Dev call July 1, 2024

Issues & Pull Requests

Copter & Rover

Plane

GSOC

Conference

Attendee count (max): 15

UTC2301 - Use AP_RANGEFINDER_ENABLED properly by peterbarker · Pull Request #23506 · ArduPilot/ardupilot · GitHub

  • This loses the ability to do surface tracking when no rangefinder enabled
    • Can’t do terrain-database following in Copter at the moment
  • Merged!

UTC2317 - EKF3: allow earth-frame fields to be estimated with an origin but no GPS by Williangalvani · Pull Request #25666 · ArduPilot/ardupilot · GitHub

  • Allow earth-frame mag fields to be estimated with an origin but no GPS
  • For Sub
  • A couple of redundant lines
  • PR may not do anything
    • Core.h line 1491
  • Make sure the check for auto-declination is required
    • We get all three from the tables now-adays
  • Is the original code just wrong?
    • Why are we getting the earth field from the origin?
      • Vehicle doesn’t need to be there….
  • Currently the code assumes you’ve got your location from an actual GPS unit
    • Set-origin may give you the wrong mag field
  • We don’t need the compass to get the position estimate
  • Shouldn’t use GPS position to set the mag field, should use EKF position
    • So someone who sets-origin can get a mag field for that location if they’re using beacons
    • Move the code from gpsgoodtoalign
  • Need to use the camel-case naming that Paul likes
  • alignMagStateDeclination?
    • Do we need it in the setorigin call or can we skip it?
  • Need some Replay logs for Sub in EKFLogs - Google Drive

UTC2332 - Expand tradheli inverted flight to non manual throttle modes by bnsgeyer · Pull Request #26435 · ArduPilot/ardupilot · GitHub

  • Expand inverted flight to non-manual-throttle-modes
  • Only loses a couple of metres
  • No boolean any more
    • Pitch and roll attitude correction to compensate for some pitch/roll attitude
  • Merged!

UTC2339 - AP_Logger: write formats out as required rather than at start of log by peterbarker · Pull Request #27301 · ArduPilot/ardupilot · GitHub

  • Emit static fmt messages incrementally rather than at log startup
  • 0 dropped log messages
  • Can be merged when Peter’s ready

UTC2347 - Tradheli Autotune Improvements by bnsgeyer · Pull Request #26722 · ArduPilot/ardupilot · GitHub

  • Autotune improvements in tradheli
  • Saves 5kB of flash space!
  • Lots of testing been done on real helis
  • MergeOnCIPass

UTC2349 - MOUNT: Add a mount2 retract by muramura · Pull Request #27352 · ArduPilot/ardupilot · GitHub

  • Peter Hall found a few things
  • Can be merged after they’ve been fixed

UTC2352 - AP_BatteryMonitor: add missing failsafe with no action by IamPete1 · Pull Request #27358 · ArduPilot/ardupilot · GitHub

  • We definitely don’t expose the failsafe value anywhere
  • Not in logging or scripting
  • Can change the enum without issue
  • Health going zero no longer updating percentage problem?
    • Need an is_missing method on the backend
    • PH will fill it in

UTC2354 - Tidy GPS pre-arm checks by peterbarker · Pull Request #27382 · ArduPilot/ardupilot · GitHub

  • Move DroneCAN GPS pre-arm checks into the DroneCAN library
  • Inter_instance_pre_arm_checks
  • Merged!

UTC2356 - Copter: Remove Payload release on thrust loss detection (attempt2) by rmackay9 · Pull Request #27396 · ArduPilot/ardupilot · GitHub

  • Remove payload release on thrust loss detection (attempt 2)
  • Replaces other attempt to improve the feature
  • Adds a prearm check that the user didn’t have the feature
  • Adds gripper bindings to LUA
  • Race condition between script and main threads
  • Use the rc aux function bindings rather than new ones?
  • Mark AP_Gripper bindings as use scheduler singleton
  • Maybe over-thinking it a little?
  • Should we move to using command_int binding rather than new bindings?
    • Less flash
    • Peter and Randy don’t like tying A and B
  • Will need to start removing features on CubeOrange
  • Need to have a longer discussion on what features to remove
    • Ping Sid for DevCallEU

UTC0013 - AP_Generator: avoid use of int16_t-read by peterbarker · Pull Request #27397 · ArduPilot/ardupilot · GitHub

  • Avoid use of the int16_t read function
  • Merged!

UTC0013 - AP_Frsky_Telem: avoid use if int16-t read call by peterbarker · Pull Request #27398 · ArduPilot/ardupilot · GitHub

  • Avoid use of int16_t reason Frsky
  • Merged!

UTC0014 - Plane: Quadplane: update Q_OPTION bit 22 description by IamPete1 · Pull Request #27399 · ArduPilot/ardupilot · GitHub

  • Update description of Q_OPTION bit 22
  • Merged!
  • Henry would like some instruction on what this does so he can add it to the Wiki
  • Andy was having oscillations going into position1
  • Ff part of controller changes in magnitude because of angle-p gains
    • When moving from Plane to Copter modes you can cause an oscillation through your FF path
  • Probably not one for massive Wiki explanations
  • Tridge isn’t sure if this is really required
    • Andy is….
  • PH is a fan of what he thought it did and what the description was prior to this PR
    • Ratio reduction
  • merged!

UTC0024 - AP_GPS: don't consider uBlox PVT time correct unless we have 2D fix by peterbarker · Pull Request #27408 · ArduPilot/ardupilot · GitHub

  • Ancient patch to not trust GPS time unless fix-type is >2
  • Merged!

UTC0025 - Allow full compass calibration with location sources other than GPS by Williangalvani · Pull Request #27409 · ArduPilot/ardupilot · GitHub

  • Allow full compass calibration with location sources other than GPS
  • Any chicken-and-egg problem here?
    • May not be able to calibrate compass while AHRS not happy, AHRS not happy until compass is calibrated
  • Allow either of location or GPS to be OK for this
  • check for origin rather than GPS

UTC0030 - AP_Scripting: refresh serial bindings by tpwrules · Pull Request #27411 · ArduPilot/ardupilot · GitHub

  • Refresh serial bindings
  • Can’t break all existing LUA scripts out there……
  • Binding generator has an option to add a deprecated warning on use of bindings
  • Add new methods
  • Deprecate old methods
  • Returns nil if it can’t get a byte
  • Probably can’t merge his one, the serial API is set in stone
  • Maybe do both?
  • Note the “read string” method would be used in place of either of the read methods

UTC0044 - AC_AutoTune: make safe shutdown for tradheli when landing in Autotune by bnsgeyer · Pull Request #27423 · ArduPilot/ardupilot · GitHub

  • Safe-shutdown for tradheli when landing in AutoTune
  • Bad-spoolup when collective as put up
    • Engaged motor interlock, stripped gears
  • After you’ve landed it allows user to take off again after you’ve landed in autotune
  • Fix is to auto-disarm in helis
  • Don’t be landed and not disarmed
  • Haven’t really ever wanted users to take off in autotune….
    • Arguably a bug
  • Will save agains every time if we disarm like this
  • No take-off again once landed in autotune
  • Randy thinks it’s a bit inconsistent
  • A few minor things
  • Leonard’s happy with the approach

UTC0103 - AP_Scripting: ignore hidden Lua files by tpwrules · Pull Request #27425 · ArduPilot/ardupilot · GitHub

  • Stop using files starting with a dot as LUA scripts
    • MacOSX generates this hidden files….
  • merged!

UTC0107 - AP_NavEKF3: log mag fusion selection to XKMF by Williangalvani · Pull Request #27430 · ArduPilot/ardupilot · GitHub

  • Log the sort of mag fusion we are currently doing
  • Usually check the XKF3.IYAW (doing yaw fusion) or whether individual axes are updating
  • Should go into XKFS

UTC0110 - Plane update

  • Andy put together a beta PR for 4.5.5
    • Tridge yet to go through it in detail

UTC0113 - Copter update

  • One user thinks the OGN_HGHT_MASK PR might have broken things somehow
  • Randy needs to go and clear his list of issues down a bit
  • Randy thinks we should push forward on 4.5.5
    • Maybe push that forward today
  • [11:17 AM]Tim Tuxworth: We should also have a discord channel for testing!

UTC0116 - conference update

  • A couple of people pinged Randy about drone rego
    • Please ping Randy with more!

UTC0119 - GSoC update

  • Things are going pretty well
  • Some updates to MAVProxy chat module have gone in
    • Including streaming
  • Gazebo simulator working well is what’s needed on a pair of other PRs

UTC0121 - close