Dev Call Mar 18,2024

Issues & Pull Requests


Copter & Rover



Attendee count (max): 15


  • Discussion of html interface for networking layer and what techs to watch

UTC1100 - AP_RangeFinder: cleanup rangefinder timeout handling by tridge · Pull Request #26528 · ArduPilot/ardupilot · GitHub

  • Cleanup rangefinder timeout handling
  • Minimal fix in one commit, proper in another
  • Proper fix is important for some backends
    • LUA in particular, if you don’t get data for 0.5 seconds you’ll never get data again
  • We are inconsistent with what we do when distance goes to zero
  • Someone needs to go through this PR
  • Also sleeping in the main thread
  • DroneCAN driver failing?
    • Multicast packets go out the routed interface?!

UTC1107 - AP_Scripting: allow expansion of memory for scripting at runtime by tridge · Pull Request #26517 · ArduPilot/ardupilot · GitHub

  • Allow expansion of memory at runtime
  • Allow expansion of RAM dynamically
  • PH has some feedback
  • For 4.5 ?
    • It’s a reliability thing?

UTC1121 - ROMFS: avoid decompressing in stat() by tridge · Pull Request #26558 · ArduPilot/ardupilot · GitHub

  • Avoid decompressing a file on stat calls
  • Tridge will change a simple stylistic thing and then merge

UTC1124 - AP_Logger: avoid logging dma.txt for normal builds by tridge · Pull Request #26559 · ArduPilot/ardupilot · GitHub

  • Avoid logging dma.txt into the log file
  • Most of the time it’s just empty
    • We enable on first fetch
  • Gate this behind HAL_DEBUG_BUILD
  • Can tell DMA contention from this file
  • Custom build server option to add statistics and/or this dma option
    • And start logging dma stuff straight away

UTC1129 - HAL_ChibiOS: added RaidolinkPIX6 support by radiolinkW · Pull Request #26139 · ArduPilot/ardupilot · GitHub

  • Pix6 support from RadioLink
  • They’ve put their source code up for the single-page-parameter stuff
    • Could potentially bring their patch in as #ifdef
    • There’s an obvious race condition with this stuff
  • MergeOnCIPass
  • Having the user be able to set a URL to pull manifests from multiple sites in MissionPlanner would be kind of interesting
    • fragmentation?

UTC1143 - common: add set-camera-source command by rmackay9 · Pull Request #351 · ArduPilot/mavlink · GitHub

  • Some messages from mavlink/mavlink
  • Set storage command
  • Set camera data source message
    • Some cameras already accept these
    • The enumeration doesn’t really matter as you can have more than one of each
      • Need both an IR wide-angle and RGB wide-angle
      • Rgb zoom / rgb non-zoom
      • Thermal-zoom thermal non-zoom?
  • Peter will chase up “unsupported” upstream
  • merged!

UTC1143 - Camera/GCS_MAVLink/Mission: add set-camera-source support by rmackay9 · Pull Request #26172 · ArduPilot/ardupilot · GitHub

  • New command for setting source types
  • A few changes but looks good

UTC1157 - AP_Motors: add new PWM_TYPE_ANGLE by IamPete1 · Pull Request #26415 · ArduPilot/ardupilot · GitHub

  • Merge after Willian has another test and says it is good

UTC1159 - Copter: Heli: move runup event log down to AP_Motors by IamPete1 · Pull Request #26330 · ArduPilot/ardupilot · GitHub

  • Move runup event log
  • Merged

UTC0002 - Copter: support `DO_LAND_REJOIN` in AUTO RTL mode by IamPete1 · Pull Request #26383 · ArduPilot/ardupilot · GitHub

  • Copter: DO_LAND_REJOIN in AUTO_RTL mode
  • Instead of DO_LAND_REJOIN you have at furthest-away point of the mission
  • Why do this rather than DO_LAND_START?
    • Find the nearest point on the path…
      • Splines?!
        • PH has not checked
    • Only works up to a DO_LAND_START
  • Tom’s thinking about interactions between this and his script which does lidar measurements and whatnot
  • Have a flag for DO_LAND_START that just says you can rejoin anywhere on the path between this and home?
    • Would lose the bit where it only chooses between rejoin and do_land_start
  • Stopping point stuff because choice of waypoint was made then it would blow past that waypoint and would have been better to use the other one
  • Mavlink should get merged

UTC0016 - GCS_MAVLink: GCS_Common: Add support to MAV_CMD_DO_SET_SYS_CMP_ID by patrickelectric · Pull Request #26424 · ArduPilot/ardupilot · GitHub

  • Set sys_cmp mavlink message
    • Rather than setting parameters
  • Peter left a review
  • Peter will work at changing “reboot” to “take effect immediately”

UTC0027 - Remove class specifier prefixing Location in function declarations by srmainwaring · Pull Request #26503 · ArduPilot/ardupilot · GitHub

  • Not a good idea; forward declarations are good
  • Peter left a review

UTC0033 - Move GPS instance parameters to a sub-object by peterbarker · Pull Request #26497 · ArduPilot/ardupilot · GitHub

  • Per-backend instances
  • More than 2 GPSs coming!
  • A GPS type for blending will come in…
  • … and a median as well
  • MergeOnCIPass
  • Peter’s enjoying his edu650 with way too many GPSs

UTC0043 - hwdef: removed CubeOrange-SimOnHardWare by tridge · Pull Request #26452 · ArduPilot/ardupilot · GitHub

  • Remove CubeOrange SITLOnHardware build
  • Use the script instead
  • We don’t really want to lose the parameters
  • Tridge will just get dif o the panic in the too-many-compasses case

UTC0054 - RPM: Send on Periph and receive on vehicle by IamPete1 · Pull Request #26508 · ArduPilot/ardupilot · GitHub

  • Send RPM on periph and receive on vehicle
  • Add flags field
  • Want a bit to indicate healthy/unhealthy
  • A MatekL431 target to use it?

UTC0100 - Plane update

  • A few bug reports in, which is great
  • 64GB EXFAT volumes
    • Can’t create APM/scripts on startup
    • Tridge yet to dive into the EXFAT code
  • New beta required for H7 cache bug
  • Unplugging a battery, what does voltage go to?
    • Analog you get whatever from the floating pin
    • Anything with a protocol?
      • What do you do if you lose it?
      • Land?
        • Could be bad if you’re over the ocean
      • Continue flying and maybe run out of battery?!
        Battery should be reported as unhealthy?
  • We’ll make everything try to act the same
    • Then work out what the behaviour should be
  • A script with a minimum-equipment checklist
  • Pitch-stick in landing sequence is bad
    • Integrator windup in TECS?
    • Changes in what it does in stick-mixing in landing sequence?
    • Recalculate glide slope?
    • Also the landing spot might change?

UTC0108 - Copter/Rover update

  • Pixhawk6C-mini compass issue is back
    • Appearing and disappearing
    • Compass being used can appear on 1 of 4 addresses?
    • … external compass?
    • IST8310
  • Viewpro angles were being passed in incorrectly
  • Problems with multi-source issues
    • When moving from abs-alt to a better abs-alt there’s a jump
    • EK3 fudges baro based on GPS… perhaps we could do the same?
    • Jump can be scary…
  • A bit of Rover feedback
    • But it was all good
  • Tracker beta was created…

UTC0120 - GSoC

  • Applications should start coming in over the next little while
  • Jaime mentioned people have to go in and push some buttons
  • Some interface issues.
  • Mentors should go and agree to whatever they say

UTC0137 - Conference update

  • 30 or 31 people so far
  • Several partner companies
  • Many core teams members
  • Exceptions to rules are coming along very nicely
  • A vote for $45,000
    • $2,000 per developer
      • Maybe increase for some special cases?
    • Cheaper flights are disappearing…
      • Book soon or get an expensive flight…
      • Already going up?
        • Incognito / private mode…
    • When are other people getting there?
    • Randy was thinking the Sunday/Monday…
      • So was PH but touristy stuff 3 or 4 days before

UTC0145 - close