Attendee count (max): 26
Pre-Agenda:
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Follow-mode, copter chasing Plane
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Video shows issue with yaw vs COG, PR created for option
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Chase distance is on slider on the transmitter, used in video
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UWB is next
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… and landing quad on Plane
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Uc4h software
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AP_Periph code is moving along nicely
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Tridge is having to add dynamic i2c bus allocation so we can do remote i2c over CAN
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UTC1102 - https://github.com/ArduPilot/ardupilot/pull/10179
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Is it open season on Nuttx?
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Lots of code that could go
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Easy cleanup to do
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Do we do it now?
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MdB asked for this to be delayed
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Parameter speed issue
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But would affect both NuttX and ChibiOS, so not relevant
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Septentrino configuration failure happens will need to be looked at, but MdB will look at it
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MdB is OK with things moving forward
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Wormed its way into many places, so this should be a huge cleanup
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Open Season on Nuttx has been declared!
UTC1106 - https://github.com/ArduPilot/ardupilot/pull/10166/
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Normally we don’t code stuff for the future
- The bool would be simpler
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May fix Rob’s 874 issue
UTC1113 - https://github.com/ArduPilot/ardupilot/pull/10154
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Some comments on the assert_storage_size would be good
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Tridge tested it on hardware
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MdB to read through it
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Radius_of_earth - we need an inverse of this
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This PR highlights some divisions where they should me mults
- Space-slash-space searching showed a huge number of places where we could do better
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Change in initialiser format
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https://en.cppreference.com/w/c/language/struct_initialization
UTC1128 - frsky/sbus
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Covered above
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Will need a backport to 3.6.5
UTC1129 - https://github.com/ArduPilot/ardupilot/pull/10137
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Disarm aircraft should force safety switch on (optionally)
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We disabled toggling safety switch when armed
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Disarming in flight is generally a problem, so forcing safety on isn’t a huge deal, especially as an option
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Location of parameter is an open question
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Why not under safety options?
- BRD_SAFETYOPTION
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[10:32 AM] (Channel) MdB: safety option
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[10:32 AM] To Weekly devcall: I’d guess BRD_
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[10:32 AM] To Weekly devcall: We didn’t but “rotate log on disarm” under arming!
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[10:32 AM] (Channel) al: +1 BRD
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[10:32 AM] (Channel) MdB: yeah lol
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[10:32 AM] (Channel) MdB: thats why I put it in arming but it’s inconsistent
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[10:32 AM] (Channel) AT: BRD_SAFETYOPTION
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[10:32 AM] (Channel) Naterater.desktop: I like it being near BRD_SAFETYENABLE
UTC1133 - https://github.com/ArduPilot/ardupilot/pull/10130
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Reset everything so stale data isn’t used
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You will lose your mavlink2 signing keys
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Inconvenient
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Some RC receiver stuff in there too?
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UTC1134 - https://github.com/ArduPilot/ardupilot/pull/10112
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Got self-scope-creeped a bit
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Should vtol-takeoff and vtol-land be treated as takeoff and land?
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Works on all vehicles
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merged!
UTC1139 - https://github.com/ArduPilot/ardupilot/issues/10095
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Uavcan compass appearing as compass2
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Forum user had a fly-away because of this
- Several issues came out of the same log
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Flying near some big power tower
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Messed with the compass
- And the GPSs somehow?!
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Uavcan compasses appear last, not first
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Compass_primary to 2 would force it
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why?
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Because of the way compass devids work
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If we made the primary compass a uavcan it would break people’s existing compasses
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We don’t yet have the code to automatically reorder compasses based on the devids
- We could add it
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From a user’s point of view this is confusing
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They don’t necessarily track which protocol is being used
- I2c? Can? What?
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Also an issue is number of compasses and forcing users to use the typemask
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Same problem with i2c compasses appearing on CANBUS and again the ordering will change depending on when they’re identified
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Automatically reordering compasses based on the devids
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Change offsets etc etc around
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Make canbus ones come up earlier
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No re-calibration required
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CE: And there will be more CAN users
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UTC1147 - https://github.com/ArduPilot/ardupilot/pull/10017
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Failure timer
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Complete within a time limit
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Or go into mode-land
- As opposed to the “just go” option added for the OBC when height not reached (not in master)
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Otherwise we just hang around waiting to finish the transition
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Airspeed estimate
- Why airspeed and transition counter?
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16-bit parameter for seconds?
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8 bits would seem to be reasonable…
- Tridge has seen 30 or 40 seconds, so minutes is not inconceivable
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merged!
UTC1152 - https://github.com/ArduPilot/ardupilot/pull/9929
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Needs Randy-review
- Bill’s PR is big and being looked at
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Has Leonard approved the latest changes?
- Yes
UTC1154 - https://github.com/ArduPilot/ardupilot/pull/9858
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No Pierre
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Needs Randy to look at it
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And possibly Leonard
UTC1156 - need docs on mavlink signing
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JP: isn’t it in the MissionPlanner wiki?
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No support in QGC for it
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[10:58 AM] (Channel) MdB: https://discuss.ardupilot.org/t/enabling-mavlink-2-0-and-packet-signing/25656
UTC1157 - https://github.com/ArduPilot/ardupilot/commit/fb53e354c0c004882956b2fcd6ce612f7e934ebf
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Larger binary with this compiler
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Want to move to new compiler in build server
- No mechanism in build script for it
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Why not go to 7?
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Tridge’s testing on 7 showed debugging didn’t work
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Gdb not working correctly on stm32
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To move forward to a really, really new compiler:
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Stm32 gdb debugging has to work
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Must be well flight tested
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The Ubuntu 18.04 compiler doesn’t actually run for very long?
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Should we do a Plane release before changing it?
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Otherwise NuttX won’t fit…
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Does this affect travis? Other CI servers?
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Another PR to change configure-ci.sh
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Also we need to work out what to do on the autotest server
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Won’t change further things until next Plane goes out
UTC0008 - microsd update
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Sporadic reports of stable and master releases
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Whole bunch of changes have gone in
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Not confident it’s 100% addressed
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Can insert SD card after boot
- Won’t work with log_disarmed
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Card remounting might happen at some stage
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Luis found it more reliable on his boards
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Backportable?
- Pending PR to do so
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Still don’t fully understand issue
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Lots of cross-product testing
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Found as many failures under NuttX as on ChibiOS
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Downright weird
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Not consistent
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Adding logic analyser made cards more reliable
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Retries every 3 seconds to mount the card
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Optimal storage block size?
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Probably doesn’t matter
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MdB is testing a little
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Size limits when using smaller blocks
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UTC0013 - serial pass-through
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Pass-thorugh to GPS over USB
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Previous two mechanisms
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Nsh mavlink bridge
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Tcp routing for running ucenter
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Now can direct-attach against flight controller and flash the GPS
- Added for Robotis servos
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Can’t change baud rate at the moment
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No notification of client changing baud rate request change on USB
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Can’t flash SiK radios unless you run the radio at serial rate of 115200 as that’s the rate used for flashing
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Can run Septentrino configuration tool without disconnecting from the flight controller
UTC0017 - CAN peripheral topic
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AP_Peripheral is ongoing with PhillipK and Jani and tridge
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Next week there’ll be something for people to try
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There’s an open PR for it
UTC0018 - NuttX removal
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Some found issues
- Build issues
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Tooling issues
- Version in MP is coming from PX4 not ChibiOS
UTC0020 - Plane and tridge
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QAUTOTUNE is available in master
- People seem to really like it
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Tom’s Onion stuff is coming along nicely
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Tridge is reasonably happy with it
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Needs testing of each of the modes
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Test flights in RealFlight….
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Need to test every flight mode
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[11:21 AM] To Weekly devcall: /me would like to see autotests written
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[11:22 AM] (Channel) RM: it will greatly increase the ability for other developers to get involved with plane
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If all tests pass then we can merge it
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Takeoff mode after the onion!
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Optimisation PR - TP and MdB disagree on opimizations, third opinion needed
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Nate is expecting to test later this week
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Flightmode constants from mavlink?
- Nobody’s really fussed
UTC0023 - https://github.com/ArduPilot/ardupilot/issues/9498
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3.6.5 beta testing in next week or so
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PixHawk4 fix
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MP loading f5 in place of Pixhawk4
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MP should offer a list of options
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MP can’t get it correct be default
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Boards are shipping with old bootloaders
- Newer bootloaders fix the problem
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Runtime detection that we’re running the wrong firmware?
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Add a note to the Wiki
- Would need to add-custom-firmware
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Fmuv5 pinout is open
- Nothing more
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https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/PH4-mini/README.md
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Some users getting v2 firmware?
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All firmwares currently fit, so why are we limiting features?
- Quadplane might not actually fit…
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Blheli-passthrough not working?
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Pilot takeoff-dz?
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F405 uart issue?
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Uart2 and 3 the same?
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Some narrowing-down would be ideal
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Fly-away issue again:
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Horrible thing is that the EKF failsafe didn’t trigger
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40 seconds for the EKF failsafe to kick in and land the vehicle
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Perhaps Lane-switching is delaying ekf failsafe triggering?
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Compasses are a mess
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But actually using mag3
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Scariest bug we’ve seen in a long time
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UTC0048 - Rover
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Should do another beta soon
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Leonard is doing a new design for waypoint navigation
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RPM message?
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Can we change wheel encoder to be actual rpm?
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Need for diagnosing…
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Mavlink master has a wheel encoder message now
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https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/common.xml#L4913
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UTC0051 - thanks to Nate for taking on the issues list
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Nate apologies in advance if he’s getting too keen
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Should he be applying labels?
UTC0053 - Wiki
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Lots of discussion on how to improve Wiki etc etc
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Moving away from static generator == much more concerned about security
- Really regular security updates
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Please get involved in the discussion
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https://docs.google.com/spreadsheets/d/1SqkSYewB_WIJl2ux85AX3ngaxLmBPXz8bEIKcI-r-ls/edit?usp=sharing
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[12:02 PM] (Channel) RM: if you want to get involved maybe comment on this gitter chat? ^^
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Landing pages and wikis…
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Optimised for documentation isn’t optimised for blogs etc etc
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User experience!
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http://dronecode.github.io/UX-Design/Research/GCSUsersFeedback.pdf
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[12:00 PM] (Channel) Naterater.desktop: This was some research on GCS. A similar study could probably be done on our wiki.
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[12:02 PM] (Channel) DB: the easiest thing on the internet to edit other than your facebook homepage is wikipedia.
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Documentation is important
UTC0106 - dev conference
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Book it via email to get discounts and
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Survey coming out in early Feb
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Book your rooms!