Attendee count (max): 23
UTC2302 - add tailsitter input roll/angle pitch euler method
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Mark is just retesting in RealFlight
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Tridge has made a small review with minor things
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New mode, so Do No Harm should be in play
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Can be merged after the minor things are merged
UTC2305 - QACRO for tailsitters
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Tridge thinks this looks good
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Will need a follow-up PR to add QACRO to pymavlink
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Should add to the mavlink PLANE_MODE mapping in the mavlink
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Restriction to not enter this mode when not a tailsitter is in place
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Tridge thinks we should allow it in ordinary quadplanes
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Mark has tested and it works OK on ordinary quadplanes
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So we will drop that commit
- But add a warning that it is not really suitable in docs
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There are some very sporty quadplanes out there
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merged
UTC2312 - https://github.com/ArduPilot/ardupilot/pull/10690
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Need to reduce gains for high-speed travel
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Control surface oscillations otherwise
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Mark has flow his Dart at 18m/s with this patch
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Should be using speed-scaling from Plane with an airspeed sensor?
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Steps in the speed scaling have been a problem recently
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Jitter on the ground
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Close to zero velocity in speed scaling code
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Need to make sure things are continuous
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Can be turned on and off with parameter
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Wind estimate problems were bad during transition from vtol to fixed wing
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Need to do a rotation in the wind estimation code
- Assuming velocity in x/y plane, perhaps?
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DCM wind estimate is unlikely to be good while hovering
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Behaves differently with/without airspeed sensor
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Speed along axis of pitot tube is what we need in our simulations?
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Is that what we’re actually getting from FlightAxis?
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Tridge fixed something along these lines in normal SITL recently
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[10:20 AM] (Channel) MdB: built in quadplane sim doesn’t handle that correctly for wind when hovering
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Has this been flown on real vehicles?
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Some good feedback/videos
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Iampete has run this and is working with Mark on what he’s seeing
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Iampete is keen to move on with this PR on scaling
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This is probably better than what we have now
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Can pull pete’s method in later as an improvement or option
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Merged!
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Zero airspeed when in hover in SITL if you are not moving even if you have wind simulation on
- There is an open issue on it
UTC2325 - https://github.com/ArduPilot/ardupilot/pull/10401
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Subclass for tailsitter quadplanes
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Randy should be happy with the approach
- He hasn’t looked at it yet
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Keeps existing tailsitter support
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Doesn’t touch class-10 tailsitter at all
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Won’t break existing setups
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Adds a matrix-based tailsitter
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If a parameters is non-zero it instantiates the new one
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Why not an M_CLASS?
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Uses same class as quadplane does
- For quad-hex etc
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Waiting for Randy to OK it
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Does it fit the architecture philosophy or does he want to go in a different direction for this sort of thing
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Do we need a motors library?
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Consolidate the outputs to the servos rather than having them scattered around
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Like in Rover
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Takes high-level commands like roll-left or this-much-throttle
- Motors lib turns those into servo outputs
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Tridge: Want to take advantage of AP_Motors in quadplane
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Has to take into account all of Plane’s capabilities
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And all of AP_Motors
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Instantiating AP_Motors is based on vehicle type?
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Rover isn’t like that
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Rover internally decides what sort of vehicle it is and does stuff itself
- See video of ackerman + skid steering vehicle
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Huge combination of vehicles
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Interfaces stop letting people do weird things all over the place in the code
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[10:37 AM] To Weekly devcall: … merging Tom’s stuff would be a useful precursor, shall we say?
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Should be harmless as it doesn’t seem to change anything existing
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This is similar to the way tricopter stuff was done
UTC2337 - https://github.com/ArduPilot/ardupilot/pull/10672
- Merged!
UTC2339 - https://github.com/ArduPilot/ardupilot/pull/10664
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Interpretation of quadplane in Plane is complicated by rotations
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Move responsibility up to base class
UTC2341 - https://github.com/ArduPilot/ardupilot/pull/10655
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Less OBC-specificness?
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If rules changed we’d change this
- Or maybe add a OBC2020?
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Red if armed, green if disarmed
- Red is dangerous!
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Randy likes the OBC-specificness
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Docs don’t say what OBC does
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Change description to say what OBC does
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Green for safe-to-approach
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Red for not
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More schemes?
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Scripting?
- Safe-to-approach case is critical, scripting can break?
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What’s the threshold for adding new schemes?
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Nate thinks something agnostic
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E.g. scheme1
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Randy Name vs number makes a lot of sense
- Can search on it
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SafeToApproach rather than OBC?
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What would MdB need to add his in?
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Tridge: we should have more schemes
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Put this in AND Michael’s concept
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ProfiLEDs?
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serial-LEDs
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We now have DMA
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DMA series of pulses out
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Tight on timing
- Same as d-shot
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Link to OBC rules?
- Or just describe it
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No long descriptions in values
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Alphabetical order for descriptions on long lists
- [10:52 AM] (Channel) MdB: So description has to be sorted by us not a GCS
UTC2351 - https://github.com/ArduPilot/ardupilot/issues/10650
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3 weeks away ‘til rollover
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MdB doesn’t think there’s going to be an issue
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[10:53 AM] (Channel) JW: It’s Y2K all over again
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[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
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We don’t have valid GPS week for everything anyway
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Except for UTC feature
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In which case we already had the problem
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Absolute date to trigger command might not be doing well
- NMEA doesn’t allow it anyway
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UTC Time can already go backwards anyway (up to ~12 minutes after boot….)
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Convince ublox to go forward in time?
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Simulator would do that
- US$5000
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Really old GPSs (<2002) will probably have problems
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No problems with GLONASS
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Consensus is we won’t have issues
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[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…
UTC2357 - https://github.com/ArduPilot/ardupilot/pull/10614
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Adding crow flaps option parameter
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Bitmask so we can do a few different things with crow spoilers
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How does this interact with differential spoiler?
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Four different servos inner/outer and left/right
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This uses that
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By default not change
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By default the old dspoiler stuff just used elevons
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Pitch on spoilers as well as roll
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Can now say only-roll
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Turning on/off different axes of control
- Bitmask should talk about roll/pitch
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“Progressive crow”?
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Currently flaps are dspoilers and ailerons go up
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This does flaps-down first then 50-100 ailerons go up
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For really throwing the brakes on
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Minor things
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Default constant of three should use the bitmasks
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Shouldn’t be calling things after vehicles
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Not “flying” wing but “pitch control”
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Elevons vs ailerons
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Random flying monstrosities make “flying wing” a non-representative name
- Axes are better
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Testing using “marlin” in RealFlight
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Add parameters in SITL models repo?
- So tridge can test this easily
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Should be able to make gliders much better
- The ones with no motors….
UTC1107 - https://github.com/ArduPilot/ardupilot/pull/10214
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Prearm check inside controller rather than just checking PIDs
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Peter to redo as a general prearm check on the controllers
UTC1108 - https://github.com/ArduPilot/ardupilot/pull/9534
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Lost vehicle alarm vs battery failsafe
- Sounds like a good change to tridge
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Defaulting parameters?
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https://github.com/ArduPilot/ardupilot/pull/9534/files#diff-538a73bac9a5fbabe5668d4e34f232caR150
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Remove that?
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MdB likes not getting that parameter…
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Shifting with/without U?
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Should definitely add U
- Not add any more issues
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Tridge is happy for this to go in
UTC1113 - https://github.com/ArduPilot/ardupilot/pull/7287
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Make it a waf configure option?
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Made it so much easier with SkyRocket
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FF point that date doesn’t tell you the code is correct
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But normal users like dates
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Also, we’ve only just made changes to get consistent build dates
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So configure option to turn the dates on
- –with build-dates
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Not on by default
UTC1117 - https://github.com/ArduPilot/ardupilot/pull/6912
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Any discussion?
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Compass learn works with this
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We have a SITL mode for a vehicle that spins around
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This can go in once compass-cal is seen as working
UTC1120 - target system field
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Can go in straight away
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Hash on the field name so we can’t fix the field name
UTC1121 - can we merge mavlink pull request #90?
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Merged already!
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Tested against ArduPilot master
UTC1121 - Plane 3.9.6 is out
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Thread creation fixed on Matek405 wing
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Crash on boot
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Just pipped over threshold for fitting static data for threads in main memory
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So tridge shifted into spare 64k secondary area
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Thread creation via ArduPilot API rather than ChibiOS API (which can only use main heap)
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Tridge is thinking about 3.10 sooner rather than later
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Lots of good features in 3.10
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Copter plans?
- Not really ATM
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“New stable” and “old stable”?
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Some reports of parameter resets on boards using flash for parameters
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As opposed to FRAM
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Need a reproducible test case!
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Could be a HW problem?
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UTC1123 - Randy and Rover
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3.6.7rc1 is out
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Started late last week
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Early-landing fix
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Compass fix
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Want to release in next couple of days
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Zubax GPS delay time
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Lost the delay time somehow?
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Want to bring up devices post-boot!
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Not too many big issues in last week
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Compass calibration not making noise when kicked off with transmitter
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Matek405 not emitting some sounds?
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Mag calibration?
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We only play a very small set of tones on buzzer
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Some fixes from Leonard
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No plans for 3.6.8 so far
UTC1128 - Randy and Rover
- Would like help getting patches back into Rover from master on some of the more important fixes
UTC1132 - Partner’s meeting tomorrow morning
UTC1134 - coverage
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We have analysis now
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Thanks to Buzz for this!
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Will link to this from the front page
UTC1137 - issue report for 3.6 people running out of memory
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MicroPix
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Need parameters
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We were fairly close with NuttX
UTC1138 - Septentrino next-gen GPS is awesome on reacquiring locks
UTC1139 - navigation
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[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?
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Need to disable on 1MB boards, probably
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Into AP_Navigation is OK: tridge
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Auto-taxiing in Planes
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Three people have asked tridge about this
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Including someone who has permission to fly out of international airport
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Needs auto-taxiing!
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New waypoint type for taxiing?
UTC1143 - GSoc mentor volunteers needed!
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New idea:
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Waf build improvements
- Speed builds up!
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Fix Python3 problems!
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2 isn’t enough
UTC1147 - close