Dev Call Mar 14, 2022

Issues & Pull Requests

Plane

Copter

GSOC

Attendee count (max): 23

UTC1100 - update dialects up-to-20220216 by amilcarlucas · Pull Request #248 · ArduPilot/mavlink · GitHub

  • Just updates some dialects from upstream
  • Adds a few mav types
  • Want to freshen one of the dialects from upstream then this one can go in

UTC1104 - Example 20220216 by amilcarlucas · Pull Request #251 · ArduPilot/mavlink · GitHub

  • Merged
  • Example fix

UTC1105 - Update to upstream component information from 2022-02-16 by amilcarlucas · Pull Request #250 · ArduPilot/mavlink · GitHub

  • Merge upstream changes we don’t use to make comparison easier
  • Json schema definitions
  • Merged!

UTC1106 - Add development file to generated C libraries by amilcarlucas · Pull Request #252 · ArduPilot/mavlink · GitHub

  • Change to which dialects are generated for headers
  • Merged!
  • Autosquad is no longer generated

UTC1107 - Copter: roll_out adjust remove by HefnySco · Pull Request #20244 · ArduPilot/ardupilot · GitHub

  • Roll_out adjust remove
  • Remove limiting of roll after doing the circular limit thing?
    • This removes that
    • This shouldn’t remove that
    • Leonard will go through and remind himself why this line is required and add a comment

UTC1112 - https://github.com/ArduPilot/ardupilot/pull/19718

  • Prospective GSoC student submission
  • Randy will look at it

UTC1114 - Ensure indexing into declination tables is always correct by andyp1per · Pull Request #20254 · ArduPilot/ardupilot · GitHub

  • MacOSX issues
  • We didn’t get to the bottom of the problem, so this work-around will have to do

UTC1115 - AP_OSD: make OSD rssi scale match link quality (0-100) by Hwurzburg · Pull Request #20267 · ArduPilot/ardupilot · GitHub

  • Scale to 100 for OSD
    • Rather than 99
  • May make people complain because 100 takes up more space
    • Let’s see

UTC1118 - Kakute H7 bdshot by andyp1per · Pull Request #20288 · ArduPilot/ardupilot · GitHub

  • Kakute-h7-bdsot
  • Merged

UTC1119 - Copter: Change from division to multiplication by muramura · Pull Request #20289 · ArduPilot/ardupilot · GitHub

  • Division to multiplication
  • Failing CI?
    • Z not preserved
    • We are getting more out of whack
  • 11km altitude with Rover?
    • Maybe fix the mission instead
  • We’ll fix the epsilon

UTC1130 - Convert constant divides into multiplies by Hwurzburg · Pull Request #20290 · ArduPilot/ardupilot · GitHub

  • More divides to mults
  • One big to fix then it can be checked again and merged

UTC1133 - Copter: improve shaping of rate controlled axes by bnsgeyer · Pull Request #20307 · ArduPilot/ardupilot · GitHub

  • Helicopter rate control fixes
  • Leonard thinks a time constant might be a good idea
    • roll/pitch/yaw time constant….
    • Happy with this if it has been flight tested
    • Put this In acro or in the attitude controller?
      • Yaw axis in stab is rate-control
        • And alt-hold etc
      • Leonard thinks this is right
      • If it was moved we’d need different parameters
      • Pilot parameters which define the handling in alt_hold etc and a separate set of acro params
        • Acro_rp_y parameter
        • Pilot_y_expo
        • Pilot_y_rate
        • Pilot_y_tc
    • Zeroing second order limit OK?
      • yep
  • [10:36 AM] Peter Hall: How do the time constants change the feel by default?
  • [10:36 AM] Peter Hall: IE we don’t want a massive change in feel.
  • [10:37 AM] Peter Hall: Will also affect weather vane on plane.
    • Sudden impulses will be reduced

UTC1138 - Plane update

  • 4.2 beta2 is out
    • 4.2 is less tolerant ofq_trans_decel being off
      • Pending changes
        • One in a PR
      • Pos control / velocity controller applies q_angle_max limit but we need to violate that during decel
    • DO_LAND_START pre-arm check was added
    • Rudder disarm on quadplanes
      • On-ground and rudder disarm?

UTC1149 - Copter update

  • No real issues
    • Please check land-reposition!
  • Memory issues?
    • 1kB less than on 4.1?
    • So enabling can busses might be a problem
    • Death by 1000 cuts?
  • Someone saying a couple of parameters are missing?

UTC1152 - CANFD merged

  • Won’t be going into 4.2.0
  • Please let devs know of oddities
  • Marge change

UTC1154 - SCurve updates

  • Still in progress

UTC1155 - GSF and EK3

  • Running into a few issues
  • mRo control zero running compass-less
  • Trying to fly without a compass and using solely using GSF
  • Support question

UTC1157 - GSoC

  • Mentors please monitor the GSoC Discord channel
  • Don’t have to be a student this year…
  • Option of longer/shorter projects…

UTC1159 - circling back to the control

  • Supposed to make the stick angle with the thrust vector of the aircraft rather than the direct input of roll/pitch
  • E.g. 90-roll and 90-pitch you end up going off to the right rather than
  • Euler-ordering thing messing up interpretation of the sticks
  • Break it out as a separate function in control.cpp
    • Common function shown to be correct
  • When interpreting stick angles
    • Transform square student interface to a circular output
    • Transport circular output into euler space

UTC0003 - mavproxy_cmdlong: attitude add angular rates & mask by hendjoshsr71 · Pull Request #1002 · ArduPilot/MAVProxy · GitHub

  • options for controlling vehicle fully via mavproxy command-line and set-attitude-target
  • … need a new MAVProxy release
    • Including more graphs
    • Exception on closing graph windows…

UTC0011 - master state?

  • Open season?
  • Rebase for 4.2?
    • Hopefully not!

UTC0011 - volunteers needed for conference talks!

  • Please think about what you could talk about
    • Updates in area of interest
  • Spreadsheet available….
  • Cloud-talking?
    • Stephendade or Willian from BluRobotics
    • Hefnesco will talk about his stuff
      • Remote control over 3g/4g
    • Vs Buzz’s fleet management stuff
  • April 8, 9, 10
  • PH will do something…
    • Tailsitter update?
  • Leonard?
    • SCurves the final story?
      • The next chapter?
    • Realtime scruve stuff?
      • Guided-mode option and how to interpret the inputs…
  • Fixed-wing aerobatics
  • Scripting update?
    • Maybe as part of systems update?
  • Heli update already in there
  • [11:17 AM] rmackay9: ideally we should have a talk about object avoidance and/or non-gps navigation… from someone! maybe @Rishabh ?
  • Atmosphere model / barometric consistency
    • Talk or workshop?
  • Mini talks
    • Esp32 port
    • Configurator software
  • Pester Willian to give something on sub
    • CC software?
    • Sub?
    • Anything, really…
  • Need a few more topics
    • Don’t need to cram it full….
  • Sid to give dronecan update?
  • RemoteID….
    • 6 month deadline….
    • Hardware on a rushed basis…
      • Along with chip shortages

UTC0027 - MAV

UTC0027 - close