Dev Call July 11, 2022

Issues & Pull Requests


Copter & Rover


Attendee count (max): 18

UTC11100 - Add VSCode tasks and recommended extensions by TunaLobster · Pull Request #4411 · ArduPilot/ardupilot_wiki · GitHub

  • Vscode instructions
  • Eventually removing Eclipse and getting people to use vscode instead
    • Henry doesn’t like vscode much
    • Randy’s unsure about that
  • merged

UTC1103 - System id improvements by fbredeme · Pull Request #4389 · ArduPilot/ardupilot_wiki · GitHub

  • System-id improvements
    • Use-case…
    • Weird i-gain results?
      • Also didn’t let autotune have a really good look at it
      • Massive phase lag?
  • Does this belong on the Wiki?
    • Perhaps a blog post?
    • Josh likes having the maths in the Wiki
  • 9:05 AM] Peter Hall: There are some nice controls diagrams.
  • [9:06 AM] Emre Saldıran: Bill, we also used sys id to optimize arucopter controller with CONDUIT.
  • [9:07 AM] Emre Saldıran: The resulting integrator gains were way bigger than the P and D again
  • [9:07 AM] BillGeyer: I think the disturbance rejection requirements were very high which drove the I gain to meet the requirement
  • [9:09 AM] Charlie Johnson: Is there a paper to go along with this? If so, can that be added to the academic page?
  • [9:09 AM] Peter Hall: Dev wiki rather than copter?
  • [9:09 AM] Peter Hall: It would be a shame to loose this write up.
  • [9:10 AM] Josh Henderson: ^^ +1000%
  • Leonard thinks there’s some good stuff in here
    • Tridge points out the “View file” option in github
  • Henry: Vehicle wikis want “how do I set parameters to do something, how do I get something done?
    • The vast amount of maths in here is off-putting for the average user
    • Leonard thinks we shouldn’t be coddling people so much
      • So we should put the controller diagrams in
      • We spend a lot of time focussing on people who aren’t interested in multirotors
        • Just a means to an ends
      • We shouldn’t deliberately remove stuff from the Wiki that these people don’t care about or get annoyed out
    • Leonard likes the systemid stuff, how you build a model etc etc
    • Supporting this is difficult
    • Comparisons to autotune were flawed in this paper
      • Perhaps it was removed now?
  • Leonard and Bill will discuss this

UTC1119 - Deprecate Eclipse and Cygwin as Windows build environments by Hwurzburg · Pull Request #4343 · ArduPilot/ardupilot_wiki · GitHub

  • Deprecate Eclipse and Cygwin
    • Wait until Randy moves
  • Archiving everything except wsl2
  • When cygwin?
    • Executable for MissionPlanner
      • Pre-built-in parameters useful
    • Faster frame rates
    • Niche
  • Currently our wsl2 instructions don’t include flashing-board instructions
  • People apparently just use MissionPlanner
  • “Cygwin and eclipse are no longer recommended for building” is in here

UTC1128 - Better ci by khancyr · Pull Request #679 · ArduPilot/pymavlink · GitHub

  • Moved to DevCallEU
  • Pymavlink improve CI

UTC1132 - AP_Vehicle: add AIS by IamPete1 · Pull Request #18332 · ArduPilot/ardupilot · GitHub

  • Add AIS to AP_Vehicle
  • Merged!

UTC1139 - LD06 Proximity Sensor Integration by Adithya-Patil · Pull Request #20138 · ArduPilot/ardupilot · GitHub

  • LD06 sensor integration
  • Needs out-of-range information
  • Needs to use the range parameters
  • Should set the default values for the proximity sensor rather than the current mess
  • Too many false positives from proximity sensors generally

UTC1153 - Copter/Rover: Enhance the Mission Change detector by lthall · Pull Request #20701 · ArduPilot/ardupilot · GitHub

  • Optimise ability to add waypoints while mission is running without auto stopping and restarting the mission every time unnecessarily
  • Doesn’t stop/reset unless required
    • If it does then will calculate a stopping point and go from there
  • These changes more closely binds the mission to waypoint navigation library which isn’t great
    • May not work well with external path planners
  • This is a very large cost….
  • Missions should run off and finish… so why are we paying so much time trying to fix the upload corner cases?
  • 1900 bytes on Matek405
  • Large development/maintenance cost for this?
  • This would be simpler if it didn’t try to handle splines…
  • Why not do this more like EKF resets?
    • Three timestamps, one for each?
  • This is all about not doing a reset unless you need to
  • Allows you to change the next 3 waypoints and maybe not come to a stop
  • Use case:
    • Delivery aircraft to determine route when it reaches a point in the sky
  • Maybe restrict to 1MB boards
  • LUA script?
  • Too much of a maintenance cost?
  • If you don’t reset when it should be reset then bad things happen
  • Randy thinks leave this out for now
  • Randy’s going to poke MO on ftp upload for missions in MP

UTC0016 - Plane: added NAV_DELAY support by tridge · Pull Request #20941 · ArduPilot/ardupilot · GitHub

  • NAV_DELAY for planes
    • Shouldn’t this let quadplanes hover?
    • This is very different behavior to Copter
  • NAV_DELAY is weird
    • “Stop navigating”!?
    • Use LOITER_TIME instead
  • This implementation only works on the ground
  • Synchronise swarm of quadplanes….
  • Behaviour when armed can change in the future if a good use case can be found for it

UTC0034 - AP_Param: add `@SYS/defaults.parm` and log default values by IamPete1 · Pull Request #20972 · ArduPilot/ardupilot · GitHub

  • Parameter defaults again
  • Tridge will test

UTC0035 - Tramp VTX Protocol by andyp1per · Pull Request #21005 · ArduPilot/ardupilot · GitHub

  • Tramp vtx protocol
  • Reviews left
  • Will come back to DevCallEU

UTC0047 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • No new Plane stable release as waiting for stuff to go into master
    • Need to go through these with PH

UTC0048 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

  • Copter 4.2.2 rc is out there
  • Partner who had problems turned out not to be this rc
  • Really was no problem
  • No feedback from community/beta testers
  • Another push to get people to test/respond
  • BLping might not be working?
    • Above 4.0
  • SF45 power-cycle issue?
    • Saelee trace required….
  • Torqeedo motor is being used by someone else which is nice
    • Twin-torqeedo support coming soon…

UTC0052 - GSoC

  • Emre is doing well
    • Custom controller stuff
    • Parameter stuff was complex
      • Worked through that
        • Has blog post and open PR
  • Sanket / ROS integration
    • Trying to get ROS working as offboard navigation
  • Shiv / Docking
    • Going very well

UTC0054 - AP_Control: change autotune I determination for Roll axis by Hwurzburg · Pull Request #21027 · ArduPilot/ardupilot · GitHub

  • Change autotune i determination
  • Need Paul for this

UTC0055 - build: added --ubsan and --ubsan-abort options by tridge · Pull Request #21163 · ArduPilot/ardupilot · GitHub

  • Undefined behaviour sanitiser
  • Finds a lot of issues we need to look at it
    • Including indexing beyond end of array
  • Merged

UTC0100 - SITL: Make Yaw control scale with aircraft size by lthall · Pull Request #21128 · ArduPilot/ardupilot · GitHub

  • Many small PRs from Leonard
    • He’d like people to look through them….

UTC0102 - AP_Rally: tidy calculation of nearest rally/home by peterbarker · Pull Request #21082 · ArduPilot/ardupilot · GitHub

  • Tidy rally point calculation
  • Merged

UTC0106 - Plane: add yaw input shaping command model by IamPete1 · Pull Request #21107 · ArduPilot/ardupilot · GitHub

  • Really want to keep same names between Copter and Plane
  • This is the new yaw input shaping stuff
  • RAT vs RATE
  • Q_PLT_ for QuadPlane?
  • Will drop Copter changes and use PLT on quadplane

UTC0112 - Correct gcs_out_of_space_to_send methodname by peterbarker · Pull Request #21147 · ArduPilot/ardupilot · GitHub

  • Merged

UTC0016 - Increase Boardname Length & Output Fields for Vehicle Manufacturer's in Banners · Issue #21137 · ArduPilot/ardupilot · GitHub

  • Full board name in messages
  • Want to stop sending the MCU Id in statustext
  • But need it in both tlogs and bin logs
    • Add as MSG in bin logs
    • May break people parsing the logs for the MCU ID
    • Emit autopilot_version to GCS when sending banner
  • Version.h entries can be overridden now-adays so MissionPlanner’s interface shows ByBigQuadCopterCompany

UTC0025 - close

UTC0027 - AP_SerialManager: eliminate get_mavlink_channel by peterbarker · Pull Request #21165 · ArduPilot/ardupilot · GitHub

  • Eliminate get_mavlink_channel method
  • Merged