Dev Call June 27, 2022

Issues & Pull Requests


Copter & Rover


Attendee count (max): 18

UTC1102 - Update VSCode editor instructions and references by TunaLobster · Pull Request #4398 · ArduPilot/ardupilot_wiki · GitHub

  • Vscode editor instructions and references
  • Want these to be better than eclipse…
  • Randy tried it and didn’t have much luck
  • Randy will try it again
    • But thinks this can be merged now
  • Sid’s made an extension for it but hasn’t done work on it for a while
  • You can set up a button to do compilation
    • Integration with wsl
    • Vscode is native
    • Ssl link into wsl…
    • Would be nice to be able to get cygwin run it in the Windows environment
      • TP thinks we should drop Cygwin ASAP
    • Windows 10+ does gui integration too
    • [video demonstration of it all working on PH’s desktop]
    • Tom’s got hacks in a PR to allow uploading to stm32 boards from wsl2

UTC1113 - Common: add OpenDroneID messages and enums by hendjoshsr71 · Pull Request #278 · ArduPilot/mavlink · GitHub

  • OpenDronID mavlink packets
  • Merging so we can understand the messages in GCS and whatnot
  • Josh will do PRs to fix yaw vs heading
  • Merged

UTC1116 - AP_GPS: add option to send RTCM corrections over MAVLink by IamPete1 · Pull Request #20569 · ArduPilot/ardupilot · GitHub

  • RTCM corrections
  • Needs to allow on Periph
  • This uses a lot of bandwidth
  • We get high rates because of gps-for-yaw
  • This may not work generally…
    • Out-of-space will make corrupted packets
  • Specify a port to send on?
  • Boolean response for success?
  • Use existing queue system?
    • Difficult given the data storage constraints
  • This would be a device on the ground sending RTCM data to the aircraft
    • Direct or indirect…
  • Survey-in?
    • Survey-in-in-post
    • Different protocol for post-processing?
    • Still useful for flying precisely rather than accurately
  • LUA script?
    • It could do the survey-in
    • Decimation too
    • Range concerns
    • Minimum bindings…
  • MissionPlanner does something similar, but uses far less bandwidth

UTC1138 - AP_TECS.cpp: remove line copy error by rbeall · Pull Request #20792 · ArduPilot/ardupilot · GitHub

  • If new behaviour is correct then we can adjust the test
  • Can get the logs for the failed test from CI
  • Peter will help with the autotest failures

UTC1142 - AP_Param: add `@SYS/defaults.parm` and log default values by IamPete1 · Pull Request #20972 · ArduPilot/ardupilot · GitHub

UTC1159 - AP_BattMonitor: Add FuelLevel_Analog support by TunaLobster · Pull Request #21008 · ArduPilot/ardupilot · GitHub

  • Fuel-level-analogue battery backend
  • Ratiometric?
  • Sensor already has filtering so lpf not required
  • Filter frequency off by a factor of 1000?
  • Want a pragma

UTC0004 - AP_Generator: add AP_GENERATOR_RICHENPOWER_ENABLED by peterbarker · Pull Request #21016 · ArduPilot/ardupilot · GitHub

  • Richenpower generator disable by default
  • Stop using it for Richenpower, add it to the
  • But keep the infrastructure

UTC0020 - Fix clang++ warnings on array initialisations by peterbarker · Pull Request #21018 · ArduPilot/ardupilot · GitHub

  • Fix Clang compiler warnings

UTC0022 - AP_RangeFinder: reduce verbiage when detecting serial rangefinders by peterbarker · Pull Request #21019 · ArduPilot/ardupilot · GitHub

  • Clean up serial RangeFinder detection
  • Can be merged after being tested on hardware

UTC0025 - AP_Mount: add earth-frame/body-frame angle and rate support to all backends by rmackay9 · Pull Request #21025 · ArduPilot/ardupilot · GitHub

  • Gimbal cleanup
  • Make earth-frame/body frame angle and rate control
  • Servo gimbals will be able to do earth and body frame rates
  • Say you’re rc-targetting then you rotate the Copter… what happens?
    • Mount-lock switch low means body-frame (i.e. gimbal will move with vehicle)
    • Up means it will lock on target
    • NaNs are in the spec. They’re difficult
    • uint32_t() rather than (uint32_t)
  • How many people are actually using AlexMOS or STorm32 gimbals?
    • Should we drop support for these gimbals?
    • Is anybody using these?
    • Randy couldn’t buy one
      • … and the funding committee was reluctant
  • Can be merged when the little thing is fixed up

UTC0041 - GCS_Mavlink: added MSG_POSITION_TARGET_LOCAL_NED field by shubham-shahh · Pull Request #21033 · ArduPilot/ardupilot · GitHub

  • Don’t need to stream this by default
  • If this is only sent in guided mode then we can probably merge it in….

UTC0043 - Concurrent pre- and post- filter FFT logging by andyp1per · Pull Request #21038 · ArduPilot/ardupilot · GitHub

  • Pre and post filter fft logging
  • Uses instance field for pre/post filtered things
  • Should probably remove bitfields
  • Reserve first 2 bits for IMU number
  • Then filter state in 2 bits
  • Want to structure things a bit better in the bits
    • Allow for more phases
  • Nice feature!

UTC0054 - Plane update

  • 4.2.2 is out
  • No immediate plans for 4.2.3
    • Pixhawk6 boards from CUAV and Holybro are coming out
    • Significantly different boards with the same ID

UTC0055 - Copter update

  • 4.2.2 is out!
  • Land-mode rangefinder climb issue with terrain follow
    • Two instances in short order
    • Fix will come out in 4.2.3
  • CAM messages not working?
    • Could be servo function thing?
  • Constant lidar reading problem in Plane was already fixed
    • Copter thing was different; misconfigured
    • Plane waits for change in Lidar value
      • Has to change

UTC0101 - GSoC update

  • Thanks to CubePilot for providing autopilots
  • Thanks to funding committee for getting other HW organised
  • PH is now in contact with his student
  • Randy’s students going well

UTC0102 - Foxeer Reaper F745 v2 by andyp1per · Pull Request #21037 · ArduPilot/ardupilot · GitHub

  • Foxeer Reaper F725v2 support
  • All documented with pictures!
  • Inbuilt ESCs, defaulting to D-Shot on
  • Merged!

UTC0102 - hwdef: remove unused NO_DATAFLASH hwdef directive by peterbarker · Pull Request #21046 · ArduPilot/ardupilot · GitHub

  • Remove unused defines
  • Merged!

UTC0104 - Fix constructors declaration template parameters by FrancoisCarouge · Pull Request #21047 · ArduPilot/ardupilot · GitHub

  • Remove template parameter from constructors
  • Merged!

UTC0106 - Add LTM telemetry build option by peterbarker · Pull Request #21049 · ArduPilot/ardupilot · GitHub

  • Can be merged on CI pass

UTC0107 - Create and start to use by peterbarker · Pull Request #21050 · ArduPilot/ardupilot · GitHub

  • could turn on OSD_ENABLED by default if there’s an SPI OSD device
  • General agreement this is a reasonable approach

UTC0114 - AP_Compass: create structures for probing compasses by peterbarker · Pull Request #21052 · ArduPilot/ardupilot · GitHub

  • Tidy compass probing
  • Will come back to this one

UTC0119 - AP_BoardConfig: remove reference to CONFIG_ARCH_BOARD_* by peterbarker · Pull Request #21056 · ArduPilot/ardupilot · GitHub

  • Remove old CONFIG_ARCH_BOARD
  • Merged!

UTC0021 - close