Dev Call Jan 29, 2024

Development Team
1

Issues & Pull Requests

Plane

Copter & Rover

2

Attendee count (max): 18

UTC1100 - Add support for system ID of position controller by bnsgeyer · Pull Request #24801 · ArduPilot/ardupilot · GitHub

  • Add support for system ID of position controller
  • Excite position and velocity loops
  • On control side it can make velocity inputs
  • Pre-existing method for frame transformation
  • These are additions to the system ID mode
  • systemID logging is supposed to give you a frame of data
  • Bill will nudge Randy when it’s ready to go in

UTC1103 - AP_Periph: send temperature and Vehicle: receive temperature by IamPete1 · Pull Request #25993 · ArduPilot/ardupilot · GitHub

  • Send temperature and receive temperature
  • Merged!

UTC1113 - Filtering: re-work harmonic notch filter freq clamping and disable by tridge · Pull Request #25442 · ArduPilot/ardupilot · GitHub

  • Rework harmonic notch filter freq clamping and disable notch completely when under half freq
  • Tridge wants to fade notch filtering out completely when rpm goes to zero
    • E.g. on a quadplane
    • Don’t want glitches at point of disablement
  • This approach does linear interpolation
  • e.g.
    • INS NTCH_FREQ 50Hz and bandwidth of 25Hz
    • We currently consider 0 at minimum frequency
    • This patch fades the attenuation to be zero attenuation at 25% of the min frequency (in this case 25Hz)
  • What happens if you have two harmonics?
    • Currently in master both your notches will end up at 50Hz!
    • Increased phase lag
    • New theory:
      • Second notch can go down and stop at min freq
        • And will then start to fade out
  • On multis second harmonic is often most important
    • This new solution should handle things better vs master
  • Need to be careful on helis when they lose their RPM source
    • Need to move to fixed rather than fading everything out!
    • There’s some fallback involved in some situations
    • TreatLowAsMin
  • Tridge wants to make the set_center_frequency method handle everything
    • Fallback stuff is currently copy/pasted throughout the code
    • … and is likely to be very wrong in fallback
      • Particularly around the ESC-source
  • What if a “can go to zero RPM and that’s OK” notch filter has a sensor failure?
    • detect?

UTC0001 - Filtering: re-work harmonic notch filter freq clamping and disable by tridge · Pull Request #25442 · ArduPilot/ardupilot · GitHub

  • Takeoff timeout
  • Merged!

UTC0003 - Added AnyLeaf H7 FC target by David-OConnor · Pull Request #26021 · ArduPilot/ardupilot · GitHub

  • AnyLeaf H7 FC target
  • Needs squashing
  • MergeOnCIPass

UTC0004 - Plane: move forward throttle output in VTOL modes to QuadPlane update by IamPete1 · Pull Request #26028 · ArduPilot/ardupilot · GitHub

  • Move forward throttle output in VTOL modes
  • Merged!

UTC0006 - Move AP_Stats up to AP_Vehicle by peterbarker · Pull Request #26082 · ArduPilot/ardupilot · GitHub

  • Move AP_Stats object and calls up to AP_Vehicle
  • Could possibly calculate the old element ID?
  • Merged!

UTC0012 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

  • Copter and Rover
  • 4.5 beta release imminent
  • Parameter download speed on Rover is quite slow?
    • Willian wants a Rover 4.4.1 backporting the scheduling fixes for Linux
    • Low-impact change
    • Maybe 4.4.5?
      • Pixhawk6X with new IMUs would be nice to have in this
  • Single combined project for Plane and Copter?
    • Tridge wants to try a single one
    • Randy agrees
    • Created at the repo level

UTC0024 - GSoC

  • Application is going in
  • Jaime is leading charge again
  • If you want to mentor, come up with a list of projects you’d like to mentor

UTC0025 - Dev Conference

  • Discussed last week
  • Randy sent out an email
  • proposal/powerpoint is in the reno-2024 chat
  • Links posted as to where hotel is etc etc
  • Randy was planning on heading out this week or next
    • But the tsunami cleanup is ongoing
  • Three different flying spots
    • Lake (33m)
    • Stadium (12m)
    • Beach (20m)
  • Share-houses are probably the go for accommodation
  • Travel assistance for DevTeam members
  • Hotel rooms are big enough (240)
    • 400 people standing
  • We won’t rush this
    • Randy to look
    • Then we decide the dates
      • 25th to 27th possibly?
  • Do foreigners need to apply for permission?
  • E-sims all around
    • Load before hopping on plane, ideally

UTC0045 - close