Dev Call July 5, 2021

CraigElder · July 5, 2021, 10:54pm

Issues & Pull Requests

Plane

Copter

Rover

GSOC

CraigElder · July 6, 2021, 5:46pm

Attendee count (max): 20

Support for getting the HIGH_LATENCY2 message
Ground station support?
- PR against MAVProxy to support this ATM
  - https://github.com/ArduPilot/MAVProxy/pull/892
- QGC already supports it
Several minor things to fix
Stephen is planning on working on the actual high-latency protocol next
- What messages?
- Only thing the UAV would send would be the high-latency message
- Ground control station would rate-limit things up
- Iridium SBD modem
- Incorporate command-ack into high_latency2
  - Not really doing commands over the link so probably not worth it
- Packetize response with the high_latency2 message?
  - So coalesce messages in the buffer and only send when bytes over a threshold
    - Or a timing threshold expires
  - What does the framing?
    - Depends on connection to modem
      - Modems have configuration
      - CC on other end of link can do heavy lifting
    - Connecting to the modem is what we should be aiming for

remove GPS status check for camera trigger
We shouldn’t be asking the GPS in here
EKF’s Absolute horizontal position instead?
Tridge thinks we should continue to take pictures as does Randy
Add a “valid” field?
- Log the GPS status
https://github.com/ArduPilot/ardupilot/pull/10906
We would lose the instantaneous feedback to the GCS if we continued to take photos when we don’t have a good location
Parameter for min gps status for taking a photo?

Testing yaw control on tradheli is a problem because we’re zeroing yaw on the ground
Remove FF?
Significant yaw angle error on ground can crash vehicles, thus the current code
Leonard is thinking can do this when spin-armed or when disarmed
FF is very small on Copter’s - mostly it is P gain
Is the problem in pilot input or deeper?
Ignore yaw input after rudder-arming until it is centered?
Added to 4.1 list
Probably affects tilt-vectored

Low throttle stick on qloiter inhibits yaw control
Dead-zone of lowest throttle means you don’t get any yaw control
Don’t want to yaw on ground….
Maybe look at descent rate
Lift on hill can actually cause same problem on multis
- And helis
- Very common in quadplanes, however
Tailsitters yawing on ground is really bad
Maybe document qloiter to get yaw you need >0 throttle
A patch to check descent rate is coming

Plane beta3 is out now!
In-sync with Copter
Probably only minor fixes for now
Logging with forced arm fixed
D-shot and motor test fixed
D-shot buzzer was enabled by default
- Tridge has turned it off by default
- So no tones from motors
  - Mucked up motor test
D-term issues with new filters
- Default values backed out to older more conservative values

UTC0059 - Rover update

UTC0059 - GSoC update