Dev Call Jan 30, 2023

Issues & Pull Requests

Plane

Copter & Rover

Attendee count (max): 22

UTC2300 - Plane:expand yaw autotune to other modes by Hwurzburg · Pull Request #22750 · ArduPilot/ardupilot · GitHub

  • Yaw autotune in more modes
  • Loiter currently allows tuning of pitch and roll but not yaw
  • This is for when you’ve triggered autotune mode
  • Tridge is recommending people use the rc channel option to turn on autotune mode rather than the autotune mode itself
    • Any attitude-stabilized mode
    • For larger aircraft if the pilot isn’t good they may not maintain airspeed correctly while doing pitch tune
    • Auto mode or loiter with stick mixing

UTC2305 - AP_OSD: Add Average Cell Rest Volt item by MichelleRos · Pull Request #22660 · ArduPilot/ardupilot · GitHub

  • Add average cell rest voltage
  • 500 bytes per item?!
  • Add only one voltage panel which you then select through
  • Tridge has left feedback to reduce the flash usage
  • This can go in once the feedback has been acted upon
  • JC might have an interesting algorithm coming to do better estimation…
    • An EKF?!

UTC2309 - AP_Scripting:fix duplicate function in Script_Controller by Hwurzburg · Pull Request #22782 · ArduPilot/ardupilot · GitHub

  • Fix duplicate LUA function in script controller
  • copy/paste error
  • Merged!

UTC2310 - Tradheli AutoTune: improve angle P tuning by bnsgeyer · Pull Request #20780 · ArduPilot/ardupilot · GitHub

  • Improve tradheli autotune angle P tuning
  • disturbance/response bandwidth peak-patching
  • Doesn’t affect multicopter
  • Rate restoration needs testing
  • Bill will merge after testing and making slight changes

UTC2313 - AP_Logger: split MCU from POWR into new messages, POWR log nan if voltages not available by IamPete1 · Pull Request #21983 · ArduPilot/ardupilot · GitHub

  • Split MCU and POWR messages
  • Uses NaN if measurement not available
  • Servo rail voltages are very important
    • We should #ifdef the servorail_voltage method on AnalogIn.h
  • Tridge will make sure this works

UTC2322 - https://github.com/ArduPilot/ardupilot/pull/22154

  • Add JFB-100 board
  • Randy’s getting a board
  • Once Randy gets it we’ll move this along
  • 7 chip select pins, all unused?

UTC2325 - AP_NMEA_Output: add msg sentence $PASHR + refactor by magicrub · Pull Request #22219 · ArduPilot/ardupilot · GitHub

  • Add PASHR msg sentence and refactor
  • And some parameters to change rate and mask for sentences
    • E.g. just GGA
  • Nmea output in AP_Periph
  • Some testing required….

UTC2335 - AP_HAL_ChibiOS: define HAL_ENABLE_SAVE_PERSISTENT_PARAMS for bootloader in hwdef.h by peterbarker · Pull Request #22589 · ArduPilot/ardupilot · GitHub

  • Move some defines elsewhere to simplify headers
  • Merged!

UTC2338 - AP_MotorsHeli: add thrust linearization for ddfp tail rotors by bnsgeyer · Pull Request #22661 · ArduPilot/ardupilot · GitHub

  • Thrust linearisation for ddfp tail rotors
  • Moves a whole bunch of code elsewhere to re-use it
  • Create a separate class for this?
  • Have methods in control.cpp for the maths?
  • Looks good to Randy
  • Leonard doesn’t mind
  • Might drop the heli changes and bring it just for multi

UTC2343 - MAVFtp: possible division by zero, and another correction by olliw42 · Pull Request #22679 · ArduPilot/ardupilot · GitHub

  • Possible division by zero
  • Maths has been fixed
  • Tridge will squash commits then merge

UTC2347 - AP_ESC_Telem: simplify AP_TemperatureSensor integration by magicrub · Pull Request #22696 · ArduPilot/ardupilot · GitHub

  • Simplify temperaturesensor integration
  • Merged!

UTC2353 - AP_BattMonitor: reduce MPPT gcs spam by magicrub · Pull Request #22732 · ArduPilot/ardupilot · GitHub

  • Reduce spam from mppt devices
  • Merged!

UTC2355 - Plane: QRTL: combine threshold radius for QRTL and RTL by IamPete1 · Pull Request #22742 · ArduPilot/ardupilot · GitHub

  • Combine threshold radius for qtl and rtl
  • ….for when we just qrtl home
  • simpler!
  • Merged!

UTC2357 - Save freq_min_ratio when saving parameters by andyp1per · Pull Request #22747 · ArduPilot/ardupilot · GitHub

  • Save freq_min_ratio when saving parameters
  • Fixes bug which affects throttle notch fft tuning
  • Merged!

UTC2358 - AP_Camera: add support for Runcam 2 4k by Cam84Fr · Pull Request #22748 · ArduPilot/ardupilot · GitHub

  • Add support for RunCam 2 4k
  • Calling out explicit devices is a bit weird
  • Merged!
  • Should we merge this into AP_Camera better?
    • AP_Camera is really about triggering photos?

UTC0001 - AP_Compass: add and use AP_COMPASS_LSM303D_ENABLED by peterbarker · Pull Request #22753 · ArduPilot/ardupilot · GitHub

  • Add and use AP_COMPASS_LSM303D_ENABLED
  • Merged!

UTC0008 - AP_ADSB: fix compile error using ADSB_STATIC_CALLSIGN by magicrub · Pull Request #22761 · ArduPilot/ardupilot · GitHub

  • Fix compile error using ADSB_STATIC_CALLSIGN
    • Would never have compiled
    • Tom’s had this for many years
  • Merged!

UTC0011 - AP_BoardConfig: improve description of BRD_PWM_VOLT_SEL by tridge · Pull Request #22763 · ArduPilot/ardupilot · GitHub

  • Improve documentation of BRD_PWM_VOLT_SEL
    • It only works on the primary outputs (the IOMCU)
  • More of a problem on long runs on quadplanes than quadcopters
  • Merged!

UTC0015 - SITL: new DRef based XPlane backend by tridge · Pull Request #22765 · ArduPilot/ardupilot · GitHub

  • New DRef-based XPLane backend
    • Only supports 11 and 12 past this
  • We’re now resetting position controller on loop count rather than timing
  • Maps to DRegs in a json file
  • Merged!

UTC0021 - Learn all the power levels when using SmartAudio 2.0 by andyp1per · Pull Request #22772 · ArduPilot/ardupilot · GitHub

  • Learn all the power levels when using smartaudio
  • Changes to match spec
  • Merged!

UTC0023 - AP_Scripting/AP_Mount: add support for DJIR2/R3 handheld gimbals by rmackay9 · Pull Request #22776 · ArduPilot/ardupilot · GitHub

  • AP_Scripting / AP_Mount - add support for DJI R2/R3 handheld gimbals
  • Serial over CAN
  • Added scripting backend to AP_Mount
    • Might allow support for weird gimbals
  • Can ask gimbal for angles and set them
  • A few small things in the LUA
  • Make crc available to LUA?
    • Two different CRCs to the ones in our code
  • Early returns are weird
  • Need to give credits in the LUA
  • Structure vs function-based
    • One binding to rule them all?
    • Read / write bindings
    • Mark structure as exported
  • May end up with glitches if mavlink commands come in weird
  • Table-form crcs are a lot of code

UTC0043 - Plane: remove direct roll/pitch stick mixing support by IamPete1 · Pull Request #22777 · ArduPilot/ardupilot · GitHub

  • Removes stick mixing in stabilise mode
  • This is looking really good
  • Needs a bit more testing in the other mode
  • Can be merged in after that testing

UTC0047 - AP_Dal: populate missing fields `learn_offsets_enabled` and `ekf_type` by IamPete1 · Pull Request #22781 · ArduPilot/ardupilot · GitHub

  • Compass learn 3 not working in Replay
  • Needs test flying
  • Need an arming check for “I’m supposed to be using a compass and I’m currently not”

UTC0056 - GitHub - ArduPilot/UDPProxy: UDP Proxy For MAVLink2

  • New repo for UDP Proxy
    • Honours signing keys
  • Make it easier for people run their own
    • Need to give tridge a signing key
  • Running on the support server right now at old port range +10000
  • If no signing key then currently it acts as the old one
  • Will move it to be the default once testing is done

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

UTC0109 - Copter update

  • Nothing new in the last week
  • Internal error on takeoff
  • Trajectory discrepancy issues
  • Rover and 4.4 with new um92 GPSs
  • Discourse has some speed issues ATM
    • First opening page is very, very slow
  • Tridge wants 4.4 beta out before conference
    • Gimbal stuff is taking time!
  • Lots of PRs marked for backport to 4.3
  • Bill wants the ddfp stuff in

UTC0115 - conference

  • All on track
  • Organise your flights and accommodation
  • Problem has been reluctance to ask for money!
  • If you want to give a talk then please tell tridge

UTC0118 - partner’s call tomorrow

UTC0119 - close