Dev Call Feb 27, 2023

Issues & Pull Requests



Attendee count (max): 18

UTC1101 - Dev Call Feb 27, 2023

  • Mark field as bitmask
  • Merged!

UTC1102 - Fix for MAV_CMD_DO_SET_ROI_LOCATION issue by Puni2001 · Pull Request #1149 · ArduPilot/MAVProxy · GitHub

  • Deprecation not going to happen right now
    • Float is good enough for a lot of location commands
  • But recommendation is fine
    • As command_int is better :slight_smile:
  • There are commands like NAV_SCRIPTING which really, really do need all of the values to be floating point, so COMMAND_LONG is here to stay

UTC1112 - AC_Attitude:Add TKOFF/LAND Only Weathervaning option by Hwurzburg · Pull Request #23043 · ArduPilot/ardupilot · GitHub

  • Att takeoff/landing-only weathervaning
  • Fixes copter where you can’t have weathervaning only in takeoff/landing regime
  • Two different implementations
  • We’ll go with another enumeration value rather than a random options bit

UTC1114 - AC_Attitude:add TKOFF/LAND only weathervane option by Hwurzburg · Pull Request #23054 · ArduPilot/ardupilot · GitHub

  • Alternative to above
  • Merge-on-ci-pass

UTC1115 - AP_HAL_ChibiOS:add Invensensev3 IMU support in MatekF405-Wing by MATEKSYS · Pull Request #23052 · ArduPilot/ardupilot · GitHub

  • Invensensev3 in MatekF405-Wing
  • Some concerns over feature removal
  • Peter will work with Matek on this one

UTC1123 - Use simulated i2c-connected ToshibaLED for graphical LED display by peterbarker · Pull Request #23045 · ArduPilot/ardupilot · GitHub

  • Move simulation of ToshibaLED down into SITL library
  • Merged!

UTC1124 - AP_HAL_ChibiOS: replace NO_FASTBOOT with AP_FASTBOOT_ENABLED (NFC) by peterbarker · Pull Request #23041 · ArduPilot/ardupilot · GitHub

  • Why did CI work?
    • iomcu_f103_8MHz shouldn’t have compiled
  • Should really use tools/script rather than having shell scripts
  • Tridge wants to drop gcc-6

UTC1133 - AHRS: fixed earth frame accel with significant AHRS trim by tridge · Pull Request #23034 · ArduPilot/ardupilot · GitHub

  • Earth-frame accel fix
  • For stable final branches?
  • Tridge wants to discuss with Randy

UTC1133 - LED Output Thread by andyp1per · Pull Request #23019 · ArduPilot/ardupilot · GitHub

  • Create LED Output thread
  • Unconditionally starting thread - good?
    • Create it dynamically?
    • Super-high-loop-rates and nothing happens with LEDs after this?
  • Allows for longer LED chains without interference
  • 4.5 feature

UTC1138 - Move OSD minimised features to by peterbarker · Pull Request #23013 · ArduPilot/ardupilot · GitHub

  • Move more minimize_features stuff into
  • Merged!

UTC1140 - HAL ChibiOS: Interrupt storm pin retry by IamPete1 · Pull Request #23004 · ArduPilot/ardupilot · GitHub

  • Interrupt storm pin retry
  • ISR flood code can trigger at boot if the connected device is not yet powered
  • Users Should really have a hardware pull-up or pull-down
  • Why are pull-ups pull-downs not working?
    • Buffer on the CubeOrange means our pull-ups/downs aren’t working?
  • Adds a retry
  • Some discussion on neater ways to do this
  • Reenables when disarmed
  • Need to log when we deal with the floods
  • Can get “ringing” on camera triggers sometimes
  • Pete will look at this further

UTC1159 - AP_Scripting: fix PWMSource deletion crash by IamPete1 · Pull Request #22983 · ArduPilot/ardupilot · GitHub

  • If scripting deletes PWM source object then AP would crash
  • This fixes that
  • We disabled the feature in 4.3.4

UTC0005 - AP_Motors: add throttle output logging. by IamPete1 · Pull Request #22948 · ArduPilot/ardupilot · GitHub

  • Add motors throttle output logging
  • Boost is the key here
  • We don’t log the boost factor
    • If AP_Motors decides to do a boost we wouldn’t record it

UTC0006 - Implement assisted autorotation for Heli’s by bnsgeyer · Pull Request #22871 · ArduPilot/ardupilot · GitHub

  • Implement assisted autorotation
  • User still has to control the lateral directional axis
  • Autopilot controls speed and vertical velocity all the way to touchdown, including flare
  • Some stylistic things
  • PH wants some guided stuff moved around
  • Rangefinder needs to be at a higher rate!
    • Complementary filter would be better
    • Missing samples can ruin your day
    • Combine rangefinder with ahrs z-pos
      • Uses EKF/inertialsensors to extrapolate and interpolate
    • Filtering terrain height?
      • Filter where the ground is…
      • EKF does offer you the HAGL
        • That’s logged and Bill will check logs
          • No study has really been done on whether this product should be used

UTC0018 - AP_Motors: Matrix: mixer simplification by IamPete1 · Pull Request #22854 · ArduPilot/ardupilot · GitHub

  • Motors matrix simplification
  • Probably one for Randy and Leonard
  • Rearranges some of the maths to make it easier to understand
  • Updated example and a shell script
  • For 4.5 now?

UTC0020 - Allow flashing autopilot from file-on-SD-card by peterbarker · Pull Request #21474 · ArduPilot/ardupilot · GitHub

  • No need to wait for external flash support
  • Merged!

UTC0026 - AP_Dal: populate missing fields `learn_offsets_enabled` and `ekf_type` by IamPete1 · Pull Request #22781 · ArduPilot/ardupilot · GitHub

  • Populate missing fields in DAL
  • Merged!

UTC0027 - Plane: takeoff to xtrack to virtual wp ahead instead of heading-hold by magicrub · Pull Request #14679 · ArduPilot/ardupilot · GitHub

  • Use a virtual waypoint rather than a fixed heading
  • Fly towards waypoint rather than a heading
  • Allows cross-tracking
  • Ryan doesn’t really like this
    • Ryan thinks the takeoff should be setup correctly
    • On takeoff if your COG is bad bad things happen?
    • If you want consistency of takeoffs then set your takeoff altitude very, very low
    • Tracking along runways is another important place for this sort of thing
    • Takeoff has a latitude/longitude
      • But lat/lng can be zero/zero
      • Missionplanner doesn’t show waypoint location so hard to manipulate
        • … no, apparently this has now been fixed!
    • Use mission planning rather than changing from course to waypoint
    • This code is probably slightly better than what’s in master
    • Tridge thinks having the takeoff waypoint location correct is the correct way to do this
    • Capturing a ground course at runtime is going to be inconsistent
    • lat/lng would used for course only, not climb rates!
    • Prearm check that you’re generally point in the right direction

UTC0047 - AP_UAVCAN: add option to send GPS by magicrub · Pull Request #19687 · ArduPilot/ardupilot · GitHub

  • Option to send CAN GPS messages from AP
  • A define for the functionality would be good
  • Tridge things this is a 4.5 change
    • And on top of Sid’s libcanard

UTC0055 - Jump Tags: add scripting hooks and examples by magicrub · Pull Request #23000 · ArduPilot/ardupilot · GitHub

  • More jump tag stuff!
  • More function comments required
  • Example is great
  • merged!

UTC0100 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane update
  • New beta
  • Arace found some tilt-quadplane problems in master which have been patched
  • 4.3 stable rudder-arm fix went in
    • Throttle-wait init
    • Will be in 4.3.4
    • The earth-frame accel one should probably go in
  • We need to make sure users can test 4.2 betas, that sort of thing
  • Notifications for beta releases should be more persistent in MissionPlanner?
  • Earth-frame bug?
    • AHRS trims > 6 degrees are rare
    • Deformation of foam is sufficient in some cases!
      • In-built foam can deform!
    • Landing detector may never fire
    • Same code as in EKF2
  • Circle-to-land fixes….
    • Probably 4.4
  • Throttle control in airbraking for SLT isn’t as good as it could be
    • Shouldn’t ever speed vehicle up

UTC0113 - conference stuff

  • Some travel slots for DevTeam funding are available
    • So if you’d like a funded trip down to Canberra, put your hand up
      • Ping tridge
  • Book your accommodation
  • The AirBNB still has a place
  • If you’re coming we need to know numbers for catering
  • We’re pre-paying for catering
    • We must know the numbers or you may find you just don’t eat!
  • If there are any constraints on your schedule for your talk let tridge know as he’s current; scheduling

UTC0117 - ROS2 stuff

  • Tridge and Arsh and RyanF are going to have a chat

UTC0119 - close