Dev Call Mar 11,2024

Development Team
1

Issues & Pull Requests

Plane

Copter & Rover

GSOC
Conference

2

Attendee count (max): 17

UTC1100 - development: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version by patrickelectric · Pull Request #355 · ArduPilot/mavlink · GitHub

  • MAV_CMD_DO_SET_SYS_CMP_ID
  • Set mavlink system and component
  • Attached peripherals?
    • Reboot will be required for things like PinRX to work correctly
  • Merged!

UTC1109 - common.xml: deprecate the _INT frames by peterbarker · Pull Request #356 · ArduPilot/mavlink · GitHub

  • Deprecate the _INT frames
  • If people upstream are happy with the concept then we can merge this one

UTC1113 - Implement RX bind for CRSF by andyp1per · Pull Request #26375 · ArduPilot/ardupilot · GitHub

  • Implement RX bind for CRSF
  • Could use a more efficient checksum mechanism?
  • Peter’s concerns addresses

UTC1115 - AP_Motors: add new PWM_TYPE_ANGLE by IamPete1 · Pull Request #26415 · ArduPilot/ardupilot · GitHub

  • New PWM_TYPE_ANGLE in motors
  • For Sub and PH’s weird vehicle
  • Should probably have a test for this?
  • PH will work up a test for it

UTC1120 - Expand tradheli inverted flight to non manual throttle modes by bnsgeyer · Pull Request #26435 · ArduPilot/ardupilot · GitHub

  • Expand tradheli inverted flight to non-manual-throttle mode
  • Now works in auto / guided / althold / loiter
  • Have we covered all of the input methods for the attitude controller?
    • There aren’t overrides for all methods
    • Could be a sudden exciting crash….
  • Landing detector?
  • GPS inverted?
    • Will probably keep working
  • This is an experimental/fun feature; not for serious work on your vehicle….
  • Probably don’t need to dive into all sorts of input in auto…
  • Why not just invert the collective?
    • Lost way too much height with this method
    • Would descend a lot
  • Should we have a catch-all where it inverts collective?
  • Plane inverts elevator if you are inverted if you go manual->fbwa to point nose above horizon
    • Should we have the same thing in here?
    • “Please save the vehicle” response
    • Shouldn’t we automatically be applying inverted collective etc etc?
    • Z-axis controller is designed to allow you to use positive/negative thrust values
    • Leonard imagines you could potentially (in Heli’s angle boost controller) add code which runs full-time to help with vehicle recovery
    • Same problem applies to multi
      • We actually do….
      • Bill will look at that in a future PR
  • “Can it handle a battery failsafe when in acro inverted?” is the key question
  • Need a force-flying for the land detector

UTC1144 - Plane: support precision QLOITER in quadplanes by tridge · Pull Request #26436 · ArduPilot/ardupilot · GitHub

  • Support precision qloiter in quadplanes
  • First precland quadplane test went will, see videos…
  • Can move vehicles around with sticks, surprisingly
  • Can precland on ship in SITL…
  • Won’t track at >1m/s?
    • Maybe in the precision controller somewhere?
  • Want to move away from using hte loiter controller for this stuff, rather use the position controller directly
    • More robotic-feeling interface to aircraft rather than “natural” feeling
  • Combine follow and precland?
  • Shifting follow location….
  • Land has advantage of slow-down according to rangefinder and preparing the EKF for landing and whatnot

UTC0002 - https://github.com/ArduPilot/ardupilot/pull/26449

  • Change RTL_ALT_MIN from 2m to 30cm
  • Need to keep things simple here!

UTC0004 - AP_Generator: IE 2400: MAV_SEVERITY level depends on error code by IamPete1 · Pull Request #26461 · ArduPilot/ardupilot · GitHub

  • Set mav_severity_level for statustexts
  • Merged!

UTC0006 - GCS_MAVLink: ftp receiving messages where size takes into account terminating null by alploskov · Pull Request #26462 · ArduPilot/ardupilot · GitHub

  • Ftp receiving messages where size takes into account terminating null
  • MAVSDK is a bit confused about null-termination in mavlink messages
  • Just remove the sanity checks to make things simpler

UTC0011 - AP_BattMonitor: added MAX_AMPS and SHUNT parameters for INA239 by tridge · Pull Request #26465 · ArduPilot/ardupilot · GitHub

  • MAX_AMPS and SHUNT
    • Reading zero once you pass a current limit!
    • Set the max amps to a bigger number
    • Lowers the sensor resolution
  • Merged!

UTC0015 - autotest: remove special-case-for-reboot for Sub by peterbarker · Pull Request #26473 · ArduPilot/ardupilot · GitHub

  • Remove special reboot case for Sub
    • Now have AP_Stats
  • Remove the drive-by change!

UTC0027 - autotest: ensure latest log is timestamped, small and not growing by peterbarker · Pull Request #26486 · ArduPilot/ardupilot · GitHub

  • Ensure latest log is timestamped in autotest
  • Need to move the speedup

UTC0028 - Backport PRX bug fixes and MR72 driver by rishabsingh3003 · Pull Request #26482 · ArduPilot/ardupilot · GitHub

  • Backport PRX bug fixes and MR72 driver
  • Merged!

UTC0031 - Plane update

  • Precland support for quadplane is coming along nicely
  • A few people have tested 4.5
    • Not as many as tridge would like
  • Tvbs upgrade to 4.5 not good
    • Force-flare not longer works
      • Tilts-up-at-low-throttle

UTC0033 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

  • Rover forums are silent…
  • Copter is more active
    • Ccw not working in loiter turns not working?
      • Documentation issue….
  • QGC lean angle buttons for mount were broken….
    • Fixed a bug in ArduPilot and it broken bits in QGC
    • Fixed….
  • Fixed vehicle-points-North when first switched into guided-nogps
  • Release date?
    • Another beta required….
    • Many patches

UTC0038 - GSoC update

  • Projects: List of Suggested Projects for GSoC 2024 — Dev documentation
  • Visual follow-me using AI….
  • How is this going to work?
    • Camera taking video
    • GCS sends in image-tracking mavlink message
      • Track this object….
    • “Yolo8”
      • So “ai” not necessarily large language models…
    • pitch/yaw commands
  • Another 6 days before ranking applications
  • Then another month before accepting
  • Randy’s probably doing 2 or 3
    • Michelle and Peter have offered to help

UTC0042 - Conference update

  • Add yourself to the spreadsheet!
    • See GSoC Discord channel
    • 27 or 28 have signed up already
    • If you’re bringing a drone then put it in the spreadsheet too!
  • Extra rules which might cause problems are being addressed
  • Randy will check out AirBnBs next trip out to Kaga

UTC0045 - Turn `hold_in_bootloader` default as false in reboot by patrickelectric · Pull Request #26423 · ArduPilot/ardupilot · GitHub

  • Change default behaviour for hold-in-bootloader to false
  • Simplifies things a bit
  • Merged!

UTC0049 - close