Dev Call June 5, 2023
June 5, 2023, 10:51pm
Issues & Pull Requests
June 8, 2023, 3:12pm
Add style for enums and prefer enum classes by Ryanf55 · Pull Request #5149 · ArduPilot/ardupilot_wiki · GitHub
Add to style guide for enum classes
Would be nice to get AP_Enum working in switch statements
Replace picojson with json
Needs to work with the alia json
add support for RC in AP_Periph by peterbarker · Pull Request #23805 · ArduPilot/ardupilot · GitHub
Support for RC in AP_Periph
Flown on Sunday
Need to get rid of runtime autodetection
A button in MissionPlanner to cut the thing back into autodetection
Need to be able to specify protocols for multiple things
Builtin_popcount thing is weird
Peter will try making it all unsigned maths and see if the problem goes away
There is a convention around numbers of DroneCAN
Need to find the notes on that….
EKF: support passing in an external position estimate by tridge · Pull Request #23903 · ArduPilot/ardupilot · GitHub
Support passing in an external position estimate to EKF3
Doesn’t disturb velocity states in the EKF3
Correct AHRS method name get_vert_pos_rate by peterbarker · Pull Request #23936 · ArduPilot/ardupilot · GitHub
Rename get_vert_pos_rate to include _D
Last to touch is Tom
Any contact at SageTech?
Fix height above ellipsoid and undulation for SBF GPS by makeller1 · Pull Request #23942 · ArduPilot/ardupilot · GitHub
Fix height above ellipsoid and undulation for SBF GPS
Tridge would like a Septentrino
One that does yaw would be good
All can do yaw, but the licensing goes up
He has a Mosaic so he can do some work here
The patch is strange
State.location.alt is AMSL
Shouldn’t there be a matching patch against alt if this is a wgs84-vs-amsl thing?!
Are we reporting the data in the wrong geoid?
Tridge will review this and test it on
Tridge has significant undulation at his place which means he can get the right answer
AMSL model is different between uBlox and Septentrino
uBlox is wrong
Doesn’t use a polynomial
Uses samples at broad intervals
to do it
This can lead to significant differences in AMSL2 between the two
“ABSOLUTE” is a problem for altitudes
We should probably add MAV_FRAME_GLOBAL_AMSL_ALT and MAV_FRAME_GLOBAL_WGS84_ALT
Other height standards?
Geoids are gravitation
Ellipsoids are geometric
Some are local tangent to earth
Some use gravity vector
Shuttle SRTM data was wgs84
When gap-filling was done it became AMSL
HAL_Linux: fix RPI Check by HefnySco · Pull Request #23943 · ArduPilot/ardupilot · GitHub
Fix RPi check to get PiZero working
Won’t this break the peripheral base?
Read BCM number and have a table to the peripheral base
Read from /proc/cpuinfo?
Tridge found a function which reads /proc/device-tree/soc/ranges
Move more uses of MINIMIZE_FEATURES to minimize_features.inc by peterbarker · Pull Request #23944 · ArduPilot/ardupilot · GitHub
Move more things to minimize_features.inc
SITL: simulated SF45b fixes and enhancements by rmackay9 · Pull Request #23946 · ArduPilot/ardupilot · GitHub
Improve SF45B simulation
Just fix distances up and merge it
Randy likes the proximity simulation stuff
Optimisations for external flash targets
Vector table really needs to move!
Need spracingh7 in our CI tests?
Do we want a rebase?
There are going to be more qspi boards in the future…
And perhaps octospi…
Marked for merge
Pixhawk1-bdshot by andyp1per · Pull Request #23962 · ArduPilot/ardupilot · GitHub
UTC0024 - Plane update
Tridge as a PR ready for 4.4
Behind Randy a bit
This won’t be the last beta
Need the elf_diff patch
How about the ADSB patch?
Beta today, probably
Tridge wants to fix the M10s thing first
Violates uBlox protocol standard
Standard says you can send all 4 things at once
M10s only does one at a time
Can’t query more than one
Configuration checks can fail if you don’t have a GPS?!
UTC0035 - Copter update
Beta is going reasonably
Randy’s a little behind
GSF not working in Rover?
UTC0038 - GSOF update
Need blog posts!
Shiv’s making good progress
Asif’s making good progress too
Already fixed one bug!