Dev Call June 5, 2023

CraigElder · June 5, 2023, 10:51pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot_wiki

Add style for enums and prefer enum classes

ArduPilot:master ← Ryanf55:enum-style

opened 03:43PM - 24 May 23 UTC

Ryanf55

+25 -0

Recommend enum classes since they are commonly used. Provide a style recommendat…ion for them. https://github.com/ArduPilot/ardupilot/pull/23877 https://github.com/ArduPilot/ardupilot/pull/23830 https://github.com/ArduPilot/ardupilot/pull/23768/files#diff-ed061f26ab421c524f35bb9112b56bc1322892589f95b77e9497345eb48eafbe https://github.com/ArduPilot/ardupilot/pull/23119/files#diff-a98f7c976f44f4a82c8c4882b638ca053d70a95f603861216630e20243689dd2 I did not cover the aspect of using `#DEFINE` to enable/disable enums, and to be sure to pin all the numbers so they don't change value when you change your build options. Seems too advanced for the style guide.

github.com/ArduPilot/ardupilot

Fix height above ellipsoid and undulation for SBF GPS

ArduPilot:master ← makeller1:sbf-undulation-fix

opened 04:56PM - 31 May 23 UTC

makeller1

+1 -1

As pointed out in issue https://github.com/ArduPilot/ardupilot/issues/23613, the… ellipsoid height and undulation are calculated incorrectly. This likely occurred because Ardupilot has an opposite definition of undulation as the Septentrio receiver (and virtually all GPS receivers for that matter). Septentrio defines undulation as the distance from the ellipsoid to the geoid with up being positive (geoid is above ellipsoid). Ardupilot defines down as positive. This PR reconciles the undulation definition and fixes the height above ellipsoid computed [here](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS.cpp#L1421). @tridge, @hendjoshsr71 and/or @BluemarkInnovations **Platform** [X] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

github.com/ArduPilot/ardupilot

HAL_Linux: fix RPI Check

ArduPilot:master ← HefnySco:pr_fix_RPI_check

opened 11:29PM - 31 May 23 UTC

HefnySco

+0 -4

[PR#22841](https://github.com/ArduPilot/ardupilot/pull/22841) assumes that int …UtilRPI::_check_rpi_version_by_rev() returns values from 0 to 3 which is not the case. The modification applied made ardupilot wrongly detect RPI and as mentioned [here](https://discuss.ardupilot.org/t/obal-a-simple-linux-based-raspberry-pi-ardupilot-fcb/75479/101?u=mhefny) I just removed the unnecessary modification.

github.com/ArduPilot/ardupilot

SITL: simulated SF45b fixes and enhancements

ArduPilot:master ← rmackay9:sim-sf45b

opened 11:01AM - 01 Jun 23 UTC

rmackay9

+24 -12

This adds some fixes and enhancements to our simulated SF45b 350deg lidar. - …Resolve SITL crash if time_delta_ms is too long - Correct sample_count calculation (was sending too many samples) - Sends one reading per 3deg which is closer to real device than the previous 1deg - Distance max is 53m (was 16m which is far shorter than the real device) - Returns distance of -1m on failure (instead of 0) - Sweeps back and forth -190~190 deg (previously wrapped which the real device is not capable of doing) I've tested this in SITL and below are some screen shots of dataflash logs after a debug message to record individual angles and distances was added. Here's the real sensor. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/bdcf16c2-1b0f-4a0a-ab22-3aa3c8733725) Here's the test sensor: ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/1fd81442-5832-406d-9691-2f9d2600258c)

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: Optimizations for external flash targets (H750 etc.)

ArduPilot:master ← mluessi:ml_ext_flash_opt

opened 09:57PM - 01 Jun 23 UTC

mluessi

+65 -24

I have been working on support for a new target (BrainFPV RADIX 2 HD), which is …STM32H750 based. The target uses a custom bootloader and the code is stored in an external flash connected via QUADSPI running at 120 MHz. I found that the CPU load was quite high, about 80% with the default settings for Copter. Some of the time critical code had already been relocated to RAM. To optimize it further, I used a logic analyzer to capture the QUADSPI traffic and then analyzed it to see what functions / symbols are read most frequently within a 1 second period. The number of QUADSPI transactions in 1 second was about 1.1 million, which is quite impressive. I captured data repeatedly and moved functions and symbols to RAM (ITCM, DTCM, flashram). By doing so, I was able to reduce the CPU load for Copter to about 40%. Among the symbols I relocated is the vector table. This needed some changes to the makefile, hwdef script, and linker files so the ChibiOS startup script copies the vector table and sets the VTOR register to the new address. There are some other changes that were needed to make the target work. Namely, the option to set the QUADSPI clock source and force the STM32 clock initialization. This is needed because the target uses a custom bootloader and the clock configuration the bootloader uses is different than in ArduPilot. By using the HCLK for the QUADSPI, the clock can be reconfigured even though the code is running from external flash. To summarize the changes: - Copy the vector table to RAM if the code is running from external flash - Move time critical functions to RAM for H750. The same optimizations should also be applied to other external flash targets, but this hasn't been done yet because I don't have hardware to test - Allow setting the QUADSPI clock source and forcing the STM32 clock initialization - Increase the flashram for H750 from 256k to 384k - Fix CAN pin naming in the H750 script (was FDCAN instead of CAN) I have bench tested this for Copter and Plane and also "hover tested" it for Copter.

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.4.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] we should scale baro height process noise with pressure altitude - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [ ] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [ ] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] GSF on Rover not working? ([discussion](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/2)) - [ ] CSRF and Mount Siyi boot loop ([see bottom of this issue](https://github.com/ArduPilot/ardupilot/issues/23815)) - [ ] FPV406 watchdog ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/48)) - [ ] very short ELRS failsafes ([issue](https://github.com/ArduPilot/ardupilot/issues/23853)) - [ ] yaw reset from low flying copter passing over bridge (Randy has logs) - [ ] endless climb with vertical bendy ruler? ([discussion](https://discuss.ardupilot.org/t/rtl-and-auto-mode-working-in-strange-mode/100132/4)) - [ ] Baro TCal not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/21438)) - [ ] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594)) Confirmed issues: - [ ] serial pass through (for GPS) broken ([issue](https://github.com/ArduPilot/ardupilot/issues/21114), [PR](https://github.com/ArduPilot/ardupilot/pull/23888)) - [ ] RC loss+regain issue ([PR](https://github.com/ArduPilot/ardupilot/pull/23844)) - [ ] Siyi A8 ROI not working (reported by Kelly Schrock on facebook) - [ ] Mount serial gimbal param description confusion ([discussion](https://discuss.ardupilot.org/t/ip-cameras-rtsp-mavlink-support/99893/20)) - [ ] users keep forgetting to set CAM1_TYPE (or CAM_TRIGG_TYPE) ([discussion](https://discuss.ardupilot.org/t/mav-cmd-set-camera-zoom-command-doesnt-work/100613/4)) - [ ] Enable 10hz PID logging - [ ] Yaapu reports battery 2 error but only one battery is installed ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/7)) - [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9) Enhancements or Issues that will not be resolved: - [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23782)) Resolved issues: - [x] MP scales set-ekf-origin-here altitude incorrectly ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3083)) -- fixed in MP 1.3.80 build 1.3.8522.19145 - [x] Custom build server broken for Matek405 builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/13)) - [x] CubeOrangePlus not booting due to early memory corruption (reported by rmackay9, investigated by Tridge, PeterB, Sid) - [x] RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall, [PR](https://github.com/ArduPilot/ardupilot/pull/23553)) - [x] Watchdog using CSRF ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/18), [PR](https://github.com/ArduPilot/ardupilot/pull/23648)) -- resolved for beta2

CraigElder · June 8, 2023, 3:12pm

UTC1102 - Add style for enums and prefer enum classes by Ryanf55 · Pull Request #5149 · ArduPilot/ardupilot_wiki · GitHub

Add to style guide for enum classes
Merged!
Would be nice to get AP_Enum working in switch statements

UTC1107 - https://github.com/ArduPilot/ardupilot/pull/23673

Replace picojson with json
Needs to work with the alia json

UTC1112 - 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….

UTC1126 - 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
MergeOnCIPass

UTC1140 - 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?

UTC1143 - 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
        
        Facets
  - Septentrino has maths to do it
  - This can lead to significant differences in AMSL2 between the two
“ABSOLUTE” is a problem for altitudes
- AMSL? WGS84?
- We should probably add MAV_FRAME_GLOBAL_AMSL_ALT and MAV_FRAME_GLOBAL_WGS84_ALT
- Other ellipsoids?
- Other height standards?
- Country-specific ones?
- Geoids are gravitation
- Ellipsoids are geometric
- Some are local tangent to earth
- Some use gravity vector
Terrain data?
- Shuttle SRTM data was wgs84
- When gap-filling was done it became AMSL

UTC1148 - 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
- Get_peripheral_base function

UTC0011 - 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
Merged!

UTC0014 - 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

UTC0018 - https://github.com/ArduPilot/ardupilot/pull/23947

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

UTC0021 - Pixhawk1-bdshot by andyp1per · Pull Request #23962 · ArduPilot/ardupilot · GitHub

Pixhawk1-bdshot
Merged!

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
- Configuration?
- 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!