Issues & Pull Requests
- plane 3.9.6 released
Issues & Pull Requests
Attendee count (max): 23
UTC2302 - add tailsitter input roll/angle pitch euler method
Mark is just retesting in RealFlight
Tridge has made a small review with minor things
New mode, so Do No Harm should be in play
Can be merged after the minor things are merged
UTC2305 - QACRO for tailsitters
Tridge thinks this looks good
Will need a follow-up PR to add QACRO to pymavlink
Should add to the mavlink PLANE_MODE mapping in the mavlink
Restriction to not enter this mode when not a tailsitter is in place
Tridge thinks we should allow it in ordinary quadplanes
Mark has tested and it works OK on ordinary quadplanes
So we will drop that commit
There are some very sporty quadplanes out there
Need to reduce gains for high-speed travel
Control surface oscillations otherwise
Mark has flow his Dart at 18m/s with this patch
Should be using speed-scaling from Plane with an airspeed sensor?
Steps in the speed scaling have been a problem recently
Jitter on the ground
Close to zero velocity in speed scaling code
Need to make sure things are continuous
Can be turned on and off with parameter
Wind estimate problems were bad during transition from vtol to fixed wing
Need to do a rotation in the wind estimation code
DCM wind estimate is unlikely to be good while hovering
Behaves differently with/without airspeed sensor
Speed along axis of pitot tube is what we need in our simulations?
Is that what we’re actually getting from FlightAxis?
Tridge fixed something along these lines in normal SITL recently
[10:20 AM] (Channel) MdB: built in quadplane sim doesn’t handle that correctly for wind when hovering
Has this been flown on real vehicles?
Some good feedback/videos
Iampete has run this and is working with Mark on what he’s seeing
Iampete is keen to move on with this PR on scaling
This is probably better than what we have now
Can pull pete’s method in later as an improvement or option
Zero airspeed when in hover in SITL if you are not moving even if you have wind simulation on
Subclass for tailsitter quadplanes
Randy should be happy with the approach
Keeps existing tailsitter support
Doesn’t touch class-10 tailsitter at all
Won’t break existing setups
Adds a matrix-based tailsitter
If a parameters is non-zero it instantiates the new one
Why not an M_CLASS?
Uses same class as quadplane does
Waiting for Randy to OK it
Does it fit the architecture philosophy or does he want to go in a different direction for this sort of thing
Do we need a motors library?
Consolidate the outputs to the servos rather than having them scattered around
Like in Rover
Takes high-level commands like roll-left or this-much-throttle
Tridge: Want to take advantage of AP_Motors in quadplane
Has to take into account all of Plane’s capabilities
And all of AP_Motors
Instantiating AP_Motors is based on vehicle type?
Rover isn’t like that
Rover internally decides what sort of vehicle it is and does stuff itself
Huge combination of vehicles
Interfaces stop letting people do weird things all over the place in the code
[10:37 AM] To Weekly devcall: … merging Tom’s stuff would be a useful precursor, shall we say?
Should be harmless as it doesn’t seem to change anything existing
This is similar to the way tricopter stuff was done
Interpretation of quadplane in Plane is complicated by rotations
Move responsibility up to base class
If rules changed we’d change this
Red if armed, green if disarmed
Randy likes the OBC-specificness
Docs don’t say what OBC does
Change description to say what OBC does
Green for safe-to-approach
Red for not
What’s the threshold for adding new schemes?
Nate thinks something agnostic
Randy Name vs number makes a lot of sense
SafeToApproach rather than OBC?
What would MdB need to add his in?
Tridge: we should have more schemes
Put this in AND Michael’s concept
We now have DMA
DMA series of pulses out
Tight on timing
Link to OBC rules?
No long descriptions in values
Alphabetical order for descriptions on long lists
3 weeks away ‘til rollover
MdB doesn’t think there’s going to be an issue
[10:53 AM] (Channel) JW: It’s Y2K all over again
[10:54 AM] To Weekly devcall: Except we really HAVEN’T done all that hard work that went in in the years up to 2000
We don’t have valid GPS week for everything anyway
Except for UTC feature
In which case we already had the problem
Absolute date to trigger command might not be doing well
UTC Time can already go backwards anyway (up to ~12 minutes after boot….)
Convince ublox to go forward in time?
Simulator would do that
Really old GPSs (<2002) will probably have problems
No problems with GLONASS
Consensus is we won’t have issues
[10:59 AM] (Channel) RM: MdB, if you have any comments could you add to that issue? I’d like it if I’m not the only one on there…
Adding crow flaps option parameter
Bitmask so we can do a few different things with crow spoilers
How does this interact with differential spoiler?
Four different servos inner/outer and left/right
This uses that
By default not change
By default the old dspoiler stuff just used elevons
Pitch on spoilers as well as roll
Can now say only-roll
Turning on/off different axes of control
Currently flaps are dspoilers and ailerons go up
This does flaps-down first then 50-100 ailerons go up
For really throwing the brakes on
Default constant of three should use the bitmasks
Shouldn’t be calling things after vehicles
Not “flying” wing but “pitch control”
Elevons vs ailerons
Random flying monstrosities make “flying wing” a non-representative name
Testing using “marlin” in RealFlight
Add parameters in SITL models repo?
Should be able to make gliders much better
Prearm check inside controller rather than just checking PIDs
Peter to redo as a general prearm check on the controllers
Lost vehicle alarm vs battery failsafe
MdB likes not getting that parameter…
Shifting with/without U?
Should definitely add U
Tridge is happy for this to go in
Make it a waf configure option?
Made it so much easier with SkyRocket
FF point that date doesn’t tell you the code is correct
But normal users like dates
Also, we’ve only just made changes to get consistent build dates
So configure option to turn the dates on
Not on by default
Compass learn works with this
We have a SITL mode for a vehicle that spins around
This can go in once compass-cal is seen as working
UTC1120 - target system field
Can go in straight away
Hash on the field name so we can’t fix the field name
UTC1121 - can we merge mavlink pull request #90?
Tested against ArduPilot master
UTC1121 - Plane 3.9.6 is out
Thread creation fixed on Matek405 wing
Crash on boot
Just pipped over threshold for fitting static data for threads in main memory
So tridge shifted into spare 64k secondary area
Thread creation via ArduPilot API rather than ChibiOS API (which can only use main heap)
Tridge is thinking about 3.10 sooner rather than later
Lots of good features in 3.10
“New stable” and “old stable”?
Some reports of parameter resets on boards using flash for parameters
As opposed to FRAM
Need a reproducible test case!
Could be a HW problem?
UTC1123 - Randy and Rover
3.6.7rc1 is out
Started late last week
Want to release in next couple of days
Zubax GPS delay time
Lost the delay time somehow?
Want to bring up devices post-boot!
Not too many big issues in last week
Compass calibration not making noise when kicked off with transmitter
Matek405 not emitting some sounds?
We only play a very small set of tones on buzzer
Some fixes from Leonard
No plans for 3.6.8 so far
UTC1128 - Randy and Rover
UTC1132 - Partner’s meeting tomorrow morning
UTC1134 - coverage
We have analysis now
Thanks to Buzz for this!
Will link to this from the front page
UTC1137 - issue report for 3.6 people running out of memory
We were fairly close with NuttX
UTC1138 - Septentrino next-gen GPS is awesome on reacquiring locks
UTC1139 - navigation
[11:39 AM] (Channel) akshath: Navigation libraries are common between Rover and Plane, Pierre Kancir suggested navigation controller selection to be a part of AP_Navigation library for Rover, but it would require changes with Plane code as well. What would u suggest?
Need to disable on 1MB boards, probably
Into AP_Navigation is OK: tridge
Auto-taxiing in Planes
Three people have asked tridge about this
Including someone who has permission to fly out of international airport
New waypoint type for taxiing?
UTC1143 - GSoc mentor volunteers needed!
Waf build improvements
Fix Python3 problems!
2 isn’t enough
UTC1147 - close