Dev Call Mar 10, 2025

Development Team
1

Upcoming release update

Methodic Configurator

Issues & Pull Request

2

Attendee count (max): 15

UTC1100 - Vehicle update

  • Big quadplane crash
    • Airspeed autocal was set
    • Ordinarily only works when flying
    • Bad GPS lock made it think it was flying
    • Poor calibration learnt
    • Stall and crash
    • PR has been merged to fix this, will go into 4.6
  • Forward flight with bdshot
    • Gravelly / knocking motors
    • Doesn’t happen inVTOL
    • Tilt-rotors
    • Vertical-control is nice and clean
    • Is this a regression?
    • Users have said it doesn’t happen in 4.5.7
      • PH is skeptical
    • Three separate users have reported it
    • Changes to servos.cpp between 4.5 and 4.6
    • Mismatched cork/push?
    • Leonard’s been going over the logs with Andy
      • Throttle discretization?
        • Large steps in PWM
          • With a reactive motor this could be gravelly
      • Happens in manual and fbwa
      • Outputs seem to have changed
        • larger?
      • Attitude controller changes were removed as an experiment and it still happens
      • Some code to increase the servo logging
        • Nothing nasty seemed to be output
    • Tridge wants to reproduce
      • Hardware required?
    • Want to control for experimental error
      • Some sort of LUA?
    • Why tiltrotor?
      • Does it happen when tiltrotor is turned off
        • Ie. set up as a conventional plane
  • Tridge now has a collection of logs
    • But not sure which is which!
  • Rhys was getting knocking
    • Advanced timing to fix it?
    • Tridge will work with Rhys to test thoroughly
      • Difference between FBWA and manual?
      • 4.5.7 and 4.6.0-beta4 difference?
      • Difference between bdshot and dshot?
        • Back to PWM?
  • Some gimbal issues when working with QGC
  • AM32 pass-through issues
  • uBlox M10
    • Tim has done extensive testing and believes there’s a regression between 4.5.7 and 4.6.0-beta4
    • Constellations being disabled when they previously weren’t?
    • GNSS_MODE?
      • Some odd restrictions around this in M10
    • Poorly connected antennas?
      • Little wire running around the edge?!
    • Tridge doesn;t like the M10
      • Poor performance
      • Nasty configuration
        • Constellations
        • Frequencies
  • Power draw on uBlox varies significantly based on number of satellites on newer models
    • Brownouts!
    • GPSs which only work inside
  • Some proximity sensor strangeness
    • Not officially supported sensor
  • AIS on Copter not working?
  • Water-depth too fast
    • Fixed
  • EKF velocity divergence?
  • Tradheli internal errors
    • PR from Andy
    • Doesn’t build
    • Includes patches which should be in there
      • From gravelly-noise investigation
        • Andy was low on time

UTC1152 - Amilcar and the Methodic configurator

  • 1000 pages of documentation turned into a tool to step people through setting up a vehicle
  • 15 minute presentation
  • Maybe schedule a time for this presentation?
  • A video would be a good idea
  • People will give feedback on the presentation notes

UTC0001 - Move passing of mavlink traffic to Follow library up to GCS_MAVLink base class by peterbarker · Pull Request #24752 · ArduPilot/ardupilot · GitHub

  • Move passing of mavlink traffic to GCS_MAVLink base class
  • Merged!

UTC0003 - Split PayloadPlace into horizonta/vertical components by peterbarker · Pull Request #27800 · ArduPilot/ardupilot · GitHub

  • Split payload place into horizontal/vertical components
  • Allows us to do things like precision payload place

UTC0005 - AHRS: add ability to configure AHRS via aux functions by valbv · Pull Request #28485 · ArduPilot/ardupilot · GitHub

  • Killing serial ports generically might be good
  • This has been looked at a lot since Peter marked for DevCall
    • Peter will need to look at this more before bringing to DevCall

UTC0013 - Add Autoland fence action by Hwurzburg · Pull Request #29280 · ArduPilot/ardupilot · GitHub

  • Autoland fence action
  • Needs an autotest
  • Questions around existing functionality
  • Henry will write an autotest for it

UTC0021 - hwdef: add Lumenier LUX F765 - NDAA by djmorvay · Pull Request #29377 · ArduPilot/ardupilot · GitHub

  • Lumenier board support
  • Merged!

UTC0022 - AP_NavEKF3: added in a check for high velocity innovation by tridge · Pull Request #29434 · ArduPilot/ardupilot · GitHub

  • Add a check for high velocity innovations
  • Still investigating to see if there’s going to be an EKF logic change
  • Only in east direction?
    • Tridge is still suspicious of an indexing problem
    • Even rotating the GPS didn’t make it stop diverging in the East
  • Only doing this as a prearm check?
    • Won’t catch in-flight problems
  • Explicit Per-core prearm check?
  • position/height innovations?
  • Error-checking core-switching logic needs an overhaul
  • healthy()? For what?
  • Leonard doesn’t like the current warning systems at startup
    • Wants a more-appropriate series of messages
  • Tridge will look at this

UTC0039 - Add get_device_ptr to AP_HAL::SPIDevice by peterbarker · Pull Request #29443 · ArduPilot/ardupilot · GitHub

  • Add API to get OwnPtr
  • Can be merged once tested in the -777

UTC0047 - AP_HAL_ESP32: init esp32s3m5stampfly by tpwrules · Pull Request #29448 · ArduPilot/ardupilot · GitHub

  • Stampfly support
  • Merged!

UTC0047 - Move RC protocol used for Aero from Linux HAL to AP_RCProtocol by peterbarker · Pull Request #29461 · ArduPilot/ardupilot · GitHub

  • Move intel aero sololink RC in
  • Do we want to continue to support intel aero any more?
    • Randy thinks time would be better spent elsewhere
  • It’s a bit difficult to update the intel aero
  • Peter will play with a real one

UTC0056 - AP_Airspeed: allow skipping startup cal but requiring manual cal, improve arming checks. by IamPete1 · Pull Request #29467 · ArduPilot/ardupilot · GitHub

  • Add option to skip airspeed calibration on startup but still require it before arming
  • Requiring a non-zero calibration value?
    • Tridge is worried that existing setups might break
    • PH thinks they might already be broken…
    • Is zero offset OK for DLVR?
      • Yes according to testing
  • Tridge has been watching people struggle with prearm checks
  • Tridge is wondering whether we can skip 3d accel cal on newer IMUs
    • Maybe CubePilot’s data could inform this decision?
  • Ratio is usually the problem now-adays

UTC0112 - ardupilotwaf: require minimum Python 3.8 by tpwrules · Pull Request #29490 · ArduPilot/ardupilot · GitHub

  • Move to minimum 3.8.0 Python
  • Make it a warning for now

UTC0122 - AP_GPS: remove SBP raw logging by peterbarker · Pull Request #29469 · ArduPilot/ardupilot · GitHub

  • Remove SBP raw logging
  • Merged!

UTC0123 - https://github.com/ArduPilot/ardupilot/pull/29473

  • Add logging of dropped incoming serial data
  • UART.RxDp for dropped received packets
  • Merged!

UTC0128 - SerialManager IOMCU fixups by IamPete1 · Pull Request #29475 · ArduPilot/ardupilot · GitHub

  • Serialmanager Iomcu fixups
  • Serialmanager on Red?
  • Serialmanager should be uninvolved in the IOMCU stuff?
  • Probably need to re-hide the parameters…
  • Need to get Sid to be involved in this one

UTC0137 - close