Issues & Pull Requests
GSOC
- Update
Funding & Marketing
- Update
ROS
- Update
Plane
- 3.9.0 beta 6 released
Copter
- Update
Rover
- Update
New SPI Liaison
Attendee count (max): 19
UTC2301 - CAN cleanup
- https://github.com/ArduPilot/ardupilot/pull/8987
- Extremely promising work!
- CPU issue
- If you only enable one CAN port then the UAVcan drive still tries to use both ports
- When the hardware device is uninitialised
- So would continue burning CPU
- When the hardware device is uninitialised
- If you only enable one CAN port then the UAVcan drive still tries to use both ports
- Not ready for master yet
- Testing worked on plane but not on Copter
- Intermittent finding CAN devices
- Sid’s work for restructuring drivers
- Currently within AP_UAVCNA library instead of in e.g. AP_Compass
- Sid has worked out how to move them into the driver directories without blowing out the size of the firmware
- Making it much better structured
- Tridge is arranging some hardware for FF
- gps/baro/compass combo from zubax
- Outputs are easier as you can just sniff the bus
- Sid has discovered a whole bunch of wasted CPU in the GPS driver
- The GPS GNSS CAN packet abstraction packs in variances and the like
- Encodes single floating point number as matrix and then decodes it
- Very, very generic
- But takes 500us to decode a GPS packet
- There are native instructions on arm for translating 16-bit floats to 32-bit floats which should be used
- Moves a whole bunch of thread stuff into the hal
-
https://github.com/ArduPilot/ardupilot/pull/8972
- Builds on top of FFs to move drivers to driver directories
- Thanks to Matternet for funding this work!
UTC2315 - https://github.com/ArduPilot/ardupilot/pull/8170
- People are currently happy with current structure
- It can go in once Randy is happy with it
UTC2332 - MAVLink over CAN
- Comment from Olly
- Multiple ports on other end
- Uart expander peripheral
- On BetaCopter fork
- Channel number is in packet
- Olly is using same packet
- https://github.com/olliw42/ardupilot/tree/BetaCopter-3.6.0-rc6-v010s?files=1
- Tridge and Tom will be working on massive packet loss problem in next week
- Olly’s hardware is open-source and his firmware is available for download
- Tom needs to implement packet correctly…
- https://github.com/UAVCAN/dsdl/blob/master/uavcan/tunnel/2010.Broadcast.uavcan
UTC2334 - https://github.com/ArduPilot/ardupilot/pull/7970
- AP_Compass work from Jonathan
- Tridge is happy for this to go in
- FF wanted to sign-off on it
- Tridge made changes just yesterday
- So a few days before it goes in unless FF says, “good”
- Simple change, expected-devid
- Tridge put a patch in to zero devids on compasses you don’t see
- Set, not set-and-save
UTC2339 - GSoC update - Jaime
- 2 weeks left
- Final wrap-up time
- Students to submit code and report middle-of-August
- Ayush is going to work with Jaime to move on
- Rest of the guys seem to be going OK
- Ebin and BalanceBot
- PR is already in master
- Autotest is in master
- Want to support a standard balancebot people could build themselves
- A reference frame
- Randy has a bunch of parts coming
- Jon has shipped Randy a frame
- Jason Short has published details of the parts he used
- Including STLs
- Need to split rate and angle controller
- Feedforward based on gravity’s effect on the balancebot also a good idea
- Randy will create issues to cover enhancements
- Jani is interesting in making ready-made kits for balancebots
UTC2346 - Rover out with minor enhancements went out
UTC2346 - New Copter rc out soon
- A few outstanding issues
- D-shot issue
- Compassmot not working?
- Log issue
- Spurious pulses sent to ESCs on reboot
- We only have to fix regressions, not outstanding issues
- Particularly on the spurious pulses on bootup, tridge can easily help
- Lots of ChibiOS fixes
- Series of logs and delete logs with mission plans
- Connected via USB
- Have log disarmed disabled
- Log failed
- So if you are armed, erase all logs then it doesn’t start to log again
- Ever, even after reboot
- NAV_DELAY isn’t working any more
- Peter to write tests for this
UTC2353 - Randy and ROS
- Lots of people have done it, but not documented it well enough
- Randy is updating Wiki as he goes
- Hector-SLAM is working for position estimation into ArduPilot
- Kinetic
- Two-versions-old….
- Randy is looking for help on this project
- Support for Ubuntu 18 would be good
UTC2357 - Plane and new beta 6
- Went out yesterday
- Prompted by a number of important fixes
- Leonard found a tailsitter bug
- RC rate wasn’t right
- Burnt out a 400Hz servo
- Correct for most motor layouts
- [9:58 AM] (Channel) JW: Yeah that was for us. We mourn the death of some servos while giggling frantically
- Copter will cherry-pick
- Burnt out a 400Hz servo
- RC rate wasn’t right
- Kakute and Omnibus fixes
- RC channel zero-trim fix
- Fixing external compasses on mini-pix
- Compass autorotation fixes
- Defaults to check on older boards
- Racing boards get auto-fixed
- Important Mission Planner beta went out yesterday too
- No DFU support yet
UTC0003 - USB vendor/product IDs
- Tridge is looking at getting some
- We’ve traditionally borrowed someone else’s
- Normally a vendor ID is $5,000 and can only be used by a single vendor
- ChibiOS use the ST one
- Three ways to get a pid on a vid
- People who got a VID pre-draconian rule have been selling pid
- Not liked by the consortium because they will sell fewer VIDs
- People who got a VID pre-draconian rule have been selling pid
- Tridge has got some PIDs
- [10:05 AM] To Weekly devcall: Are VIDs bought or rented?
- Consortium say they can “retire” your VID” but they won’t re-use
- Selling hardware means you need a VID
- Pid-codes
- Openmoko
- Asking about anything to the consortium seemingly reliably results in their lawyers being engaged to make your life miserable
- USB interface consortium have attempted to enforce things on mcs after-the-fact
- Mcs seed go-away
- Tridge has bought a PID from them
- https://www.mcselec.com/index.php?page=shop.product_details&flypage=shop.flypage&product_id=92&category_id=20&option=com_phpshop&Itemid=41
- https://github.com/openmoko/openmoko-usb-oui/pull/1
- http://pid.codes/
- Don’t use the USB logo!
- That’s a clear trademark violation
UTC0012 - funding/marketing with Olivier
- New partner from China coming
- Hex is helping them
- PayPal issues….
- One renewal getting behind
- But they’ll probably renew
- In next week or so
- But they’ll probably renew
- One contribution-of-the-month expense
UTC0015 - Online log analysis
- Maxim has been doing some great work on it
- https://plot.dron.ee/
- Much more capable than it was
- Multiple graphs!
- Our servers are ready
- Not open source
- We have made a note that we do want an Open-Source one and that we might make one in future
- Want this tool at same level as MAVExplorer
- Analysis is done locally unless you explicitly upload
- Want this on the ESP8266
- Using CORS
- Log analysis out in the field
- Only supports BIN
- Not .tlog or .log
- Not a droneshare replacement
- But moving in that direction
UTC0018 - Jon’s tone stuff is in master
- MML tones etc etc
- Works on Disco
- Which is based on HAL-Linux
- Slightly larger on px4-v2
- Tridge made soaring optional
- 5kB
- Enough breathing space for the time being
- Could drop more features
- Enough space on ChibiOS for a long time
- F405s are 1MB too
- No IO firmware, ‘though
- Drop v2 when ChibiOS feature-complete
- Need to finish the IO firmware based on ChibiOS
- Another month or so?
- Lots and lots of people flying ChibiOS
- Probably ahead of schedule
- This seems to be turning in to “a ChibiOS release”
- Tridge made soaring optional
- Probably not putting this tone stuff into the 3.6 Copter and 3.9 Plane
- Maybe put it in a point release
- Tridge is thinking of cherry-picking into 3.9.1
- Randy’s considering putting it into 3.6
- Compass-cal and tones…
- Maybe put it in a point release
- [10:25 AM] (Channel) JonChallinger: https://archeagemmllibrary.com/
- No tones at startup
- NTF parameter now silences the device
- TP: jon. Does this mean we can play any MML we want now? and there are websites/apps where we can convert various audio files to MML?
- Yes
- Play_tune has mavlink2 extensions now
- Luis is looking at the authoring-new-tonesets thing
- Use Solo tones?
- Solo maintainers might not like that
- 3dr open-sourced them
UTC0035 - SPI liaison
- Congratulations and thanks to James
- Meeting on the 13th
- Constitutional changes required
- Trouble getting numbers together because of inactive members
- Please sign up to be an SPI member
- Any contributor to AP is eligible
- Please sign up to be an SPI member
- Trouble getting numbers together because of inactive members
- Removing inactive members
- No vote you get removed eventually
- Should we do the same thing in ArduPilot?
- 50 dev-team members on mailing list
- 19 SPI liaison votes
- 50 dev-team members on mailing list
UTC0039 - partners call?
- Move it back a week or not?
- Month falls between Tuesday and Wednesday
- Will move it back a week
- Partner’s mailing list needs to be updated
- And more notice
- Will update calendar entry too
UTC0041 - run our own mailing list?
- RBL lists is a real pain
- Getting more painful to run own mailing list
- Spam problem on partner’s list is an issue