Dev Call Jan 27, 2025

Vehicle Update

Issues & Pull Requests

Attendee count (max): 18

UTC2301 - ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

  • Beta3 is out
  • Tridge is trying to reproduce the quadplane oscillation issue that he saw in a real aircraft
    • Angle controller oscillation
    • Tim did some testing at the field on 4.5.7 vs 4.6
      • On a real plane…
      • Subjectively it seemed to feel different
        • 4.6 is twitchier on the controls?
        • Bisect seemed to find something in RealFlight
          • But the commit isn’t really plausible
          • Only changes code at mode entry
    • Bill asks if this is qloiter / attitude controller
      • Still happens in qhover, not running position controller
    • Tridge is after 1-second period oscillations
      • This says position controller to Bill
      • Tim’s “feel” stuff is unlikely to be the same thing
      • Mainly in roll
      • Possible yaw contributing
    • With position controller active tridge has been trying to find something on sim which matches what he saw on a real aircraft
    • Returning real vehicle with higher rate pid gains and the problem is gone
      • Simulating with really low rate pid gains doesn’t reproduce
    • roll/yaw coupling
      • Increase latency on the tilt servos?
      • Filter ESC signal to get slower response on the ESCs?
    • Real aircraft and parameter reversion script?
      • Dangerous to vehicle…
    • Maybe it’s i-term of integrator build-up?
      • Would be an alternative to it being the position controller causing low-freq oscillation
    • Getting smax clipping at 75 hasn’t been reproducible in sim
    • Bill can find some time tomorrow
    • symptoms:
      • Clips roll rate
      • Massive phase lag
      • 1hz roll oscillation, increasing magnitude
    • Need to check Very low filt-t values 4.6 vs 4.5
    • logs-by-Tim
      • Anything tridge spotted?
        • Tridge didn’t
        • Leonard will have a look
  • M10 issue, still configuring GPS
    • Probably serially-connected
    • We fixed something like this….
  • iBus telemetry not working?
  • Discussion between xfactor and Andy as to whether we fix servo-bl-rv-mask
  • Testing of beta3 would be great!
    • Close to final release

UTC2327 - AP_Mission: better deal with home being in index 0. by IamPete1 · Pull Request #29071 · ArduPilot/ardupilot · GitHub

  • Better deal with home being in index 0
  • Set-item patch added
  • Merged!

UTC2329 - Docs: Plane: Add hint to solve 1Hz pitch oscillations by menschel · Pull Request #6558 · ArduPilot/ardupilot_wiki · GitHub

  • Add hint to solve 1Hz pitch oscillations
    • Patch to Wiki
  • Maybe this is just a way-off CG?
  • More info

UTC2337 - Rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function by peterbarker · Pull Request #29085 · ArduPilot/ardupilot · GitHub

  • Rename a bad name in SRV_Function
  • Can be merged if no compiler output change

UTC2337 - Lidar/Rangefinder used ONLY for VTOL takeoff and VTOL landing in Quadplane · Issue #29095 · ArduPilot/ardupilot · GitHub

  • Use rangefinder for only landing not qassist
  • Tridge has some ideas
    • New parameter values
      • Landing-rangefinder parameter gets a new value for only-in-landing
    • Cross-check vs terrain database
      • Tim says it wouldn’t work for him; 80m error!
      • Craig confirms error ins mountains
      • Would this parameter be relevant
      • Maybe in the surftrak library?
    • Both, so the user can reduce false-positives but still have rangefinder for qassist

UTC2355 - Rename vehicle AP_Arming header and cpp files (eg. AP_Arming_Rover.h) by peterbarker · Pull Request #29102 · ArduPilot/ardupilot · GitHub

  • Rename AP_Arming files in vehicle directories for consistency
  • Merged!

UTC2356 - ArduPlane:make heading lock upon gnd speed consistent by Hwurzburg · Pull Request #29104 · ArduPilot/ardupilot · GitHub

  • Make heading lock upon gns speed consistent
  • We have several different locks
  • stop s comparing groundspeeds and airspeeds
  • Tridge wants to make sure we’re not breaking the summed-gyro stuff
    • Tridge will review off-call

UTC0001 - AP_Airspeed: keep references to state and params in backend by peterbarker · Pull Request #29107 · ArduPilot/ardupilot · GitHub

  • Keep references to state and params in the backends
  • Functions in AP_Airspeed.cpp can be moved to AP_Airspeed_Backend.cpp at some stage…
  • Tridge is less keen on having backends doing the calibration stuff
  • Tridge is reluctant to make AP_Airspeed 3D-capable
  • AP_Windvane
    • 3D Airspeed sensors
    • Windvanes?
    • Does the EKF want to consume side-slip and AOA?
      • Threshold value could tel lthe EKF we’re not in FF any more?
      • Could potentially make the covariance matrix larger
  • Tridge doesn’t like this
  • So how do we consume from a 3D ultrasonic sensor?
    • Cross-link from windvane into airspeed sensor somehow?
    • Make it an external AHRS with no gyro?
    • Make it a script?
  • LI-550 | Communicating with the anemometer
  • pressure/temperature
  • Thomas thinks basing everything off pressure/temperature isn’t a good way to run AP_Airspeed
  • Has_airspeed?
    • True airspeed or eas?
  • Ap airspeed calibration code assumes a differential pressure

UTC43 - AP_DDS: Add infinite initialization wait by Ryanf55 · Pull Request #29109 · ArduPilot/ardupilot · GitHub

  • AP_DDS: add infinite initialisation wait
  • Thread waits until a companion computer is seen
  • Merged!

UTC0044 - Copter: fix threading issues with motor test and the fast rate thread by andyp1per · Pull Request #29112 · ArduPilot/ardupilot · GitHub

  • Fix threading issues with motor test and the fast rate thread
  • Randy looked at this and was confused as to why it makes any difference
  • Randy says motortest doesn’t work with the fast rate thread
  • Bumped to DevCallEU

UTC0051 - ardupilotwaf: add -fno-math-errno to ChibiOS boards by tpwrules · Pull Request #29115 · ArduPilot/ardupilot · GitHub

  • Add -fno-math-errno on ChibiOS boards
  • Merged!

UTC0054 - SRV_Channel: alphabetise function param desc by rmackay9 · Pull Request #29119 · ArduPilot/ardupilot · GitHub

  • Alphabetise function param desc
  • Fancy sort incoming to numeric-sort on a trailing integer proportion
  • Only sorting in xmlemit is a bit odd
    • Henry didn’t want the wiki reorganised?

UTC0059 - AP_BoardConfig: support flow control control on UARTs 6->8 by andyp1per · Pull Request #29130 · ArduPilot/ardupilot · GitHub

  • Support flow control on uarts 6 through 8
  • 3DR was an anachronism, now not
  • Merged!

UTC0102 - AP_Scripting: patch vendored Lua to 5.3.6 by tpwrules · Pull Request #29116 · ArduPilot/ardupilot · GitHub

  • Patch vendored Lua to 5.3.6
  • Maybe some use-after-free bugs fixed?
  • Lua-use-readline not used?
  • Several changes in here that we won’t actually use
  • Looks good to tridge, but PH to approve

UTC0105 - SITL: AP_Periph: `sim_update_actuator` report IDs that match AP channel indexes by IamPete1 · Pull Request #29138 · ArduPilot/ardupilot · GitHub

  • Correct actuator_status telemetry for simulation
  • Merged!

UTC0110 - AP_Scripting: Torqeedo TorqLink lua driver by rmackay9 · Pull Request #29145 · ArduPilot/ardupilot · GitHub

  • Torqeedo torqlink lua driver
  • No feedback, just throws stuff at the device
  • Nmea2000 module could be useful
  • Nmea2000
  • Remove module
  • Fix whitespace and merge

UTC0118 - AP_Scripting: video-stream-information param index fix by rmackay9 · Pull Request #29146 · ArduPilot/ardupilot · GitHub

  • Fix scripts with overlapping IDs
    • We have a small amount of protection against reuse

UTC0122 - Remove vestiges of LearnType::LEARN_INTERNAL by peterbarker · Pull Request #29150 · ArduPilot/ardupilot · GitHub

  • Remove vestiges of LearnType::LEARN_INTERNAL
  • Merged!

UTC0124 - ArduPlane: add climb before turn to AUTOLAND by Hwurzburg · Pull Request #29142 · ArduPilot/ardupilot · GitHub

  • Add climb before turn to AUTOLAND
  • Big thing missing in autoland is proper interaction with terrain altitude
  • Why would you not use terrain altitude here?
    • Why use height-above-home
  • Ask for height above ground before climbing, climb the difference
  • Some discussion to be had over terrain vs above home climb heights

UTC0141 - close

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