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ArduPilot Discourse
Dev Call Jul 17, 2023
Development Team
CraigElder
(Craig Elder)
July 17, 2023, 10:38pm
1
**Issues & Pull Requests"
Filter Tool
Plane
Copter
CraigElder
(Craig Elder)
July 18, 2023, 1:57am
2
Attendee count (max): 21
UTC1102 -
AP_Motors: Heli: move swash functionality down into swash lib by IamPete1 · Pull Request #23684 · ArduPilot/ardupilot · GitHub
Move swash functionality down into swash lib
Get_tail_mask?
Two tail rotors?
Two motors set to motor4?
Merged!
UTC1104 -
GCS_MAVLink: convert to COMMAND_INT to handle MAV_CMD_DO_SET_HOME by peterbarker · Pull Request #24316 · ArduPilot/ardupilot · GitHub
Implement do_set_home via command int
Merged!
UTC1110 -
Tools: AP_Periph: Add CAN_MIRROR by WickedShell · Pull Request #23730 · ArduPilot/ardupilot · GitHub
Add CAN_MIRROR support
Long wire runs on CAN
Timesync is a problem
Guaranteed delivery is a problem
E.g. flight controller tries to send packet
Remains in flight queue until message has been received on the bus
Whereas this way it will go into the buffer
Source can NODE ID will be the wrong node?
Will be peripheral node?
Not in testing….
Queue stats are good, but can’t help with this one
CAN_FORWARDING rather than CAN_MIRRORING?
Should be in can_mirror.cpp
UTC1122 -
Plane: output rudder and steering directly removing steering_control struct by IamPete1 · Pull Request #24230 · ArduPilot/ardupilot · GitHub
Output rudder and steering directory, removing persistent state
Should check mirroring of the rudder based on the ground steering altitude
Really need AeroScout in the released models
Nav-scripting doesn’t output a rudder
Only with yaw rate controller?
No, also do rudder override for stall turns
Need a bunch of ground-steering testing
UTC1134 -
Add DO_WINCH Deliver capability. by ohitstarik · Pull Request #24292 · ArduPilot/ardupilot · GitHub
Add DO_WINCH delivery capability
Monitors line tension
Should be part of payload place?
Cross-over with Peter’s old PR which does winching as part of payload place
Should be a script instead?
Hook in lua binding to change state of payload place?
UTC1150 -
AP_AHRS: give clearer prearm messages by Hwurzburg · Pull Request #24243 · ArduPilot/ardupilot · GitHub
Improve prearm messages for filter inconsistencies
roll/pitch inconsistent messages
Happens a bit after flight as we’ve learnt biases and now we disagree
Number of degrees difference is useless to a user?
Tridge doesn’t think so
Does it give you a progress bar of sorts?
Shouldn’t take away information from people that want it!
UTC0116 -
RC_Channel:clean up metadata for AUX switches by Hwurzburg · Pull Request #24248 · ArduPilot/ardupilot · GitHub
Clean up metadata for aux switches
consistency
Mode should be at beginning for modes
Randy wants modes sorted to top of list…
Randy will merge
UTC0125 -
Matek F765-SE bdshot enhancement by Hwurzburg · Pull Request #24253 · ArduPilot/ardupilot · GitHub
Add bdshot to existing F765-SE board
Henry needs a bidir ESC
Merged!
UTC0127 -
AP_Mount: Viewpro c++ driver by rmackay9 · Pull Request #24259 · ArduPilot/ardupilot · GitHub
Viewpro c++ driver
Tested on real hardware
Rebased on master
Needs a few changes for loop checking
More features coming for this driver!
Fixes tracking of objects by not poking the thing with rates/angles while it is tracking
UTC0128 -
Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
Plane update
Bugfix from MdB to do with cross-tracking
Will be in next beta
Problems with QGC?
Mission transfer failed?
Beta4 will also contain scripting restart fixes
UTC0148 -
Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub
Copter update
Not much feedback from the Copter beta
Bit on the yaw tuning stuff
Extra segment required on Rover to get SCurves working, probably
UTC0151 - Filter tool update
filter review tool
Raw sensor or batch logging file gets uploaded
Hit calculate
Gets lots of FFT plots
IMU spectrum
Estimatedpost-filter!
Loop-rate aliasing option to show how your control loops might be affected by your vibes
Bode plots
Open-in-old-filter-tool
Can help to show where phase lag is coming from
Needs documentation!
https://github.com/ArduPilot/WebTools/tree/main/FilterTool
Down-sampling to loop rate may be causing aliasing?
Energy close to loop rate is bad
Fixed-wing at 50Hz - if you have energy left over at 100Hz you may end up affecting the rate-loop response
You want loop-rate-aliasing to be low…
UTC0202 -
Tidy airspeed includes by peterbarker · Pull Request #24279 · ArduPilot/ardupilot · GitHub
Move airspeed includes into config.h
merged!
UTC0203 -
Allow notch frequencies to be logged at full rate in plane by andyp1per · Pull Request #24281 · ArduPilot/ardupilot · GitHub
Allow notch frequencies to be logged at full rate in plane
merged!
UTC0203 -
Extract more MacOSX fixes from CI-problematic PR by peterbarker · Pull Request #24287 · ArduPilot/ardupilot · GitHub
Extract more fixes from MacOSX / single precision PR from Andy
Merged!
Found the problem with time in Andy’s PR
Floating point time since 1970
UTC0207 -
AP_HAL_SITL: correct return values on UARTDriver write call by peterbarker · Pull Request #24290 · ArduPilot/ardupilot · GitHub
SITL UARTDriver write call incorrect return values
Merged!
UTC0217 -
AP_Beacon: MarvelMind: avoid potentially reading INT32_MAX bytes of input by peterbarker · Pull Request #24294 · ArduPilot/ardupilot · GitHub
Marvelmind stop reading too many bytes
Merged!
UTC0219 -
AP_OpticalFlow: use vector rotate method by peterbarker · Pull Request #24295 · ArduPilot/ardupilot · GitHub
Use vector rotate method to rotate vector
Merged!
UTC0220 -
AP_Camera: stop casting int16_t to uint8_t in read result by peterbarker · Pull Request #24300 · ArduPilot/ardupilot · GitHub
Stop casting int16_t read to uint8_t
Andy to test
UTC0222 -
AP_DDS: compile with -std=c++17 by srmainwaring · Pull Request #24303 · ArduPilot/ardupilot · GitHub
Compile with std=c++17
AP_DDS: compile with -std=c++17 by srmainwaring · Pull Request #24303 · ArduPilot/ardupilot · GitHub
ABI compatibility is not guaranteed!
Mix two compilation standards in the same compiler and crunch?!
We have to be careful with this as compilers can make assumptions like “new can never fail” and that caught us badly
Will close this and raise an issue
UTC0231 -
AP_Vehicle: dynamic notch use min ratio for RPM tracking by IamPete1 · Pull Request #24310 · ArduPilot/ardupilot · GitHub
Dynamic notch use min ratio
Merged!
Some fun phase-lag issues whn you’ve got multiple sets of props running at different RPMs on quadplanes
UTC0232 -
AP_Logger: add Write_NamedValueFloat by peterbarker · Pull Request #24315 · ArduPilot/ardupilot · GitHub
Write_NamedValueFloat
Merged!
UTC0234 -
AP_Arming:change metatdata for ARMING_REQUIRE by Hwurzburg · Pull Request #24333 · ArduPilot/ardupilot · GitHub
Change metadata for ARMING_REQUIRE
Merged!
UTC0235 -
Periph: make uCenter fw update more reliable by tridge · Pull Request #24324 · ArduPilot/ardupilot · GitHub
Make fw update more reliable
readbuf/writebuf setsize optimisation
Merged!
UTC0239 -
hwdef: remove bootloader flashing from MambaF405US-I2C and omnibusf4p… by peterbarker · Pull Request #24336 · ArduPilot/ardupilot · GitHub
Remove bootloader flashing from a pair more boards
Merged!
UTC0242 - close