Issues & Pull Requests
Plane
**Copter & Rover **
GSOC
Attendee count (max): 21
UTC11100 - Support VTOL_LAND options by WickedShell ¡ Pull Request #14874 ¡ ArduPilot/ardupilot ¡ GitHub
- Vtol land options
- Failing a lot of tests so canât be merged here
- Need it to pass CI to look further at this
UTC1102 - Plane: Max altitude for FBWB by khanasif786 ¡ Pull Request #19732 ¡ ArduPilot/ardupilot ¡ GitHub
- Been around a while, finally OK?
- Max altitude for fbwb
- Using fence_alt_max?
- Yep
- Also a fbwb param, uses largest of the mins and then the fence max
- What if you donât have a fence alt?
- Fence type has a bit for min/max
- What if youâve got a non-zero fence alt but not enabled?
- Just wonât use it
- Bug? If you have a fbw min alt set and you donât have the fence alt set it will use the fence minimum anyway?
- Taking max of an undefined numberâŚ.
- Under no circumstances should we use the fence min alt if we havenât enabled the fence minimum
- One of us needs to test this - someone other than the author
- Does include the fence margin
- Alt vs alt_cm in Location object
- Would be nice to change the location field name
- Scripting bindings are very bad - theyâre the raw fields
- Difficult to fix these?
- Make LUA check for the existence of the accessors at the time we load the script?
- Could potentially do it
- Might cost a bit?
- Manually do it?
- Load-time exception for fields that donât exist?
- Duck-typing means catching is problematic
- Needs to stop using unconfigured altitude
UTC1108 - Move Fence to AP_Vehicle by IamPete1 ¡ Pull Request #20217 ¡ ArduPilot/ardupilot ¡ GitHub
- Move fence up to vehicle
- Build server options
- AC_Avoid fixes brought up by new CI test
- Manually tested all fences and tested failsafes
- Need to default fence on in build_options.py
- Need a comment explaining what we mean setting a define to 2
- Change to continue to require avoid if you have fence and vice-versa
- Should we new() the AC_Fence object?
- AP::fence() accessor returns a pointer
- So it can be dynamically allocated relatively easily
- Reserve a tonne of space for fence and rally in storage which isnât unused
- We donât have markers in storage to dynamically allocate
- Use SD card for storage regions
- Still RAM-backed
- 65536/15 bytes = 4369 waypoints
- Tom will talk to tridge on this one
- We lose a bit of storage to parameter backup on the 32kB parts on CubeBlack
- RAM issues⌠F427
- AP::fence() accessor returns a pointer
UTC1137 - AP_Control: change autotune I determination for Roll axis by Hwurzburg ¡ Pull Request #21027 ¡ ArduPilot/ardupilot ¡ GitHub
- Change autotune roll determination
- There are frames where this would make it worse
- Paulâs approved it, âthough
- Merged!
UTC1140 - AP_Param: always use set method, remove `=` by IamPete1 ¡ Pull Request #21116 ¡ ArduPilot/ardupilot ¡ GitHub
- Remove = and related parameters
- Have to use param_variable.set to delimit whatâs a parameter and whatâs not
- Andyâs not a fan
- Less user-friendly
- These are the ones that didnât get changed to set_and_default
- PH thinks this is better
- Original design was intended that you assign and treat them as assignable
- Whatâs changed between now and the design decision to have the overloads?
- What does this give us?
- Easy to find all parameters?
- Less magic?
- Tom likes this
- This might kill pending PRs
UTC1153 - Copter: Payload Place fix take-off by lthall ¡ Pull Request #21129 ¡ ArduPilot/ardupilot ¡ GitHub
- Fixes payload place takeoff
- Merged!
UTC1153 - Take-off throttle slew time by lthall ¡ Pull Request #21158 ¡ ArduPilot/ardupilot ¡ GitHub
- Takeoff throttle slew time
- Auto-takeoff will be a bit gentler
- Throttle ramps 0-100 in a given period of time
- Looks for vertical rate and/or change of position and/or 90% throttle then flicks to the flying state
- Currently it flicks into the flying state
- I-term build up while we wait for the throttle to come up and the throttle ramp depends on pid tune
- Whatâs the change look like to a user?
- Auto-takeoff or guided takeoff?
- Allows user to define throttle ramp up
- 1 second to ramp up
- 2 second slew from minimum to maximum
- But takeoff is at 50% for most users
- 2 second slew from minimum to maximum
- Hover throttle at 15%? 0.3s to takeoff
- Shouldnât this be be time-to-hover-throttle instead?
- Might be unknown / based on payload
- This is simpler - one number, consider it to be aggressiveness
- Slew rate 1 is full rate
- Copters donât do percentages
- Planes do percentages
- Copters do + or - 1
- 1 second to ramp up
- Allows user to define throttle ramp up
- Auto-takeoff or guided takeoff?
- From chat:
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[10:01 AM] Peter Hall: I agree with Leonard.
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[10:02 AM] Peter Hall: You donât want it changing based on hover throttle learning.
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[10:05 AM] Henry Wurzburg: TKOFF_THR_SLEW: Takeoff throttle slew rate
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This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.
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[10:06 AM] Henry Wurzburg: ATC_SLEW_YAW: Yaw target slew rate
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[10:06 AM] Henry Wurzburg: cdeg per second
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[10:07 AM] Henry Wurzburg: H_RSC_SLEWRATE: Throttle Slew Rate
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This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate.
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Increment Range
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10 0 to 500
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[10:07 AM] Peter Hall: I would vote spool time to match what we have in AP_Motos.
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[10:08 AM] BillGeyer: Heliâs donât count in this case. I havenât kept up
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[10:08 AM] BillGeyer: plus I donât know anyone that uses that parameter
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[10:10 AM] timtuxworth: Agreed - I find the slew rate percentage on plane confusing, I have to âthinkâ when Iâm trying to figure out what to set it to.
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- Tridge wants to discuss parameter naming and particular slew rate naming with Randy
- Think of this as a pilot moving the throttle stick up at a particular rate and waiting for the vehicle to take off
- Takeoff time is dependent on payload and your i-term ramp up time
- Auto takes into account jerk rate and other psc parameters
- Low required hover throttle means faster takeoff than currently, probably
- This bothers tridge
- Bill really likes the i-term not building up
- Tridge does too, itâs a presentation-to-user thing
- Leonard will be limiting hover throttleâs impact
- Removing from PID loops
- Only place for hover throttle is for error detection
- Problem with hover throttle is that itâs very difficult to detect it in auto flight because there si not place in auto flight where you are able to establish a measure of over throttle because you are in dynamic flight (hovering or transitioning)
- Quite unusual for an auto flight o sit there and hover
- Variable payloads
- Hybrids, quadplanes
- Taking off heavy, landing light
- Full fuel load different
- Same witty hybrids and petrol copters
- Value in helping detect problems but very poorly defined parameter
- Learn means it changes every flight
- Leonard wants consistency between flights
- Dangers associated with the hover throttle value
UTC0020 - Copter: fix landing limits by lthall ¡ Pull Request #21131 ¡ ArduPilot/ardupilot ¡ GitHub
- When the limits are turned on doesnât let speed exceed limits as well as acceleration
- If you have a position error it can currently over-speed
- Notably during takeoff and landing where it can overspeed a little bit
- Mostly not a problem
- But prevents problems if you do get a position error
- Now limits vel in addition to accel
- Doing a takeoff?
- Climb to an alt?
- Also taking a rate?
- Take alt and command pilot rate
- Not sure why this is DevCall - should be MergeOnCIPass?
UTC0030 - AP_GPS: correct compilation when all serial backends compiled out by peterbarker ¡ Pull Request #21252 ¡ ArduPilot/ardupilot ¡ GitHub
- Correct compilation when all serial backends compiled out
- Merged
UTC0031 - AP_Vehicle: correct description of G_Dt by peterbarker ¡ Pull Request #21255 ¡ ArduPilot/ardupilot ¡ GitHub
- G_Dt description is wrong
- Filter rates donât bother tridge
- Navigation calculations do bother tridge
- Nav code for copter uses += velocity *dt
- Average achieved loop rate might need to be a thing
- Time since last called only appropriate if thereâs no memory in the algorithm
- Using a raw dt is bad when calculating navigation rates as it leads to throttle problems
- EKF moved to average dt to avoid this sort of thing
- We memoise a bunch of values in AP_Scheduler.h
- Maybe the wrong thing to do?
- Just variables that when you init the
- A way in SITL of testing the case where the vehicle is not achieving the loop rate set in the parameter
- Check that auto missions proceed at rate you have asked for
- Some way to delay SITL / advance time
- Sim_achieve_loop_rate which would make it slow down
- Tridge did implement this as a quick hack
- Aircraft not flying at speed which is configured
- Target groundspeed doesnât get achieved
- Position controller is assuming that time is moving along as it should
- Weâre hitting timing issues more and more often not hitting desired loop rate
- [10:36 AM] Peter Hall: Time since sensor samples your intergrating.
- [10:44 AM] Peter Hall: You can force advance the hal time.
- [10:45 AM] Peter Hall: We could just add a bit every loop.
- [10:45 AM] Peter Hall: hal.scheduler->stop_clock(time)
- Only changes average rate
- Wonât do the every-4th-loopthing due to the 100Hz fusion step
- Multiplier of some description?
- Certain amount of flight time available
- Calculate if task can be achieved
- Decide it can
- But then we donât fly the groundspeedâŚ
- Changes which affect your loop rate shouldnât change your groundspeed
- Stop overtaxing your CPUâŚ
- Weâll leave this as a place-marker
- Weâll move to making it a call on the scheduler to get the right number
UTC0051 - Plane update
- Want 6x in Plane stable
- Compass handling of heaters
- 2 boards CubeOrange and Pix32v5 hwdef entries compass compensation for heater
- Electromagnet
- Both 6xs (CUAV and Holybro) have heater impacts on mag
- Tridge wants these boards into stable
- Master has several things wrong
- Filtering in the icm 4 series sensors is going really well
UTC0054 - Copter update
- No randy, no update
UTC0055 - GCS_MAVLink: ensure payload space for ACK before sending by peterbarker ¡ Pull Request #21257 ¡ ArduPilot/ardupilot ¡ GitHub
- Needs a comment then merge
- Maybe make CI a bit better
- Then merge
UTC0059 - Remove references to config.mk by peterbarker ¡ Pull Request #21265 ¡ ArduPilot/ardupilot ¡ GitHub
- Remove the pollute_env_from_file method as well
- Then merge
UTC0100 - Add AUX switch to pause logging if rate limiting is active by Hwurzburg ¡ Pull Request #21269 ¡ ArduPilot/ardupilot ¡ GitHub
- Add aux switch to pause logging if rate limiting is active
- Should be log-pause-streaming
- Do it in Log_Write_Streaming
- Rate is in integer hzâŚ
UTC0113 - Automate reporting of firmware build limitations by board ¡ Issue #21273 ¡ ArduPilot/ardupilot ¡ GitHub
- Wiki list of firmware limitations is untenable
- Need to go off hwdef.h
- Firmware Limitations on AutoPilot Hardware â Copter documentation
- We have way too many ways of specifying our shape of build
- Maybe inspect the binaries?
- Feature, symbol, min size
- Maybe inspect the binaries?
- Generate a features.txt
UTC0129 - AP_AHRS: Option to disable logging of EKF log messages by Hwurzburg ¡ Pull Request #21276 ¡ ArduPilot/ardupilot ¡ GitHub
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Stop ekf logging with an option
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Should really have these as logging parameters in the libraries themselves?
- EK3_LOG_LEVEL ?
- Independent of logging bitmask
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Enum or bitmask?
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11:31 AM] Peter Hall: I think we have one left on plane.
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[11:39 AM] Peter Hall: We do have AIS_LOGGING
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[11:39 AM] Peter Hall: A bit mask of things to log or not.
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[11:40 AM] Josh Henderson: We just need to ensure that there is high-level GUI/interface that makes it easy to turn things on/off like it is now.
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Parameter per library makes it very annoying for a user
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[11:41 AM] Peter Hall: also more flash of courseâŚ
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[11:43 AM] Josh Henderson: yeah it would nice to get lower EKF logging. I could then enable pid logging for some vehicles i know
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IMU bit in Plane
- Attitude medium does log it even if it isnât supposed to be
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Henryâs going to make logging more consistent across vehicles
UTC0148 - close
Will the fence changes possibly re-energize the possibility of fence bindings for scripting?
The PR you helped me with for arming checks in Lua, also included AC_Fence Lua bindings. AP_SCripting: POC using Lua for arming checks by timtuxworth ¡ Pull Request #20930 ¡ ArduPilot/ardupilot ¡ GitHub
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