Dev Call Jan 23, 2023

Issues & Pull Requests


Copter & Rover

Attendee count (max): 20

UTC2300 - Include enumeration information in generated onboard log documentation by peterbarker · Pull Request #13858 · ArduPilot/ardupilot · GitHub

  • Add bitmask and valuess-from-enums into the Wiki for log messages
  • Need to make sure we understand the RHS and be consistent in what we show

UTC2314 -

  • Class-specific defaults using pointer diff
  • Losing 1.8k in some places?
    • Overall positive
  • Merged

UTC2317 - Plane: Auto Landing Refinement by rbeall · Pull Request #22378 · ArduPilot/ardupilot · GitHub

  • Auto-land refinement
  • Entry airspeed is critical, use it
  • Not on by default, new option bit
  • Should we make option_enabled a pattern and go through and change all of them?
  • Merged!

UTC2320 - AP_Scripting: added custom telem msgs for EFI_Skypower driver by tridge · Pull Request #22633 · ArduPilot/ardupilot · GitHub

  • Custom telem messages for EFK SkyPower
  • Merged!

UTC2324 - Plane: tailsitter: update I reset and limit handling by IamPete1 · Pull Request #22650 · ArduPilot/ardupilot · GitHub

  • Plane tailsitter update I reset and limit handling
  • Leary of have-servo stuff because you might be using a script mixer or something
    • Right for most people, but wrong for some
  • Merged!

UTC2327 - Plane: Quadplane: limit manual throttle tilt angle to Q_TILT_MAX by IamPete1 · Pull Request #22667 · ArduPilot/ardupilot · GitHub

  • Limit manual throttle tilt and to Q_TILT_MAX
  • Could end up with fixed wing in control in modes you weren’t expecting it
  • Merged!

UTC2328 - AP_TemperatureSensor:correct TEMP sensor metadata by Hwurzburg · Pull Request #22682 · ArduPilot/ardupilot · GitHub

  • Fixed temperature sensor metadata
  • Should we just not mention motor1?
  • MergeOnCIPass

UTC2332 - Correct FFT Tune notch calculation by andyp1per · Pull Request #22686 · ArduPilot/ardupilot · GitHub

  • Correct FFT tune notch calculation
  • Also mixes in a serious bug fix
    • Can cause a watchdog
    • Tell users to not use options/parameters
    • This is in master
    • When you use a switch to do the automatic notch filtering
    • Aux function notch tune is deadly
    • Not the same code in 4.3
  • Would need a minimum patch for 4.3
    • Not going to have Andy for a while as he’s skiing
    • Or just disable the feature in 4.3?
  • Let’s ask Andy…

UTC2353 - AP_Mount: servo mount yaw handling fix by rmackay9 · Pull Request #22689 · ArduPilot/ardupilot · GitHub

  • Fix servo mount yaw
  • lean angle fixes
  • Merged!
  • Flipping gimbal upside down still causes problems!
    • Big 3d transformation runs into problems, too

UTC2359 - Add and use AP_VIDEOTX_ENABLED by peterbarker · Pull Request #22695 · ArduPilot/ardupilot · GitHub

  • Add and use AP_VIDEOTX_ENABLED
  • Merged!

UTC0004 - AP_VisualOdom: handle ModalAi VOXL resets by rmackay9 · Pull Request #22702 · ArduPilot/ardupilot · GitHub

  • Handle ModalAI VOXL resets
  • Behaviour is quite different between intel and the ModalAI
    • You get a bunch of them from Intel and the pos jumps all over the place
      • We handle this fine
    • ModalAI works differently
      • Stops sending updates
      • Some time later it will start to send data through to you again
      • The reset counter will be incremented at this point
      • Position estimate comes from zero again!
        • I.e. the origin gets reset!
        • So we start to maintain position offsets in the driver and adjust based on reset count
        • Yaw is problematic
          • 3, 5, 10 second outages… vehicle may have yawed…
          • We reset to the AHRS yaw
            • EKF should have maintained this yaw
              • E.g. compasses
  • Randy likes the system
  • Merged
  • Thanks to Dot, too!

UTC0006 - AP_Arming: Use arming helper to always check if all bit is set. by IamPete1 · Pull Request #22707 · ArduPilot/ardupilot · GitHub

  • Change in behaviour to check arming bit with & rather than ==
  • Merged!

UTC0010 - AP_InertialSensor: cope with 0xff from BMI088 gyro by tridge · Pull Request #22710 · ArduPilot/ardupilot · GitHub

  • Fix for BMI088
    • Can get back 0xffffff from sensor on spi base
  • Also saw weird phase lag?!
  • These fifos are quite large in terms of time
    • Can be 30 to 40ms!
    • Different fifo full behaviours
  • No MCU logging in affected vehicle
    • 30mV jump-down in Vcc might have propagated?

UTC0015 - Implement manual autorotation feature for Tradheli by bnsgeyer · Pull Request #22712 · ArduPilot/ardupilot · GitHub

  • Manual autorotation for trad-heli
  • Step towards autonomous autorotation in
  • Activatable
    • Bail-out feature to increase ignoring spool-up rate
    • Control via rsc
    • Automatically leave auto rotation mode
  • Already had autorotation in SITL
  • Hopefully for 4.4

UTC0026 - AP_BattMonitor: support EFI "battery" backend by tridge · Pull Request #22714 · ArduPilot/ardupilot · GitHub

  • EFI battery backend
  • Fuel flow as current in amsp
  • Need to be able to specify percentage reset
  • Peter to review

UTC0036 - Aerobatics scripts updates by Hwurzburg · Pull Request #22722 · ArduPilot/ardupilot · GitHub

UTC0051 - SITL: fixed SIM lidar for FlightAxis by tridge · Pull Request #22723 · ArduPilot/ardupilot · GitHub

  • Fix for Lidar from FlightAxis
  • Physics engine knows about things changing
  • Flight test and then merge

UTC0054 - autotest: Skip if working directory has changes by sypaq-nexton · Pull Request #22726 · ArduPilot/ardupilot · GitHub

  • Skip build binaries if working

UTC0103 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane stable is going well
  • Nullptr check fix is in place
  • 4.4 betas soon?
  • Regression in terms of recovery from failed quadplane motor
    • Safety go around on motor loss usable in 4.2 doesn’t work in 4.3
    • Observant pilot watching plane was able to switch to RTL to try again
    • Before you were 10ft off the ground and battery RTL would send you around again, so that was very bad too
    • Base decision on airspeed? Change mechanism?
    • If you’re almost stationery you don’t want to go fixed wing
    • If pilot explicitly asks for RTL then we probably shouldn’t second-guess them
    • An abort button?
      • Works well in fixed-wing
      • Not so well in vtol
    • Thrust failure detection would be good
      • 80% of planes don’t have it…

UTC0115 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

  • Copter 4.3.3 is going well
    • Let Randy know if you know otherwise
  • Internal error on takeoff
    • Takeoff code changed a lot on 4.3.3
      • Ramps up throttle until it has noticed if vehicle has left ground or not
        • Internal error sanity check is triggering
        • New this-morning
  • Waiting for terrain data arming failure
    • Andy’s problem is different
    • Need to make sure this arming check is working correctly
  • 4.4?
    • Not against starting 4.4 beta release
    • Randy wants a couple of weeks
    • Feeling 4.3 has only just become stable!
    • 4.3.0 and 4.3.1 had issues that needed to be resolved
    • 4.3.2 and 4.3.3 felt stable
    • Randy’s concerned he’s not getting dev done!
    • 4.3 has never gone stable

UTC0119 - GSoC update

  • Org application has been put in
  • Can still be updated
    • Randy will have a quick look
  • Already getting pings from various potential students

UTC0121 - Conference update

  • Need speech proposals now

UTC0121 - Better Battery Messages by dakejahl · Pull Request #7 · dronecan/DSDL · GitHub

UTC0124 - close

Another suggestion for increased beta testing: Invite active testers/contributors to audit a Dev Call from time to time. I’d expect this to be invite-only, even one at a time, likely with limited to zero speaking role unless directly addressed by the team. I think it would encourage the more active contributors to hear some of these topics discussed live.

No sweat if this is deemed infeasible or somehow difficult to implement.