Dev Call Jul 31, 2023

Issues & Pull Requests


Copter & Rover

Attendee count (max): 19

UTC1102 - Rover: quik tune lua script by rmackay9 · Pull Request #23981 · ArduPilot/ardupilot · GitHub

  • Quik-tune lua script for Rover
  • Still a few bits to do; notably Rovers can oscillate at very low frequencies which might disturb the script
  • Still no s-max on the position controller
  • Tridge would like oscillation detection for angle-p oscillation in velocity and position controllers
    • So we can back the gains off on angle-p
    • The slew-limit thing we use at the rate level might not work up at the angle level
    • Too low a rate tune can cause flipping if your angle-p tuning is bad
    • Position controller can’t flip vehicle but can excite things
    • Detect ratio ou-of-kilter to the point vehicle can’t stabilize
      • Magically change angle-p gain
      • Protection in quik-tune script that avoids reducing gains more than 20%
        • User wasn’t running most recent script and failed to flip the switch to save vehicle == destroyed vehicle…
      • VTOL quik-tune doesn’t revert gains on mode change….
        • It probably should
      • Co-ax octaquad and losing a motor?
        • Would this lower margin between rate-gains and angle-p?
        • Yes, would compromise rate tune
          • When Leonard does a commercial tune he gets within an inch of his life then back it off
          • Angle-p can get very high
            • 10-or-12 is about the most you want
              • Starts to feel too aggressive and too sharp in disturbance rejection
        • Losing a motor doesn’t tend to severely compromise a properly redundant aircraft
          • Hex’s don’t really count for “properly redundant”
            • Only partially redundant
        • Octo’s can lose motors and can be hard to tell it’s happened

UTC1116 - Networking v2 by magicrub · Pull Request #24214 · ArduPilot/ardupilot · GitHub

  • Networking v2
  • Some nice memory changes in here now
    • Allocation happens at startup in AP_Networking
    • Malloc-with-a-flag
      • Malloc_eth_safe
    • 9120 bytes of RAM
      • But uses 16kB block for guard
    • DMA controllers for each ethernet
  • This needs to be testable under SITL
  • Questions over whether the configure-region is actually important
  • Questions over alignment of the allocations used for ethernet DMA buffers
  • Tridge will chat with Sid over what’s happening
  • Off by default on everything
  • Stm32 hardware RNG may not be thread-safe; you may end up with a non-random number in race conditions!

UTC1155 -

  • Try to make ahrs messages clearer
  • Randy will test and perhaps merge

UTC0001 - Fixed formula in AP_L1_Control::nav_roll_cd by abaghiyan · Pull Request #24331 · ArduPilot/ardupilot · GitHub

  • Nav_roll_cd L1 fixes
  • Merged!

UTC0001 - Remove more code if no blended instance, use on SkyViper-v2450 by peterbarker · Pull Request #24342 · ArduPilot/ardupilot · GitHub

  • Remove mmore blended code when not doing blended gps
  • Merged!

UTC0005 - Tidy log structures up to reduce wasted flash by peterbarker · Pull Request #24344 · ArduPilot/ardupilot · GitHub

  • Remove more deepstall landing code
  • Merged!

UTC0007 - Plane: output rudder and steering directly removing steering_control struct by IamPete1 · Pull Request #24230 · ArduPilot/ardupilot · GitHub

  • More rudder output tidying
  • Some nice logging for this added
  • Merged!

UTC0008 - AP_Motors: Heli move parameter checks into pre-arm check method. by IamPete1 · Pull Request #24349 · ArduPilot/ardupilot · GitHub

  • Move heli parameter checks into prearm checks
  • Also allow more than one prearm out in several cases
  • Merged!

UTC0012 - AC_AttitudeControl: Heli: remove unused code by IamPete1 · Pull Request #24356 · ArduPilot/ardupilot · GitHub

  • Remove dead heli code
  • Merged!

UTC0014 - GCS_MAVLink: use long-to-int conversion code for SET_ROI_SYSID by peterbarker · Pull Request #24361 · ArduPilot/ardupilot · GitHub

  • More long-to-int conversion
  • Merged!

UTC0016 - AC_Fence: clarify bit 2 in FENCE_ENABLE parameter by peterbarker · Pull Request #24376 · ArduPilot/ardupilot · GitHub

  • Clarify documentation around fence enable parameter
  • Merged!

UTC0017 - AC_Fence: added option bit for union of inclusion areas by tridge · Pull Request #24379 · ArduPilot/ardupilot · GitHub

  • Add option bit for union of inclusion areas
  • Only applicable for Plane
    • Forcing on Copter showed up some very weird things
      • Avoidance and margin stuff gets very confused on Copter
  • Peter H’s PR requires much GUI change!
    • Each inclusion object needs to be numbered
    • adding fences in MissionPlanner already kind of has parameters
  • Why intersection?
    • Because you can always draw a larger polygon….
  • MAVProxy now has support for inclusion and exclusion circle and polygon creation!
  • The decision making process here sucks
    • We made PH jump through hoops
    • And we just throw this one straight in?
    • Inequality of the review processes
  • Tridge does like the full group stuff, just concerned as to time to get it in
  • merged

UTC0039 - AP_HAL_ChibiOS: RADIX2HD target change Serial4 proto to ESC telem by mluessi · Pull Request #24403 · ArduPilot/ardupilot · GitHub

  • Correct serial4 protocol on radix2hd
  • Merged!

UTC0041 - Use CMD_LONG conversion for DO_FOLLOW commands by peterbarker · Pull Request #24417 · ArduPilot/ardupilot · GitHub

  • Remove redundant follow-sysid code
  • Merged

UTC0043 - Stop using MINIMIZE_FEATURES in AP_LandingGear by peterbarker · Pull Request #24422 · ArduPilot/ardupilot · GitHub

  • Remove use of MINIMIZE_FEATURES in landinggear library
  • Merged

UTC0045 - Plane update

  • Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
  • 4.4beta with a couple of patches
    • Cross-tracking
    • DMA on mRo board?
    • Counter-proposal #24456
      • Disable DMA on i2c on F7 and H7
        • Backport from master
        • Half our boards had it disabled
        • This disables it on all boards
        • If i2c is sharing DMA with the IMU then i2c can be slow (esp with retries) you can lose samples from the IMU!
        • Will free up a lot of DMA channels
          • Maybe up to 8 of them!
        • non-DMA-i2c-on-f4 is not supported
  • Merged!

UTC0054 - Copter update

UTC0057 - AP_Scripting: added battery state of charge estimator by tridge · Pull Request #24427 · ArduPilot/ardupilot · GitHub

  • Battery state of charge estimator
  • Use a partially-full battery and it automatically estimates initial state of charge
  • E.g. multiple flights on one battery
  • Two-parameter curve-fit
  • People can find, for their particular type of battery, the parameters which represent the shape of the SoC
    • Does not work when drawing current
    • Only works when disarmed, essentially
  • C++ version of this would be good!
    • May need to be three into the future
  • Tridge would like logs from various chemistries
  • Blog post and ask for input?
  • Perhaps read from datasheets rather than measure?
    • new/Aged values?
  • Will defer this until tridge has gathered more logs to look at

UTC0116 - AP_Mount: ViewPro compile error (previously known as "Bug report") · Issue #24444 · ArduPilot/ardupilot · GitHub

  • 18.04 compiler 7.5 no longer compiles ArduPilot
  • Maybe try & 0x7
  • Force a more recent compiler? Which version?

UTC0131 - Tools: add SLCAN to build options by peterbarker · Pull Request #24452 · ArduPilot/ardupilot · GitHub

  • Allow addition/removal of SLCAN on custom build server
  • 4.1kB
  • Tridge wants to kill slcan entirely
  • SLCAN is faster

UTC0135 - AP_HAL_ChibiOS: don't share IMU DMA on mRo control zero by andyp1per · Pull Request #24454 · ArduPilot/ardupilot · GitHub

  • Superceded by tridge’s PR
  • Closed

UTC0135 - AP_Periph: rename ins locals to avoid conflict with ins member variable by peterbarker · Pull Request #24457 · ArduPilot/ardupilot · GitHub

  • Rename things away from ins
  • Merged!

UTC0138 - GSoC update

  • Pedro is doing well
    • Navigation framework is available now
  • Arshs’s PR needs a bit of work but hopeful meeting will clear things up
  • Shiv’s Location Database stuff is going well
  • Asif gamera/gimbal work is going well
    • Logging of gimbal angles is in now
    • Time-based triggering is going in
    • FOV support coming!
      • “Tell me what I’m pointing at”

UTC0140 - partner’s call tomorrow

UTC0141 - Dev Unconference in Reno next year, probably

  • And maybe in Japan the year after that?

UTC01411 - close