Dev Call June 20, 2022

Issues & Pull Requests


Copter & Rover


Attendee count (max): 18

UTC1100 - pre-agenda

  • Discussions of text channels on Discord
  • We’ll be using the new integrated text channels

UTC1105 - System id improvements by fbredeme · Pull Request #4389 · ArduPilot/ardupilot_wiki · GitHub

  • System id improvements from Amilcar
  • Bill wants to look through this
  • No Amilcar
    • He wanted to discuss a bunch of things
    • E.g. massive I gains
      • Tridge wants a log showing that
      • Should lead to massive phase lag
    • i=ff should give time constant of one second

UTC1108 - AP_Baro: tidy probing of external i2c baros by peterbarker · Pull Request #19917 · ArduPilot/ardupilot · GitHub

  • Baro cleanups
  • Merged!

UTC1110 - Plane: Quadplane: QRTL climb to QRTL alt first if in Q mode by IamPete1 · Pull Request #20645 · ArduPilot/ardupilot · GitHub

  • QRTL climb to QRTL alt first if in QRTL
  • Merged!

UTC1111 - Allow individual rangefinder backends to be compiled in/out by peterbarker · Pull Request #20728 · ArduPilot/ardupilot · GitHub

  • Trim rangefinders out individually
  • Merged!
  • We should change over to rangefinder rather than sonar
  • Failsafes all in one place?
    • AP_FailSafe?
    • Battery makes life difficult
  • After some release we should walk through our parameters and find and fix the really badly named ones
    • All the CM parameters

UTC1116 - Copter: improve shaping of rate controlled axes by bnsgeyer · Pull Request #20307 · ArduPilot/ardupilot · GitHub

  • Improve shaping of rate-controlled axes
  • Back again
    • With bugfixes
  • Is_positive rather than is_zero
  • Bill’s going to make a few small changes and get back to Randy for final approval

UTC1131 - Create and use AP_CAMERA_ENABLED by peterbarker · Pull Request #20891 · ArduPilot/ardupilot · GitHub

  • Define for camera stuff
  • Sub gets camera support…
  • Some fixes to go in and some more testing required

UTC1140 - Copter: land & payload place obey altitude frame when lat/lon specified by rmackay9 · Pull Request #20982 · ArduPilot/ardupilot · GitHub

  • Land and payload place obey alt frame
    • Odd configuration could cause a climb
  • PH will look at this

UTC1142 - AP_Mount: increase max RC speed, add pre-arm check by rmackay9 · Pull Request #20988 · ArduPilot/ardupilot · GitHub

  • Increase max rc speed and add prearm check
  • Many little fixes
  • More mount fixes coming!
    • Randy wants testers for this one
  • Randy wants a thermal camera…
  • Palco-d and onvif would be nice to have
    • Also DoD-required systems

UTC1152 - AP_RCMapper: Increase parameter metadata range to match NUM_RC_CHANNELS by TunaLobster · Pull Request #20996 · ArduPilot/ardupilot · GitHub

  • Documentation fix in rcmapper library
  • merged!

UTC1157 - Plane: Quadplane: correctly account for `Q_TRIM_PITCH` in assist by IamPete1 · Pull Request #20998 · ArduPilot/ardupilot · GitHub

  • Bug with q-trim-pitch
  • Multicopter assisting plane not applying correction
  • Merged

UTC0002 - AP_HAL_ChibiOS: Allow KakuteF7 initialization without baro by tenten8401 · Pull Request #21000 · ArduPilot/ardupilot · GitHub

  • Allow KakuteH7 to boot with no Baro
    • Baro on power brick rail
  • Should potentially move all our sensor libraries to runtime detection
    • Airspeed might be easy
      • Fully specified….
      • Tridge and Henry might look at that

UTC0006 - AP_BattMonitor: Add FuelLevel_Analog support by TunaLobster · Pull Request #21008 · ArduPilot/ardupilot · GitHub

  • Add fuel level analogue support
  • Needs a low-pass filter…
  • And some parameters

UTC0014 - Plane update

  • 4.2.2 beta1 released and tested
    • 98 patches
    • Testing would be really good
  • please test and report
  • Q_navalt_min
  • DroneCAN memory size patch was pulled back
    • Death by a thousand cuts on memory consumption
    • Terrain blocks take up a huge amount of memory
    • 12 cached by default
      • Nice to increase it when using 30m grid
        • Particularly with lookahead
        • Lookahead is 2km so you
        • Heavy yawing means faulting stuff in and out rapidly
        • F4 needs to be able to lower it
          • H7 wants to increase it
    • Firmware Limitations on AutoPilot Hardware — Plane documentation
  • Crash-dump onto SD card
    • We very rarely use this feature but when we need these diagnostics we really want these diagnostics
  • Two full harmonic notches brought in
    • There’s been a very large amount of testing of this from various partners
  • Default tuning on quadplanes changed
    • More passive by default
      • Some might want to change these back
        • Need to make sure things are still in ratio
    • 110000 down to 40000
    • Xy position gains halved

UTC0030 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

UTC0038 - GSoC

  • Shiv and Sanket are well underway
    • Rover autodocking / ROS avoidance
    • Hardware is on the way
    • Ready-to-use boat hardware a bit hard to come by?
    • Training data for the camera required…
      • Needs to ignore the water.
      • Henry might be able to gather data
  • PH and student are communicating but need to hold a meeting

UTC0042 - Copter/Blimp: remove stick gesture compass calibration start and stop by IamPete1 · Pull Request #18338 · ArduPilot/ardupilot · GitHub

  • Stick gesture compass calibration start/stop removal hurt people
  • Allow stick gesture to map to arbitrary aux func?
  • Aux switch option instead?
    • Henry will look at this
  • OpenTX really needs voice input support….

UTC0048 - Henry and rtcm documentation

UTC0054 - close