Issues & Pull Requests
- ROS for path planning with Rover.
plane 3.9.6 release
Issues & Pull Requests
plane 3.9.6 release
Attendee count (max): 21
Can be merged when travis passes
Reordering command ack and home_position should be OK
Avoid iterm buildup on landing
Flipping on landing with a quadplane or Copter? This should fix that
Slightly off accel cals a little bit off?
EKF can report a non-zero velocity in this case
Aiming for zero velocity as you are when you’re landing then the integrator starts to wind up
We set throttle-mix to min on landing
But if you pass an attitude error threshold then the throttle mix goes to maximum
So it all goes to hell really fast
[10:12 AM] (Channel) Michael_duBreuil: Note: until a different PR came in this week this was essentially no impact on plane…
Could be default parameter issues
He should try loading default SITL parameters
Could be underground due to terrain data problems?
Gear might come out when they go over a hill
Tridge kind of likes the intermediate function
If we need one we’ll add one back
Randy is happy with it!
Tridge has asked for a couple of small tidy-ups
FF is happy with it
Randy is worried about Paul’s PRs not getting merged
Rename set orientation to update orientation
Should we add a sanity check into set_home so that you can never set an altitude relative to itself?
Can be merged!
Randy’s not in favour of more parameters
New mission item for termination?
Uploading missions in flight makes life interesting there.
Current concept is Dual termination
So navigate home safely when comms lost
But terminate if you lose both
Description needs to be a LOT clearer about what’s going on
Autotests would be good
Merit in the feature if it can be cleaned up
Peter will add a parameter - just not
[10:48 AM] (Channel) Michael_duBreuil: You can’t target some really intresting messages
[10:48 AM] (Channel) edwin.hayes: Yay!
[10:48 AM] (Channel) Michael_duBreuil: MANUAL_CONTROL and CMD_ACK are great
[10:48 AM] (Channel) edwin.hayes: As Peter says, it’s total nonsense.
Expiring from routing table?
One way links are not uncommon
Could lose an aircraft that way
Could save bytes and traffic
Switching links only
Packing extensions will be broken if your first channel isn’t mavlink2
Maybe do all of this in the generated code
Has been flight tested
Only keeps state in the library
Randy likes that bit
Will get squashed and tidies
UTC0014 - should we allow zero-d-terms?
Tridge thinks we should allow zero-P always
Randy thinks we shouldn’t allow zero
Came to consensus on D-term question
Should we lift this code into the attitudecontroller and position controller?
Rebased and ready to be looked at
Needs a careful review as the rebase might have been odd
Needs testing with in-flight compass testing
SITL testing is fine
One example where we use the compass when unhealthy
UTC0030 - update on Avoidance
Change to mavros to accept a position target
Fly-to-here can flow through to ROS and get added to path-local-plan
You use a different component ID to target the ROS code
ENU coordinate conversion…
north/south currently flipped, which is odd
More testing from others would be good
Michael_duBreuil: lol those multipliers die with large distances IIRC…
Add some sort of failsafe for getting lost or stuck?
Thinking about set-position-target-locall-ned support
UTC0039 - new Plane 3.9.6b1
Stability and large-altitude-delta fixes
Compass switching fix for EKF
Final release very soon
Tridge would like to merge the H7 support very soon
Need people to fly this PR on everything and everything!
Pushes us to next version of ChibiOS, so needs a lot of testing
Changes to all boards:
Hwef.dat can specify optimisation level
CubeBlack is -O3
[11:43 AM] To Weekly devcall: What happens when we need that space back?
50k or 60k of flash
Going to be a long time before we come close to the 2MB on these boards
Cross this road when we come to it
No microsd support ATM
Bug fixed with being in sensor failure loop
UTC0044 - Randy and copter
Couple of new issues
Land position broken
Vehicle lands short of waypoints
Can also cause a fast deceleration
Also merging i-term stuff from tridge and Leonard
Lots of questions from people with EK2_ALT_SOURCE=1
Why do people even use this?
Paul says only to be used at low altitudes over flat surfaces with a vehicle not moving quickly
People think this is what you do to do terrain following
Pre-arm check if you have GPS lock and using this alt source?
Upside-down EKF also used this alt-source
Could stop fusing the rangefinder if the attitude goes beyond limits
New estimates-agree pre-arm checks are triggering
Might need to tweak them
Tests EKF3 if its enabled but not being used
New beta later in the week?
UTC0054 - GSoC
We got accepted!
Need to update the list
Tridge has had a couple of ideas
Some waf based stuff
MdB: Mavlink fuzzer
UTC0056 - contribution of the month nominations welcome