Dev call June 24, 2024

Issues & Pull Requests

Copter & Rover




Attendee count (max): 15

UTC2301 - Correct MAVLINK_MSG_ID_SET_ATTITUDE_TARGET anglular rate input frame by lthall · Pull Request #24568 · ArduPilot/ardupilot · GitHub

  • Correct Copter interpretation of SET_ATTITUDE_TARGET

    • Earth frame vs body frame
  • You must now supply all rates or none of them when you are doing rate control

  • This is a change in behaviour, if you’re doing angle and rates at the same time

    • It looks fine around 0-attitude
  • Should we stop requiring a throttle from the user?

    • What does the vehicle do instead?
      • User can also be providing thrust or climb-rate
  • Should we accept data from multiple messages?

    • Currently each message must completely define the fields
    • E.g. position control and attitude control at same time
  • Is the new init required?

    • Invalid message now switches it
    • Why not require a timeout?
    • This is the same as elsewhere in the code
    • Resets to altitude-controlled mode
    • If you’re upside-down and stop providing throttle it will flip right way up and wait for a valid message
    • Randy’s not sure
  • How do you cancel?

    • Send a set-position-target with zero velocities in it?
  • Notify the user?

    • Can we ACK?
    • High-bandwidth!
    • Maybe just have a NACK message?
  • Remove the init lines and then it can be merged

UTC2320 - AP_Scripting: add lua implementation of Copter's target location bindings by robot-to-society · Pull Request #26013 · ArduPilot/ardupilot · GitHub

  • Add lua implementation of Copter’s target location bindings
  • LUA script must handle frame conversions itself
  • Merged!

UTC2329 - Sub: fix several EK3_MAG_Fusion cases for Sub by clydemcqueen · Pull Request #26394 · ArduPilot/ardupilot · GitHub

  • Fix several KE3 mag fusin cases for Sub
  • Start fusing when sub under 0.5m
  • Can be merged once commit messages fixes and commits squashed

UTC2332 - AP_Scripting: added throttle and ignition control for INF_INject by tridge · Pull Request #27080 · ArduPilot/ardupilot · GitHub

  • Add throttle and ignition control for INF_Inject
  • Merged!

UTC2334 - Use active ESC when only one can be displayed by andyp1per · Pull Request #27136 · ArduPilot/ardupilot · GitHub

  • Show ESC with highest RPM in OSD
  • Needs a rename and then it can be merged

UTC2336 - AP_Scripting: introduce serial device simulation support by tpwrules · Pull Request #27219 · ArduPilot/ardupilot · GitHub

  • Introduce serial device simulation support into AP_Scripting
  • Find-serial should really allow you to find any type so you can find a rangefinder serial device to listen to as a LUA script, rather than relying on scripting
  • Merged!

UTC2353 - Lua binding to set airspeed for a fixed wing Plane by timtuxworth · Pull Request #27223 · ArduPilot/ardupilot · GitHub

  • Lua binding to set airspeed
  • Should we just rely on tridge’s PR which allows access to all of the command-int message handling?
  • We need a good example of module use in LUA
  • Tridge thinks we should merge the other PR instead of this one
  • Tim will close this one if he can use tridge’s work

UTC0006 - Copter: Remove Payload release on thrust loss detection by lthall · Pull Request #27339 · ArduPilot/ardupilot · GitHub

  • Remove payload release on thrust loss detection
  • Thrust-loss is something the vehicle will throw out when it feels like it
    • It isn’t necessarily an absolute bad thing
    • I.e. you shouldn’t drop your load because thrust-loss-detection triggers
    • It’s a warning check
    • This check comes out on some vehicles as a normal occurence
  • Compiled out by default instead?
  • At least an arming check
  • Leonard doesn’t want this in code he’s responsible for
    • Dangerous stuff is what LUA scripts are for?!
  • Maybe only enable the option if you’re going to be flying over the ocean?
  • PH doesn’t think we should remove this
    • Update parameter description to highlight Leonard’s concerns
  • Maybe make it more accurate rather than removing it?
    • E.g. check for undemanded descent
    • Descent at all when we’re thrust-limited
    • Lose a certain amount of height
  • Leonard’s happy to try to make it better
  • PH can help but can’t test
  • Saturated power by level
  • Did the user even use the feature?
  • Option
    • Make it compile-time option
    • Turn it off by default
    • Add a big warning
    • Prearm check for the bit
  • Make it a script
    • Still need the prearm check
  • Randy might have been able to use this in the Japan competition as things have gotten stuck
  • Randy and Leonard will work on this

UTC0022 - Plane: support inverted rangefinder for landing by tridge · Pull Request #27262 · ArduPilot/ardupilot · GitHub

  • Support inverted rangefinder for landing
  • Should be instead support “pointing up” rangefinder?
  • Better implementation would find the relevant rangefinder by orientation instead of having a “downward facing” rangefinder
  • Tailsitter rangefinder landing also needs fixing up
  • Rangefinder comes from rangefinder not rangefinder view
  • Could we instead look at setting the Plane state for height-above-ground from a LUA script?
    • Maybe as part of the SurfaceTracking library
  • Probably would have used an AHRS view for roll-180
  • A set-hagl call
    • Tridge will check with partner to see if they’re OK with a set_hagl call
  • Slow-down on landing can be fooled a bit
    • Land-final is latching
    • Slow-descent all the way down

UTC0059 - Copter update

  • Emergency 4.5.4 went out
    • Just the Pixhawk6X IMU-detection fix
  • We’ll probably open a beta for some of Andy’s changes soon
  • No new issues to speak of
  • CubeRed sensor set
  • LUA scripts not able to play tunes?
  • Conference things progressing well
  • Hotels are now clarified
    • Million-stone hotel at main conference place
    • Arrow leigh as backup
      • Half the price
      • Rather more remote
      • Traditional japanese buildings, essentially AirBNB
        • Modern facilities
    • Hilltip will take care of bookings for you
      • Good rates
      • Rental cars
      • Flight areas settled
      • Email them?
        • See hotel reservation form at top of conference document
  • Randy would really like people to bring flying drones!
    • If you want to demonstrate something on a dronme but can’t bring one, contact Randy

UTC0108 - Detune to stop ground oscillation by lthall · Pull Request #27341 · ArduPilot/ardupilot · GitHub

  • Detune to stop ground oscillations
  • Plane only lowers the D-term
    • We might end up doing it in hover as well
  • This backs many gains off

UTC0118 - Add support for docking clamps, including automated Copter release by peterbarker · Pull Request #27343 · ArduPilot/ardupilot · GitHub

  • Add support for docking clamps
  • Will change to 0 to 1

UTC0123 - Rename get_primary_*() to get_first_healthy_*() and record primary instance in inertial sensors by andyp1per · Pull Request #27346 · ArduPilot/ardupilot · GitHub

  • Need a better name for a method
  • first_usable_imu

UTC0126 - Fix ECC Failure Check in Bootloader and recovery from it by bugobliterator · Pull Request #27347 · ArduPilot/ardupilot · GitHub

  • ECC failure check in bootloader and recover from it
  • You can recreate the ECC thing but you need to violate some rules
    • Tridge has a branch
  • This patch is bad as memcpy will actually trigger the corruption you’re trying to locate
  • Tridge will discuss with tridge

UTC0135 - AP_BatteryMonitor: add missing failsafe with no action by IamPete1 · Pull Request #27358 · ArduPilot/ardupilot · GitHub

  • Add a missing failsafe with no action
  • If your battery monitor goes unhealthy you don’t get a failsafe
  • You get notification
  • Failsafes apply in increasing order, so Unhealthy has to go before Low
  • Currently if your battery monitor goes sick you’ll never get a battery failsafe
    • But you’ll now get messages that your battery is not healthy

UTC0149 - AP_BattMonitor: Sum, ESC: all selected items must be found for health. by IamPete1 · Pull Request #27359 · ArduPilot/ardupilot · GitHub

  • All selected items in esc-sum backend must be found for health
  • Need to make sure that if the monitor is unhealthy then we still get a failsafe in the case an ESC goes away

UTC0204 - hwdef: don't use DEFAULTGPIO in bootloaders by tridge · Pull Request #27361 · ArduPilot/ardupilot · GitHub

  • Stop using DEFAULTPIO in the bootloader
    • Breaks ELRS stuff
  • Merged
  • Servo issue
    • Init problem as we come out of bootloader
    • Switching from pin-on-timer and initialising the timer
    • Tridge has scopes
    • Wait until timer init before changing the altfunction of the pin to be on the timer
    • Patch incoming, but it’s a way off
      • Branch is a mess

UTC0212 - Scripting: added command_int API for accessing MAV_CMD_xxx by tridge · Pull Request #27365 · ArduPilot/ardupilot · GitHub

  • Named all fields
  • Stop requiring frame
  • Peter to look at locking

UTC0214 - AC_Autotune: Clean up Multi Variables and non functional changes by lthall · Pull Request #27370 · ArduPilot/ardupilot · GitHub

  • Non-functional stylistic changes in AutoTune
  • Are these really non-functional?
  • Peter will pull out some more absolutely non-functional changes so we can look at this more clearly

UTC0224 - Plane update

  • No real update

UTC0224 - GSoC

  • No real update

UTC0225 - close