149 - Plane: output nav scripting throttle with rest of nav scripting stuff by IamPete1 · Pull Request #26148 · ArduPilot/ardupilot · GitHub
- Move logging up to AP_Vehicle class
- Merged!
UTC1153 - Move parameter storage formatting up to AP_Vehicle by peterbarker · Pull Request #26181 · ArduPilot/ardupilot · GitHub
- Move formatting of parameter storage up to AP_Vehicle
- Conflicting
- MergeOnCIPass
UTC1156 - Decode high duty-cycle CRSF frames using frame marker rather than timeouts by andyp1per · Pull Request #26183 · ArduPilot/ardupilot · GitHub
- High-duty CRSF using frame markers
- We use gap-framing in many of our backends for reset
- Cheap synchronisation
- Works will with low-duty-cycle protocols
- Crsf is not low-duty-cycle!
- Pushing uart to limit
- Multiple output uarts
- Normally no DMA on sending devices
- Gaps in middle of frames!
- This is more complicated than it needs to be?
- Tridge has requested changes to simplify
- Will discuss at DevCallEU
UTC1204 - Copter: run rate loop at full filter rate in its own thread by tridge · Pull Request #26189 · ArduPilot/ardupilot · GitHub
- Run rate loops at IMU sample rate
- Very much a WIP
- 2kHz 4kHz 8kHz rate loops in Copter!
- Need a bdshot vehicle, really
- Need to show it provides a benefit on some vehicles
- Flight options=8 to enable this on this PR
- Why not always do it?
- More combinations == more changes for failure
- Not much point doing this on large vehicles
- Only on tiny vehicles does it really matter
- This should remove the PID aliasing
- Can’t do it with just PWM outputs?
- Definite advantages in running filtering at the higher rate
- Should be able to update notch centre frequencies much faster
- And have narrower notches
- Lots of testing on Saturday
- Logging to see effects?
- How do we evaluate without better logging?
- Can see amount of noise power in sub-50Hz range
- Things don’t fall out of the sky with this
- Probably of most use to TinyWhoops
- Only Copter for now, maybe Plane later
- Dt is a real problem when passing stuff into attitude controller
- Implications for autotune
- Motor slew issues too?
- Vertical controller (accel-z-pid)?
- Probably
- Direct-measurement accel loop…
- Attitude controller into faster thread
- Forward-propogate attitude based on IMU buffer
- Computation cost of PIDs is very small
- The attitude controller is doing a huge amount of maths in contrast
- Wait to see if rate-controllers work out first
- Testers please!
UTC1227 - HAL_Linux: reduce delay(ms) jitter by rsaxvc · Pull Request #26195 · ArduPilot/ardupilot · GitHub
- Fix weird delay problems with Linux
- TOCTTOU issue
- May skip millisecond delay
- Delay_millis should multiply by 1000 and call delay_micros
- Testing?
- Willian to test?
- Will merge if that goes OK
UTC1233 - treewide: fix shebangs - /bin/bash -> /usr/bin/env bash by sorki · Pull Request #26196 · ArduPilot/ardupilot · GitHub
- Uyse /usr/bin/env for bash
- For nyxos and openbsd
- Merged!
UTC1236 - AP_Vehicle: correct compilation when AHRS not available by peterbarker · Pull Request #26198 · ArduPilot/ardupilot · GitHub
- Fix compilation of heavy periphs
- Merged!
UTC1237 - Plane update
- DroneCAN parsing code fix
- Critical fix
- Could cause vehicles to fall out of of sky
- Must go into 4.5
- Corrupt DroneCAN packets on wire
- Resending frames multiple times
- When it did that the message was the concatenation of all of the frames
- Passing CRC because we reset CRC calculation when seeing start-of-message marker
- Several checks added and made things boolean
- Why AP_Periph is generating these bad frames is still a question
- Libcanard is the problem, so only a problem on vehicle code 4.5 and above
- Current periph is vulnerable but it filters thjroughly so it might not actually be a problem
- Beta2 this week
- Happy with high-level Plane and QuadPlane code
- A couple of no-brainer backports
- Some boards
- AP_Param: fixed setting of defaults for dynamic param trees by tridge · Pull Request #26124 · ArduPilot/ardupilot · GitHub ?
- Defaults not working on reload fix
- Should we put this in or not?
- Project is here: 4.5 Backports · GitHub
- AP_Periph release to fix bootloader firmware update
- Don’t flash bootloader on periphs until new release goes out
- AP_Bootloader: fixed issue with RAM0 mismatch between bootloader and periph by tridge · Pull Request #26188 · ArduPilot/ardupilot · GitHub
UTC1249 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub
- Copter update
- Some feedback on 4.5 received - thanks!
- Siyi old camera firmware
- Reporting 0.0.0 firmware version for a while at startup
- Watchdogs on MatekHl43
- Link to discussion
- Some logging problems too?
- Siyi old camera firmware
UTC1256 - Conference
- Randy posted about the timing
- Currently scheduled end-of-October
- Randy was a bit worried about weather
- Kaga high 17 low 13
- Aug too hot
- Could come back to July?
- October means no chance of typhoon
- Randy’s going to go out on Friday
- Tourism ideas will get a document!
UTC0103 - GSoC
- If you want to be a mentor ping Randy