Dev call June 17, 2024

Issues & Pull Requests


Copter & Rover



Attendee count (max): 15

UTC2301 - common.xml: add CAPA indicating mission-slot-0 is home by peterbarker · Pull Request #360 · ArduPilot/mavlink · GitHub

  • Deferred to Dev Call EU
  • Randy’s always found it a bit odd

UTC2305 common.xml: add CAPA indicating mission-slot-0 is home by peterbarker · Pull Request #360 · ArduPilot/mavlink · GitHub

  • Autotune improvements
  • Oscillations on rate rather than attitude
  • Off-frequencies you get larger attitudes
  • Implications for larger vehicles
  • One-time inputs of 15-20 degs some people found concerning
  • This improvement stakes the ff test in roll oscillations rather than rate
  • The ff test was changted to a dwell at a low frequency
  • Everything is about 5-8 degrees
  • Feedback is that this is more comfortable for people
  • A chunk of code removed
    • 5kB!
  • Bill would like further input
  • But is also happy for it to just be merged
  • Ferruccio will be testing on it later this week
  • Bill needs some help around the use of RingBuffers
    • To avoid a lot of delete
    • Probably just use clear instead
  • No impact on the multirotor autotune
  • Leonard doesn’t see any problems with this
    • Heli stuff
  • This will probably be merged after the “delete” pattern is remove

UTC2320 -

  • Port to JHEMCU GF30H743HD
  • Merged!

UTC2321 - Rover: Change the IF statement to a SWITCH statement by muramura · Pull Request #26992 · ArduPilot/ardupilot · GitHub

Duplicate PR Closed!

UTC2323 - GCS_MAVLink: support HIGHRES_IMU by KoehlerT · Pull Request #27007 · ArduPilot/ardupilot · GitHub

  • HIGHRES_IMU support
  • Merged it, but we do need to get all of the sensor data into this message

UTC2330 - AP_Scripting: introduce serial device simulation support by tpwrules · Pull Request #27219 · ArduPilot/ardupilot · GitHub

  • Simulated serial devices on real vehicles
  • LUA implementation
  • Reviews added
  • Some discussion about the name fo the class - Serial or SerialAccess?
  • Some discussion on parameters

UTC2349 - Add and use new ModeReason::AUX_FUNCTION by IamPete1 · Pull Request #27271 · ArduPilot/ardupilot · GitHub

  • New change-mode enumeration entry for changed-by-aux-function
  • Merged!

UTC2349 - AP_Logger: take a blocking semaphore when writing messages using the block logger by andyp1per · Pull Request #27278 · ArduPilot/ardupilot · GitHub

  • improve d sem handling in Block backend write handling
  • Fewer holes in logs
  • Merged!

UTC2354 - AP_HAL_ChibiOS: update relay parameter names by IamPete1 · Pull Request #27286 · ArduPilot/ardupilot · GitHub

  • updates param names in defaults.parm
  • Broken in a parameter rename recently
  • Merged!

UTC0001 - Plane follow bindings by timtuxworth · Pull Request #27223 · ArduPilot/ardupilot · GitHub

  • Bindings for set_desired_airspeed

  • Some debate as to why we don’t successfully set the state even if it isn’t used

    • Why do we do the mode checks?

UTC0012 - ArduCopter: get MAV_STATE_BOOT on reboot by richaravoil · Pull Request #27289 · ArduPilot/ardupilot · GitHub

  • Emit MAV_STATE_BOOT during initialising phase
  • Some question about what MissionPlanner does when it gets “BOOT”
  • If the MissionPlanner question is answered we can merge this

UTC0016 - hwdef: CubeRedPrimary: ICM45686 as ICM20649 alternative by tpwrules · Pull Request #27292 · ArduPilot/ardupilot · GitHub

  • Allow different IMUs for CubeRed
  • Can be merged once the commit message has been fixed

UTC0019 - scripts: do not correct IMU values if TCAL is running by andyp1per · Pull Request #27294 · ArduPilot/ardupilot · GitHub

  • Do not correct IMU values if TCAL is running
  • Bumped to DevCallEU as nobody on the call is confident

UTC0024 - Param: added arming check for eeprom full by tridge · Pull Request #27298 · ArduPilot/ardupilot · GitHub

  • Add arming check for eeprom full
  • Merged!
  • We do want to have a prearm check, perhaps send the user a warning that they’re over 80% of their parameter storage or similar
    • Percentage or number-of-sets-remainging?

UTC0032 - AP_Scripting: add `uint64_t` userdata and auto generate `uint32_t` operators. by IamPete1 · Pull Request #27307 · ArduPilot/ardupilot · GitHub

  • Add uint64_t userdata and auto-generate uint32_t operators
  • Merged it!

UTC0035 - Rover: HOLD mode in AUTO will keep reversed flag by robot-to-society · Pull Request #27309 · ArduPilot/ardupilot · GitHub

  • Hold mode in rover keeps reversed flag
  • A little rework needed
  • Good idea, ‘though!

UTC0042 - ArduPilot should flash green lights when AHRS-is-happy, *not* GPS-is-happy · Issue #27320 · ArduPilot/ardupilot · GitHub

  • Flash green lights when AHRS is happy, not GPS-is-happy
    • What about optical flow?
    • OF gives you an absolute position so would flash green
    • Are people thinking this is a GPS light?
    • Leonard wants GPS-for-yaw to be good before the thing flashes green
  • Everybody seems to be agreed that we should base the green lights on absolute position rather than GPS position
  • As as separate issue, a FLIGHT_OPTIONS bit for ArduCopter which requires position for all mods to arm

UTC0100 - Plane update

  • No tridge

UTC0100 - Copter update

  • 4.5.4 went out (Plane, Copter, Tracker, Rover)
    • Fix for Pixhawk6X
    • No beta testing on that one
    • We were vry confident in that change
  • 4.5.5 beta real soon now
    • Andy has several DShot fixes he wants to go out
  • Couple of new issues
    • Guide-mode-yaw 0 seems strange
      • Can point in wrong direction, points to old direction
    • Play_tune LUA binding not working
    • OmnibusF4 has lost support for an external baro
    • Mr72 CAN rangefinder not adding data to the OA database
      • Waiting for Rishabh

UTC0104 - Conference

  • See emails!
  • Travel agent lined up
  • Accommodation
    • AirBNB booked
      • 4 rooms available
      • Ping Randy
    • Couple of hotels
      • Millionstones
        • Downtown
        • Most interesting place
      • Secondary hotel
        • Further out
        • In city but less interesting
      • See forms for these
    • Old traditional house
      • Maybe rent it all out and have everyone stay there?
  • Email contains link for people wanting to fly drones
    • pictures/weight/RC
      • Randy wants the form back from at least a couple of Devs
      • Soon, please!

UTC0107 - GSoC update

  • MAVProxy chat uses AI assistencace for Chat GPT-4
    • Cancel button
    • Poking around with a local LLM
      • Mistral
        • Now has function calling
  • System-id going OK
  • Sankhet working on high-altitude GPS
    • Working with Gazebo
    • Will talk with Ryan and Rhyss
      • Just crashing for Randy ATM
  • Visual followme
    • Yolo v8
    • Smaller AI
    • Randy hasn’t caught up recently
  • Need blog posts from our students
    • None have done yet

UTC0110 - close