Attendee count (max): 22
Trad-Heli Discussion
- discussion on tuning Chinook-style tandem helis
- Discussion of heli in-flight reset issues
- Autorotation
- Fly to ground after reset?!
- Shouldn’t be able to do that
- But RC control wasn’t lost?
- No head speed loss
- No support for pass-through on reset on heli
- Shouldn’t be able to do that
UTC2301 - GSoC updates
- Iampete tweaking EKFs
- Rajat’s modification of the existing ArduCopter interface to do lock-step has proved problematic
- Bit of a rabbit-hole which has been backed out of
- The mavlink support was tangling things up
- Moved to working with simpleflight instead
- Should be able to use lockstep scheduling a lot easier this way
- Probably a couple of days work
- Follow along on the gitter GSoC channel
- Bit of a rabbit-hole which has been backed out of
- Akshai has been working on the parameter editor interface for MAVProxy
- Initial working parameter editor
- Can load, get and set parameters
- Python2 vs Python3 support
- https://github.com/ArduPilot/MAVProxy/pull/635
- Initial working parameter editor
- [9:13 AM] (Channel) patrickpoirier: well too bad, Just invite yoy guys to take a look at latest Lab Report = We are starting Beta Test
- [9:13 AM] (Channel) patrickpoirier: https://discuss.ardupilot.org/t/integration-of-ardupilot-and-vio-tracking-camera-part-4-non-ros-bridge-to-mavlink-in-python/44001
- The “labs” thing went very well
- Working in ROS
- Now working outside ROS
- Join the beta test!
UTC2315 - Copter locking up in flight
- More Solo users using master
- Both green cubes and the stock Pixhawk2s
- Multiple people with multiple vehicles are getting vehicles stopping in flight
- Motors, logging
- Rest of vehicle has power
- Video and CC are still working
- Watchdog is resetting the vehicle
- Could be multiple issues
- Only happening on stock Pixhawk2
- Not on green cube
- Maybe the slew limiting is not working as it should
- Logs don’t show much
- Solologs.zip
- Lots of logging was added to the watchdog code both before and after
- Haven’t seen any logs with this in it
- Unsure if it happens on vehicles without the Solo gimbal
- Chris’s tlog seems to show exactly the same thing
- [9:23 AM] To Weekly devcall: We’ve discussed having an IO firmware to allow control in tradhelis.
- Helis do have cyclic control disarmed
- FMU must be running
- Ins gyro cal was set
- Telemetry was not regained
- We skip gyro cal on watchdog reset
- So was it a reset?
- Really want manual passthrough for heli
- Probably not relevant in this specific case
- Logging over mavlink is also Solo-ish code
- This could have been happening a lot and just put down as a power thing
- Somebody is reporting they have 4 non-gimballed Solos which are working fine
- Gimbal is a prime candidate
- External observations from pilots are useful
- Video stream information is useful
- Long-term flying would be nice
- Brown-out event?
- We don’t set the brownout voltage
- We wanted best-effort
- At very low voltages you can get memory corruption and other badness
- Now we can handle things a bit better perhaps we could consider setting a brownout voltage
UTC2345 - https://github.com/ArduPilot/ardupilot/pull/11633
- Merged
UTC2346 - https://github.com/ArduPilot/ardupilot/pull/11622
- Merged
UTC2347 - https://github.com/ArduPilot/ardupilot/pull/11617
- Can’t be merged while we’re having stability issues on Solos
UTC2352 - https://github.com/ArduPilot/ardupilot/pull/11616
- Amilcar - product being released and due-dilligence is being done
- This is nice work
- Adding the copyright year bounds apparently reduces your rights rather than increasing them under several modern copyright regimes
- Adding in a list of contributors is misleading and hard to maintain
UTC2355 - https://github.com/ArduPilot/ardupilot/pull/11615
- Hoping MdB is happy after failsafe reset
- Yes!
- Merged!
UTC2356 - https://github.com/ArduPilot/ardupilot/pull/11612
- If we’re not using frsky telemetry then don’t use it
- Race condition on statustexts goes away for those not using frsky
- Needs testing on hardware
- Tridge will try it on his small quad
UTC2359 - https://github.com/ArduPilot/ardupilot/pull/11604
- Extra CPU + bandwidth
- Can we justify it?
- Pos was added so we could plot canonical position on map
- EKF doesn’t log lat/lon
- Adding a field to add which estimator we are using
- Need to know how much bandwidth this uses
- Need to know how much CPU this ues
- Should we combine POS and VEL?
UTC0007 - https://github.com/ArduPilot/ardupilot/issues/11359
- Floating point exceptions when changing parameters to obscure values
- “Well don’t do that then”?
- Suggested ranges in docs
- Range-checking for things representable in a float?
- https://www.h-schmidt.net/FloatConverter/IEEE754.html
- Runtime checks are going to be painful
- There will always be parameters you can modify in ways to crash your vehicle
- Checks on the GCS for these insane parameters?
- Fuzz-checking?
- Locking down parameters while armed?
- This is setting a floating point value to a valid value
- A derived value is causing the vehicle to crash as it is out-of-range
- This is actually a false-positive of our FPE code
- If you turn the enable-FPE in SITL off you’d wobble into the ground
- Really should be checking for lockups not wobbling into the ground
- Need a page in our dev wiki explaining how FPEs work in SITL vs real vehicles
- This value is constrained later
- Change which faults we raise an exception on?
- Check outputs not inputs
- No clear path to get to there from here
UTC0029 - https://github.com/ArduPilot/ardupilot/pull/11258
- Merged!
- Need a test to see what happens if the min-loop-time thing is 1ms
UTC0030 - https://github.com/ArduPilot/ardupilot/issues/11090
-
do-land-start and quadplanes
-
Tridge has read but not commented
-
Scripting will be a wonderful answer to this eventually
-
If in qloiter but 2km away from home and you get a failsafe
-
ATM it will come back and land
- Terrible for this particular user
-
Obvious if you’re within 50m of home
-
Failsafe script would be ideal
- Complex decision making based on location
-
RTL_AUTOLAND=3 which would not trigger DO_LAND_START in VTOL modes
-
This isn’t a bug - doing exactly what it’s been told to do
- But not what user wants
-
Lack of situational awareness is the issue here - e.g. qloiter near home should qland but may do-land-start as fixed-wing
-
Throttle issues during RC failsafe is odd
-
DO_LAND_STOP into missions?
UTC0032 - https://github.com/ArduPilot/ardupilot/pull/11007
- Tridge will test and then merge
UTC0042 - https://github.com/ArduPilot/ardupilot/pull/10829
- Adding support for GPIO switches
- Works and tridge flies regularly
- Lucas wants this moved up to a more common place
- Tridge doesn’t have time to make this more common
- Community wants this
- Allows camera to be used on disco/bebop
- Tridge will ask Lucas if the generalisation can happen later
UTC0045 - Plane update
- Tridge would like to do a new beta / release
- Takeoff PR would be nice
UTC0046 - Copter/Rover
- Couple of weeks for a new beta
- Randy is working on object avoidance stuff
- Before Copter3.7 and Rover3.6 releases
- Want bendy ruler and dijkstras work with one-dimensional-lidars
- Memory for proximity library needed
- Want to eliminate dodge
- Accelerating very slowly in Dijkstra’s
UTC0051 - Shenzhen conference
- 3 day conference
- Similar to last year
- Big vehicles
- Quadplanes
- Ehang was there
- DJI had big a booth
- Security is a big thing
- Police and the like
- Fewer booths overall, but larger?
- Industry consolidation?
- Good to see ArduPilot partners in there
- University students were great to talk to
- Lots of tuning questions handled by Leonard
- Especially on the big ones
- New boards being produced by partners
- Tridge will get a ping
- We should consider next year having a little discussion before the conference about presentations and how they might fit together
- Unconference presentations may not be appropriate
- Should we backport nano to stable releases?
- People are shipping with dev versions now-adays
- Gimbal manufacturers
- No direct relationship with ArduPilot
- Perhaps we should explore this into the future
- No direct relationship with ArduPilot
- Lots of people wanted direct support from devs
- Maybe have a “support” or “Q&A” session
- But this is really what our monthly partner calls are about!
- Conference is kind of the wrong place to by analysing logs etc etc
- Face-to-face makes information flow quite fast
- Hex had a huge, beautiful booth
- Cube Orange
- RTF Copter
- Holding position very well
- Hexsoon
- Iris-sized
- Looked open/hackable
UTC0113 - Close