Dev Call Jan 21 2019 2300 UTC

CraigElder · January 21, 2019, 11:03pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

CI: Run flake8 on Python 3.7

ArduPilot:master ← cclauss:patch-7

opened 10:46AM - 18 Jan 19 UTC

cclauss

+9 -0

Yet another attempt at #7131 because without automated testing, these syntax err…ors and undefined names keep creeping back into the codebase: #9225, #9226, #9229, #9788, #10038, and now these new ones... https://travis-ci.org/ArduPilot/ardupilot/jobs/481311021#L244 __E901,E999,F821,F822,F823__ are the "_showstopper_" [flake8](http://flake8.pycqa.org) issues that can halt the runtime with a SyntaxError, NameError, etc. Most other flake8 issues are merely "style violations" -- useful for readability but they do not effect runtime safety. * F821: undefined name `name` * F822: undefined name `name` in `__all__` * F823: local variable name referenced before assignment * E901: SyntaxError or IndentationError * E999: SyntaxError -- failed to compile a file into an Abstract Syntax Tree

github.com/ArduPilot/ardupilot

AP_Arming: allow arming checks ALL to pass when logging is disabled

ArduPilot:master ← nrw505:behave-more-as-expected-when-no-logging-backend

opened 08:17AM - 17 Jan 19 UTC

nrw505

+15 -4

When ARMING_CHECKS is ARMING_CHECK_ALL but not ARMING_CHECK_LOGGING, consider h…aving no logging backend to be valid. When LOG_BACKEND_TYPE is set to 0 (disabling all logging) and ARMING_CHECKS is set to 1 (all arming checks), several people have expected the craft to be armable, in much the same way that if COMPASS_USE*=0 on all compasses and ARMING_CHECKS=1, the craft is armable. There has been some opinions (see https://github.com/ArduPilot/ardupilot/issues/10006 and https://github.com/ArduPilot/ardupilot/issues/7634) that by setting the ARMING_CHECK_LOGGING bit in ARMING_CHECKS you are specifying that you don't want to be able to arm unless logging is working, and I agree. But when ARMING_CHECKS is 1 I think most people expect that to mean "Make sure that everything is working as expected", and when LOG_BACKEND_TYPE=0, working as expected means you have no logging. Note that I also think that if you set ARMING_CHECK_COMPASS in ARMING_CHECKS and COMPASS_USE*=0 the craft should fail to arm because there's no compasses and you've explicitly stated that you should have one. But that's another PR.

github.com/ArduPilot/ardupilot

Plane to use AHRS_WIND_MAX as documented

ArduPilot:master ← ChrisBird:9372

opened 12:51PM - 14 Jan 19 UTC

ChrisBird

+146 -17

This is to provide an initial response to the issue raised in #9372 that we curr…ently dont use WIND_MAX as documented. This is not the end solution for this problem, I'll be working on a longer term solution in the coming weeks but this is the first item to at least use something as documented. This has been tested in SITL by modifying SIM_Aircraft to use: + //airspeed_pitot = constrain_float(velocity_air_bf * Vector3f(1.0f, 0.0f, 0.0f), 0.0f, 120.0f); + airspeed_pitot = constrain_float(velocity_air_bf * Vector3f(1.0f, 0.0f, 0.0f), 0.0f, 12.0f + rand_float()); That mod should lock the max airspeed to a value of 11 to 13m/s. Can someone please check my logic that I haven't messed something up somewhere. This PR should remain open for at least a week or so as I'll be adding further code to reset the counter to 0 after a period of no bad readings (failing the wind_max threshold test from gnd speed). Currently I have it set to 30 which should be 3 seconds, this can be shortened or lengthened. Those that have experienced this issue can provide guidance on how long a problem it can be before we need to disable it. Some have suggested 4 seconds. I'll need to think about how I handle multiple airspeed sensors, currently this only addresses the primary airspeed sensor.

github.com/ArduPilot/ardupilot

AP_BattMonitor: Add smart battery cell voltage minimum and diff monitoring

ArduPilot:master ← Pedals2Paddles:battcell1

opened 08:43PM - 15 Dec 18 UTC

Pedals2Paddles

+74 -10

This adds checking of individual cell voltages to the low/critical failsafes. T…he low and critical battery failsafes will trigger if the lowest cell voltage drops below a threshold. And the low battery failsafe will also trigger if the difference between the lowest and highest cell voltage increases beyond a threshold. I extended the methods used for the existing checks into the cell voltage and difference. And.... it works! _Updated after discussing with MDB_ - Adds parameters `_CELL_V_LOW`, `_CELL_V_CRT`, & `_CELL_V_DIF`. The default for all 3 is 0, which is disabled. These are the threshold voltages for low, critical, and high-to-low difference. Low cell would typically be 3.45v, critical cell 3.30v, and diff I think maybe 0.15 or something. - Adds checking the lowest cell voltage to the low and critical battery failsafes. Adds checking the difference between the highest and lowest cell to the **low** battery failsafe. It didn't make sense to add a whole other type of failsafe for this. If the diff is too great, one of the cells is obviously too low, so it is an appropriate place for it. To-Do: Cell data is too much for the existing send_text that goes out when the failsafe trips. Needs something else.

github.com/ArduPilot/ardupilot

AP_BattMonitor: Add powering off mavlink broadcast

ArduPilot:master ← Pedals2Paddles:poweroff

opened 03:02AM - 28 Nov 18 UTC

Pedals2Paddles

+33 -5

In the heavily customized version of ArduCopter 3.2ish used on the original Solo… cubes, a mavlink command long broadcast of MAV_CMD_POWER_OFF_INITIATED was added in response to the power button on the smart battery. This is consumed by companion computers and the gimbal. And it also facilitates powering off the camera. This function was never ported over to master. This adds the functionality, broadcasting the shutdown to all components on the vehicle's system ID. Tested and working. No more dead GoPro batteries! The old code can be seen here: https://github.com/OpenSolo/ardupilot-solo/blob/master/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.cpp#L76 This will close https://github.com/ArduPilot/ardupilot/issues/9915

github.com/ArduPilot/ardupilot

Plane: AC_Loiter: User configurable waypoint speed

ArduPilot:plane3.9 ← EPJT18:plane3.9_maverick

opened 12:41AM - 21 Aug 18 UTC

MaverickFPV

+10 -3

When using mc waypoints in auto missions the travel speed was limited to 2m/s by… the hardcoded value LOITER_VEL_CORRECTION_MAX. Modified the AC_Loiter calls to _pos_control.set_speed_xy to use the _speed_cms variable which can be set by the Q_LOIT_SPEED parameter, this allows for user defined speed limits for mc waypoints

github.com/ArduPilot/ardupilot

RangeFinder: refactoring parameter management

ArduPilot:master ← ipmgroup:pr/rangefinder-7

opened 03:08PM - 04 Jul 18 UTC

256shadesofgrey

+575 -678

Created a new class AP_RangeFinder_Params to store the settings there to allow t…o increase RANGEFINDER_MAX_INSTANCES past 4 (with this commit up to 7 seem to work properly). Created subgroups in RangeFinder accordingly and adjusted constructors and the pointers in the already present drivers. I added settings for up to 10 range finders to RangeFinder.cpp to allow in future an 8+2 configuration with a range finder for each supported direction. However due to limitations in other parts of the code using more than 7 will result in weird behavior. As I was working on this I was also wondering, is there any good reason why the number of range finders/proximity sensors is limited to 3 bits? For example [here](https://github.com/ArduPilot/ardupilot/blob/b94e31b21aab369ccb3d6c358780dd3ea4b102ad/libraries/AP_RangeFinder/RangeFinder.h#L175), [here](https://github.com/ArduPilot/ardupilot/blob/b94e31b21aab369ccb3d6c358780dd3ea4b102ad/libraries/AP_Proximity/AP_Proximity.h#L142) and [here](https://github.com/ArduPilot/ardupilot/blob/b94e31b21aab369ccb3d6c358780dd3ea4b102ad/libraries/AP_Proximity/AP_Proximity.h#L143). If anyone here knows, that would greatly help me with future work on this. The code was tested with 7xVL53L0X (RNGFNDX_TYPE 16).

https://www.rcgroups.com/forums/showpost.php?p=40957799&postcount=3140

General

Dataflash → AP_Logger rename, dataflash support,
fixed git hash in APJ files
removed F4Light HAL
ToshibaCAN KDECAN

Plane

Copter

github.com/ArduPilot/ardupilot

Copter: 3.6.0 issues list

opened 01:29AM - 02 Oct 18 UTC

closed 06:40AM - 13 Apr 21 UTC

rmackay9

Copter ChibiOS

List of issues for the Copter-3.6.10 release: - SBUS input not working when u…sing converter board ([discussion](https://discuss.ardupilot.org/t/ac-3-6-10-and-error-reading-sbus/45468), [discussion2](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/14)) - omnibus pro v2 not working? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/26)) - Radiolink mini pix telem1, telem2 are swapped (again) ([discussion](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/17)) - Can't initialise AK09166 reset failed ([discussion](https://discuss.ardupilot.org/t/passthrough-telem-ak09166-reset-failed/45512), [issue](https://github.com/ArduPilot/ardupilot/issues/11935)) - One user's board locks up on boot-up This is a list of issues to investigate for the Copter-3.6.0 release: - Matek405-STD not built for stable ([issue](https://github.com/ArduPilot/ardupilot/issues/11292)) - Notch filter not working? ([discussion](https://discuss.ardupilot.org/t/notch-filter-not-working/40616)) - Loss of altitude control not caused by vibration ([discussion](https://discuss.ardupilot.org/t/uncontrolled-climb-after-auto-not-respond-to-land-or-rtl/39689/5)) - Copter not disarming reliably on landing ([discussion](https://discuss.ardupilot.org/t/why-quad-doesnt-want-to-disarm-after-landing-happened-two-times-now-arducopter-3-6-7/39568/21)) - Compass cal makes no noise when started from transmitter ([discussion](https://github.com/ArduPilot/ardupilot/issues/10093)) - lots of questions around rangefinders as alt source ([issue1](https://github.com/ArduPilot/ardupilot/issues/10598), [issue2](https://github.com/ArduPilot/ardupilot/issues/10586)) - external baro bm280 doesn't work on 3.6.6 (works on 3.7) [discussion](**https://discuss.ardupilot.org/t/copter-3-6-6-rc2-available-for-beta-testing/38330/16**). unfortunately a bad wiki update led a user astray - flowhold can lean past ANGLE_MAX ([issue](https://github.com/ArduPilot/ardupilot/issues/10524)) - Zubax GPS won't initialise on ChibiOS with normal power (works on USB). https://discuss.ardupilot.org/t/zubax-compass-wont-initialize-on-uavcan-via-onboard-power/38524 - Matek405-STD logging not working. https://discuss.ardupilot.org/t/copter-3-6-0-available-soft-release-for-2-days/34456/122 - parameters wiped with SD card becomes full? (https://discuss.ardupilot.org/t/problem-w-3-7-flash-logging-lost-parameters/37803/2) - flowhold mode wobbles and jumps (https://discuss.ardupilot.org/t/3-6-4-flowhold-no-such-mode-cheerson-cx-of/37076) - oneshot125 not working on Navio2 ([discussion](https://discuss.ardupilot.org/t/copter-3-6-4-oneshot125-not-enabled/37067), [discussion2](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/28)) - -v2 or fmuv2 being loaded (discussion here:https://discuss.ardupilot.org/t/3-6-4-flowhold-no-such-mode-cheerson-cx-of/37076) - BLHeli passthrough not working. See [Giorgio discussion here](https://discuss.ardupilot.org/t/copter-3-6-4-released/36749/5). - PILOT_TKOFF_DZ not working. https://github.com/ArduPilot/ardupilot/issues/9969 - Twitch when switching from Loiter to Auto ([issue](https://github.com/ArduPilot/ardupilot/issues/10072)) - Dataflash log analysis tool needs updating ([issue](https://github.com/ArduPilot/ardupilot/issues/10094)) - UAVCAN external compass appearing as Compass2 ([issue](https://github.com/ArduPilot/ardupilot/issues/10095)) - set-home with 0,0,0 doesn't set home to current location (https://github.com/ArduPilot/ardupilot/issues/9725) - can't upload terrain missions to boards with no SD card ([issue](https://github.com/ArduPilot/ardupilot/issues/9679), [discussion](https://discuss.ardupilot.org/t/terrain-following-with-spline-wp-on-omnibusnanov6-not-supported)) - "Initialising APM" message if using UAVCAN Zubax GPS. https://github.com/ArduPilot/ardupilot/issues/9579 - Garmin Lidar Lite v3 offset issue: https://discuss.ardupilot.org/t/lidar-lite-v3-offset-value-issue/34793/13 ChibiOS specific issues: - SUMD (Graupner RC protocol): https://github.com/ArduPilot/ardupilot/issues/10346 - cx-of not working on kakutef4 (https://discuss.ardupilot.org/t/copter-3-6-5-rc2-available-for-beta-testing/37391) - mateksys F405 UART2/3 same? see Gino Nencioni https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/31. Cheerson CX-OF doesn't work on mateksys F405. https://discuss.ardupilot.org/t/cheerson-cx-of-low-cost-optical-flow-sensor-testing/35598/35 Also an issues in 3.5.7: - System doesn’t start compass if sbus receiver is plugged in (happens in 3.5.7 too). see Corrado here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/63 Resolved I think: - Pixhawk4-mini doesn't work with SBUS? ([discussion](https://discuss.ardupilot.org/t/pixhawk-4-mini-no-sbus-signal/38961)) (no feedback from user) - Motor Test leading to disconnect of MP? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-10-rc1-available-for-beta-testing/44531/22)) - CX-OF not working on ChibiOS boards. see Gino's report here: https://discuss.ardupilot.org/t/copter-3-6-6-rc2-available-for-beta-testing/38330/4 -- will be released with Copter-3.6.8 - Copter flips because Pixhack's 2nd IMU orientation is incorrect ([discussion](https://discuss.ardupilot.org/t/ekf-failsafe-change-imu-crash-with-flip/39709/11)) -- bad hardware it seems - Matek405 Wing with [Beitian GPS/compass](https://www.banggood.com/UBLOX-NEO-M8N-BN-880-Flight-Control-GPS-Module-Dual-Module-Compass-p-971082.html) not booting. https://discuss.ardupilot.org/t/copter-3-6-5-released/37733/10, report2: https://github.com/ArduPilot/ardupilot/issues/10448 -- fixed in 3.6.7 - Auto Land incorrectly sets target position ([issue](https://github.com/ArduPilot/ardupilot/issues/10617)) - fixed in 3.6.7 - check EKF switching in loiter (see Iron_Donkey's comments along with Randy's in this discussion: https://discuss.ardupilot.org/t/lidar-lite-v3-offset-value-issue/34793/25) -- serious EKF compass selection bug fixed in 3.6.6. - BMP280 External Baro not working see MarcK's report here:https://discuss.ardupilot.org/t/copter-3-6-6-rc2-available-for-beta-testing/38330/5 -- works in master but not included 3.6 so wiki has been updated - skipping first spline waypoint in SITL. https://github.com/ArduPilot/ardupilot/issues/9657 - resolved in Copter-3.6.6 - constant compass switching. see andypiper and Corrado_Steri here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/64 - resolved in Copter-3.6.6 - MP is missing 3.6.3, 3.6.4 in previous firmwares list. https://github.com/ArduPilot/MissionPlanner/issues/2079 - Bad logging messages ([issue here](https://github.com/ArduPilot/ardupilot/issues/10124), discussion here: https://discuss.ardupilot.org/t/copter-3-6-0-available-soft-release-for-2-days/34456/98, https://discuss.ardupilot.org/t/prearm-logging-fail-3-6-2/35828) -- hopefully resolved in Copter-3.6.5 - dshot dma issue? https://discuss.ardupilot.org/t/need-help-to-analyze-a-crash-reason/34662/2 -- no follow up reports - PWM output to ESCs not working 1 in 10 boots. see Corrado_Steri here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/63 -- cannot reproduce - RC decoding with DSM (https://discuss.ardupilot.org/t/rc-input-decoding-error/35855/3) -- cannot reproduce - interference issue? - TS100 gps/compass detects QMC5883L compass that doesn't exist. See Sergey https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/21. Also again here: https://discuss.ardupilot.org/t/error-height/35467 -- fixed in 3.6.4? - pixhawk4 voltage meter doesn't work: https://discuss.ardupilot.org/t/pixhawk-4-power-module-readings-not-working/35149 -- fixed in 3.6.4 - OSD not working on MatekF405-CTR. https://discuss.ardupilot.org/t/osd-does-not-work/35470 -- fixed in 3.6.3 - pixhawk4 rc inputs go crazy: https://discuss.ardupilot.org/t/cumulation-of-crashes-due-to-seemingly-weird-input-pixhawk-4/35537/4 -- fixed in 3.6.3 - tradheli defaults changed for ACCEL_Z. discussion: https://discuss.ardupilot.org/t/copter-3-6-1-released/34969/27 -- fixed in master, will go out with 3.6.3 - stable MP doesn't support installing 3.5.7 - Matek 405CTR telemetry not working? see Jonathan_Blumenfeld here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/48 -- stream rates were set to 0 (why didn't the GCS set them is unclear -- perhaps user was not using a GCS) - MiniPix the display SSD1306 blocks the telemetry on the usb port making it impossible to communicate with the FC (see Gino_Nencioni discussion here: https://discuss.ardupilot.org/t/copter-3-6-1-released/34969/10) -- cannot reproduce, no answer from user when requested params. - another dshot issue? https://github.com/ArduPilot/ardupilot/issues/9738, https://discuss.ardupilot.org/t/copter-3-6-1-released/34969/13 -- config issue according to tridge - MP doesn't allow downgrades ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/1977)) -- fixed in latest beta - Disabled Safety Switch is sometimes preventing arming https://discuss.ardupilot.org/t/copter-3-6-0-doesnt-obey-brd-safetyenable-0-some-times/34623 -- fixed in 3.6.1-rc1 - minimOSD showing Alt-above-sealevel: https://discuss.ardupilot.org/t/altitude-in-minimosd-relative-to-sea-level/34665/6 -- fixed in 3.6.1-rc1 - 3.5.7's FS_BATT_VOLT isn't being copied over to BATT_LOW_VOLT -- fixed in 3.6.1-rc1 - mavlink update rate slower than 3.5.7? see kknet here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/84 -- it's a bit slower with NuttX but faster with ChibiOS - arming failure tone not played. see brandon macdougall here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/60 -- cannot reproduce - "PreArm: Hardware Safety Switch" should only be displayed on MP HUD if there are not other pre-arm failures (this could possibly be fixed by changing the order in which we send these messages). see rickyg32 here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/73 - simple mode always starts on? see Paul Atkin https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/4 -- cannot reproduce - Pixhawk4 can't save parameters: https://discuss.ardupilot.org/t/parameter-writing-issue-arducopter-v3-6-0-rc10-on-a-pixhawk-4/33221 -- cannot reproduce. - PixhackV3 - 3rd compass not found. Varun Nelakanti: https://discuss.ardupilot.org/t/copter-3-6-0-rc8-available-for-beta-testing/32374/37 Resolved / removed as 3.6.0 release requirement: - flowhold won't descend: https://discuss.ardupilot.org/t/flow-hold-wont-descend/34105/3 -- fixed in 3.6.0 - kakutef7 hwdef incorrect? See Paul Atkin. https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/47 -- fixed in 3.6.0 - Maxbotix I2C sonar freeze. https://github.com/ArduPilot/ardupilot/issues/9602 -- fixed in 3.6.0 - pixracer LED shows incorrect colours: https://discuss.ardupilot.org/t/pixracer-onboard-led-is-messed-up/28493/3 -- fixed and will be included in official release - DShot causes Cube to freeze up after 10sec. Daniel_Met: https://discuss.ardupilot.org/t/copter-3-6-0-rc10-available-for-beta-testing/33057/10 -- will be released with -rc12 - LidarLight3 using PWM not working. See FRED_GOEDDERT: https://discuss.ardupilot.org/t/copter-3-6-0-rc10-available-for-beta-testing/33057/12 -- not yet supported in ChibiOS (known issue) - PixhackV3 - can't do fast sampling. Roland Mayer: https://discuss.ardupilot.org/t/copter-3-6-0-rc8-available-for-beta-testing/32374/37 -- Pixhack uses MPU6000 that can't do fast sampling - Sergey: safety button not working on Pixracer: https://discuss.ardupilot.org/t/copter-3-6-0-rc11-available-for-beta-testing/33558/3 -- fixed in -rc12 - gazebo not working with SITL. https://discuss.ardupilot.org/t/arducopter-3-6-sitl-with-gazebo-unstable-flight/34451 -- solved, it was due to performance issue with gazebo.

Rover

Release Update

Votes

Contribution of the month
Funding Committee
Partner

CraigElder · January 23, 2019, 7:10pm

Attendee count (max): 24

2305 CI: Run flake8 on Python 3.7 #10278

WIP

2310 AP_Arming: allow arming checks ALL to pass when logging is disabled #10265

Peter wants something simpler so he is taking this on

2315 Plane to use AHRS_WIND_MAX as documented

Do we have a log where this method works?
Use kalman filter to validate the airspeed sensor
Innovations in EKF do not work for air speed validation
Add an airspeed offset in SITL to improve testing

2325 AP_BattMonitor: Add powering off mavlink broadcast

AP_BattMonitor: Add smart battery cell voltage minimum and diff monitoring

Do we want more parameters?
Discussion about what actions we want to take
3 parameters Cell difference, Low, Critical
How do we detect cell issues?

2340 Plans to speed up Param download

2345: Plane: AC_Loiter: User configurable waypoint speed

Tridge to review and suggest that the PR be reworked using the API

2355 DShot and BLHeli ESC Telemetry support

Hardware issues with ESC recommended in the Wiki
Need to update the wiki
Improve the interface between the ESC and the FC
Put it in the carrier board

2305 Toshiba CANESC & KDECAN

0015 DF log renaming

Possible names
- Onboard
- Blackbox
- ardupilot log
- FDR - Flight Data Recorder
- Flight Data Log

0025 Plane Stable release coming in the next few days

0030 Copter New release coming

Rover RC2 release this week