Dev Call June 5, 2023

Issues & Pull Requests



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 -

  • 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 by peterbarker · Pull Request #23944 · ArduPilot/ardupilot · GitHub

  • Move more things to
  • 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 -

  • 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!