Dev Call Mar 28, 2022

CraigElder · March 28, 2022, 11:00pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Copter: improve shaping of rate controlled axes

ArduPilot:master ← bnsgeyer:pr-rate-shaping

opened 08:16PM - 14 Mar 22 UTC

bnsgeyer

+275 -116

This PR improves the shaping for rate controlled axes. This would include the y…aw axis in stabilize mode and pitch, roll and yaw axes in Acro mode. The target rate shaping is improved by using the square root controller to provide a first order response to achieve the requested rate. Currently this is done by linearly increasing rate at ACCEL_MAX until the requested rate is achieved. Using the ACCEL_MAX to adjust the shape is not conducive to shaping the response. It doesn't adjust the acceleration request with the size of the rate request. The square root controller does a nice job at that. This adds two parameters to allow users to adjust the rise time of the target rate to achieve the requested rate. One for pitch and roll axes and the other for yaw axis.

github.com/ArduPilot/ardupilot

Disable Solo Gimbal except on CubeSolo and CubeGreen-solo

ArduPilot:master ← peterbarker:pr/disable-hal-solo-gimbal

opened 09:02AM - 18 Mar 22 UTC

peterbarker

+12 -1

`Pixhawk1`: ![image](https://user-images.githubusercontent.com/7077857/158972…293-e6a06ffa-87ae-4ef9-90c1-11ad32bd2733.png) Pixhawk1-1M isn't affected because it's already excluded. CubeSolo is still the same - well, 12 bytes off... I'd note that this means gimbal will stop working for users with a gimbal on CubeOrange. I'm just copying the broken-ness because they'll also be missing OreoLED support....

github.com/ArduPilot/ardupilot

Fix ESCs constantly arming on rover with dshot commands

ArduPilot:master ← andyp1per:pr-rover-bdshot-3d

opened 08:10AM - 25 Mar 22 UTC

andyp1per

+58 -26

Several bugs fixed: - ESCs constantly arming on rover with dshot commands - …Bdshot not working with fewer channels than the full group - Not disabling disabled channels - Not pulling high all channels in a bdshot group (caused random motor movements in disabled channels) - Not ignoring disabled channels for telemetry starting position Although this affects all vehicles it will particularly help rover and plane

github.com/ArduPilot/ardupilot

Shorten dshot pulse width

ArduPilot:master ← andyp1per:pr-dshot-pulse-width

opened 10:22PM - 25 Mar 22 UTC

andyp1per

+36 -19

It is possible to construct valid dshot and neopixel packets using fewer DMA bea…ts. This allows more accurate frequency resolution because a lower frequency is required and the prescaler needed to divide up the system clock frequency can be higher. In testing this allowed ArduCopter to successfully drive BlueJay 0.14 ESCs from an omnibusf4pro-bdshot whereas with the current code the frequency difference is too large and the BlueJay firmware does not recognize the dshot signal. This shortens the dshot pulse to 8 ticks with 3/8 for 0 and 6/8 for 1 This shortens the neopixel pulse to 11 ticks with 4/11 for 0 and 9/11 for 1 This appears to allow BlueJay ESCs to work with ArduPilot which are quite timing sensitive

github.com/ArduPilot/ardupilot

AP_NavEKF3: rewrite getLLH to avoid excessive indenting

ArduPilot:master ← peterbarker:pr/ekf3-getllh-rewrite

opened 11:31PM - 25 Mar 22 UTC

peterbarker

+40 -38

I've had this one on the shelf for a very long time. I rebased it again this …morning and while fixing a conflict noted that in the case that we're doing the "default return is last recorded position" case we don't appear to be setting the altitude in the return object. Meaning the caller probably things we're at 0 AMSL and might choose to have the aircraft climb. You're already pretty stuffed at this point, of course. I'm not fixing that in this PR, but could add it in.

github.com/ArduPilot/ardupilot

SP Racing H7 extreme updates

ArduPilot:master ← andyp1per:pr-spracing-config

opened 06:08PM - 27 Mar 22 UTC

andyp1per

+1218 -1206

Found a few bugs in the hwdef and one build bug This gives the following CPU …load in stabilize: ``` ThreadsV2 ISR PRI=255 sp=0x24069DF0 STACK=1236/1536 LOAD= 2.2% ArduCopter PRI=182 sp=0x2406A3F0 STACK=4096/7168 LOAD=51.0% idle PRI= 1 sp=0x300158D0 STACK= 144/ 352 LOAD= 8.7% UART_RX PRI= 60 sp=0x3003EFA0 STACK= 760/1104 LOAD= 0.7% OTG1 PRI= 60 sp=0x3003E0A8 STACK= 248/ 656 LOAD= 0.2% monitor PRI=183 sp=0x300113F8 STACK= 480/ 848 LOAD= 0.3% timer PRI=181 sp=0x30012678 STACK=1448/1872 LOAD= 2.1% rcout PRI=181 sp=0x30011D38 STACK= 432/ 848 LOAD= 8.9%* rcin PRI=177 sp=0x30011798 STACK= 416/1360 LOAD= 9.8%* io PRI= 58 sp=0x30010A58 STACK=1496/2384 LOAD= 0.5%* storage PRI= 59 sp=0x300120D8 STACK= 792/1360 LOAD= 0.1% UART2 PRI= 60 sp=0x3003D058 STACK= 384/ 656 LOAD= 0.1% UART3 PRI= 60 sp=0x3003C560 STACK= 264/ 656 LOAD= 0.1% UART4 PRI= 60 sp=0x3003BA68 STACK= 384/ 656 LOAD= 0.1% I2C0 PRI=176 sp=0x3003A810 STACK= 872/1360 LOAD= 1.0%* OSD PRI= 59 sp=0x30036590 STACK= 912/1616 LOAD= 0.6%* log_io PRI= 59 sp=0x30036D90 STACK= 264/1656 LOAD= 0.3% UART1 PRI= 60 sp=0x30038580 STACK= 248/ 656 LOAD= 0.2% SPI3 PRI=181 sp=0x30020C98 STACK= 712/1360 LOAD=12.5% FTP PRI= 58 sp=0x24002F30 STACK=1464/2896 LOAD= 0.1% ``` and the following in loiter: ``` ThreadsV2 ISR PRI=255 sp=0x24069DF0 STACK=1236/1536 LOAD= 2.1% ArduCopter PRI=182 sp=0x2406A3F0 STACK=4096/7168 LOAD=58.0% idle PRI= 1 sp=0x300158D0 STACK= 144/ 352 LOAD= 2.8% UART_RX PRI= 60 sp=0x3003EFA0 STACK= 760/1104 LOAD= 0.5% OTG1 PRI= 60 sp=0x3003E0A8 STACK= 248/ 656 LOAD= 0.1% monitor PRI=183 sp=0x300113F8 STACK= 480/ 848 LOAD= 0.3% timer PRI=181 sp=0x30012678 STACK=1456/1872 LOAD= 2.1% rcout PRI=181 sp=0x30011D38 STACK= 432/ 848 LOAD= 8.9%* rcin PRI=177 sp=0x30011798 STACK= 416/1360 LOAD= 9.5%* io PRI= 58 sp=0x30010A58 STACK=1496/2384 LOAD= 0.3%* storage PRI= 59 sp=0x300120D8 STACK= 792/1360 LOAD= 0.1% UART2 PRI= 60 sp=0x3003D058 STACK= 384/ 656 LOAD= 0.1% UART3 PRI= 60 sp=0x3003C560 STACK= 264/ 656 LOAD= 0.1% UART4 PRI= 60 sp=0x3003BA68 STACK= 384/ 656 LOAD= 0.1% I2C0 PRI=176 sp=0x3003A810 STACK= 872/1360 LOAD= 0.9% OSD PRI= 59 sp=0x30036590 STACK= 912/1616 LOAD= 0.6%* log_io PRI= 59 sp=0x30036D90 STACK= 264/1656 LOAD= 0.2% UART1 PRI= 60 sp=0x30038580 STACK= 248/ 656 LOAD= 0.1% SPI3 PRI=181 sp=0x30020C98 STACK= 712/1360 LOAD=12.8% FTP PRI= 58 sp=0x24002F30 STACK=1464/2896 LOAD= 0.1% ``` You can see that neither setup has quite enough idle CPU to accommodate the extra 12% of the second IMU

github.com/ArduPilot/ardupilot

AP_Param: fixed param class conversion code

ArduPilot:master ← tridge:pr-param-class-fix

opened 05:03AM - 28 Mar 22 UTC

tridge

+4 -0

param class conversion was unconditionally overwriting the parameter from the ol…d parameter. This meant if the user has set a value in an old firmware they could not change it in a new firmware. I hit this with ARSPD_TYPE. I had previously set this to 0 in a previous use of the board, and found that it kept resetting to 0 on the new firmware when I tried to enable airspeed To reproduce this bug: - checkout plane 4.1 - set ARSPD_TYPE to 8 then set it back to 0 - now start 4.2 with the same eeprom.bin - set ARSPD_TYPE to 8 and then reboot - fetch parameters and ARSPD_TYPE will be 0, reset by this bug

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.2.0 issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [x] arming c…heck for RTL_AUTOLAND != 0 when there is a DLS in the mission #20345 - [ ] add package drop support - [ ] add fw update from microSD to bootloader - [ ] @SYS files not logged when LOG_DISARMED=0 - [x] sum battery not updating percent remaining fix: #20357 - [x] rudder disarm should not cause yaw in Q modes fix: #20363 - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] changing home using GCS while in CRUISE mode changes height - [x] re-triggering of fence when RTL_AUTOLAND=2 fix: #20360 - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [x] need fence status on MissionPlanner https://discuss.ardupilot.org/t/no-message-for-geofence-breach/82720/3 - [ ] obey primary sensors with EK3_AFFINITY - [x] rangefinder offset applied twice (#17424) - [x] ~interrupt storm with misconfigured camera (#17465)~ (not a blocker as it was caught and a misconfiguration) - [x] add API for lock-step detection to suppress panic in pos controller init check - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Pending quadplane features from Kris: - [x] When the safety switch is disabled, the Tilt servos may oscillate considerably once when connected to the battery. This causes the propeller to strike the wing and damage it. Possible solution: Move BoardConfig.init_safety() in system.cpp to run BoardConfig.init_safety() 2 seconds after init has finished. Update: fixed in #15942 - [ ] In some cases, failsafe will change the flight mode before entering failsafe, which results in the AUTO mode not continuing. Need example log Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover: 4.2.0 issues list

opened 05:16AM - 28 Feb 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.2.0 beta testing. … For reference [Copter-4.1 issues ](https://github.com/ArduPilot/ardupilot/issues/16478), [Rover-4.1 issues](https://github.com/ArduPilot/ardupilot/issues/17116). **Reports requiring Investigation** - [ ] BLHeli_S not working and "all zeros" watchdog ([discussion](https://discuss.ardupilot.org/t/spontaneous-crash-possible-problem-in-4-2bdshot-daily-build-from-feb-22/83297/16)) - [ ] OSD Group2 Params LINK_Q Items appear even for disabled OSD screens ([issue](https://github.com/ArduPilot/ardupilot/issues/18418)) - [ ] CubeBlack not-enough-memory with CAN enabled ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/19)) **Copter** - [ ] landing not slowing at LAND_ALT_LOW (Randy and PeterHall have logs) - [ ] Tradheli autotune not properly exiting rate P/rate D tuning when max allowed gains are not determined **Rover Specific** - [ ] Bi-directional dshot doesn't work on Rover ([PR](https://github.com/ArduPilot/ardupilot/pull/20374)) **Enhancement Requests (may or may not be done)** - [ ] [Custom Build server](https://custom.ardupilot.org/) should support building beta and stable ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta1-available-for-beta-testing/82462/7)) - [ ] Log fence locations ([discussion](https://discuss.ardupilot.org/t/no-polygone-fences-in-the-dataflash-logs/82566), [issue](https://github.com/ArduPilot/ardupilot/issues/20213)) - [ ] SBP (aka Swift) GPS driver should accept yaw ([discussion](https://discuss.ardupilot.org/t/how-to-force-gps-yaw-to-rovers-yaw/82553/2)) **Wiki improvement Requests** - [ ] Improve optical flow wiki ([discussion](https://discuss.ardupilot.org/t/how-to-test-benefits-of-optical-flow-improvements/82488)) **Resolved Items** - [x] WP_SPEED from Ch6 tuning not working? ([discussion](https://discuss.ardupilot.org/t/wpnav-speed-as-a-chan-6-tune-parameter-working/83217)) -- vehicle config issue, works. - [x] DSHOT reverse range is inverted (4.2 issue. see [issue](https://github.com/ArduPilot/ardupilot/issues/19346), [PR1](https://github.com/ArduPilot/ardupilot/pull/20349), [PR2](https://github.com/ArduPilot/ardupilot/pull/20358)) -- resolved for beta3 - [x] BLHeli passthrough not working on CubeOrange's AUX1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20362)) -- but is likely a hardware issue - [x] MinimOSD not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta2-released/82959), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4231)) -- user needs to set SERIALx_PROTOCOL = 1 - [x] BalanceBot does not stand-up in Acro mode ([discussion](https://discuss.ardupilot.org/t/rover-4-1-3-rc1-released-for-beta-testing/79751/3)) -- resolved in beta3 - [x] takeoff stuck if alt-above-home is lower than alt-above-terrain ([comment](https://github.com/ArduPilot/ardupilot/commit/fb6c3ebb729a4b428da5dd14832cd95d71709a1e#commitcomment-68370961), [issue](https://github.com/ArduPilot/ardupilot/issues/20277), [PR](https://github.com/ArduPilot/ardupilot/pull/20153), [PR2](https://github.com/ArduPilot/ardupilot/pull/20285)) -- fixed in beta2 (the problem was only ever present in master, never made it to a beta) - [x] GPS-for-yaw with DroneCan GPS not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/6), [PR](https://github.com/ArduPilot/ardupilot/pull/20249)) -- resolved in -beta2 - [x] DShot esc issue ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/8), [PR](https://github.com/ArduPilot/ardupilot/pull/20247)) -- resolved in beta2

GSOC

CraigElder · March 29, 2022, 7:07am

Attendee count (max): 18

UTC1100 - Clean up Heli Autotune to reduce flash size by bnsgeyer · Pull Request #20238 · ArduPilot/ardupilot · GitHub

Clean up heli autotune to reduce flash size
Merged!

UTC1105 - Copter: improve shaping of rate controlled axes by bnsgeyer · Pull Request #20307 · ArduPilot/ardupilot · GitHub

Improve shaping of rate-control axis
Reworked to only affect Heli
Wraps old function so should only affect Heli
- That does push flash usage up
Passing in lots of parameters which won’t really change?
- Position control modes, when you enter loiter mode it sets the loiter acceleration limits etc etc
  - So why not here?
- Leonard Randy and Bill agreed they liked this way of doing things this way
- Doing it on mode enter might be nicer?
- Costs on flash and runtime for passing the parameters
- All other parameters change constantly, but these new parameter don’t
New parameters should live in ATC rather than in Copter instead?
- Wouldn’t need to pass them….
Plane is kind of missing out on these new features in ATC a bit
- Sub too
Poking values into the controller rather than passing them in is probably a better way of doing things
More sharing we do across vehicles the better
Parameters inside the ATC?

UTC1118 - Disable Solo Gimbal except on CubeSolo and CubeGreen-solo by peterbarker · Pull Request #20328 · ArduPilot/ardupilot · GitHub

Only enable Solo gimbal on relevant Cubes
Also gets OreoLED
Merged!

UTC1125 - vector3: return w1 not zero vector by xianglunkai · Pull Request #20369 · ArduPilot/ardupilot · GitHub

Return w1 not zero vector
Merged!

UTC1126 - Fix ESCs constantly arming on rover with dshot commands by andyp1per · Pull Request #20374 · ArduPilot/ardupilot · GitHub

Fixes ESCs constantly arming on Rover with shot commands
Put throttle on 2nd 3rd of 4th in pwm group then things wouldn’t work
Merged!

UTC1129 - Shorten dshot pulse width by andyp1per · Pull Request #20379 · ArduPilot/ardupilot · GitHub

Change dshot pulsewidth
Need tridge
Bumped to DevcallEU

UTC1130 - AP_NavEKF3: rewrite getLLH to avoid excessive indenting by peterbarker · Pull Request #20380 · ArduPilot/ardupilot · GitHub

Constant position mode doesn’t set altitude?
- PH thinks the bug does exist
People liked the reformatting

UTC1135 - Blimp: remove duplicated and unused params by Hwurzburg · Pull Request #20381 · ArduPilot/ardupilot · GitHub

Blimp Wiki is up!
This removes duplicated and unused parameters in Blimp
- This isn’t all of them
- But most of them
- Failsafes aren’t working in Blimp right now
Blimp Home — Blimp documentation !!
merged!

UTC1136 - SP Racing H7 extreme updates by andyp1per · Pull Request #20385 · ArduPilot/ardupilot · GitHub

H7 Xtreme updates
Merged!

UTC1139 - AP_Param: fixed param class conversion code by tridge · Pull Request #20388 · ArduPilot/ardupilot · GitHub

fixes parameter keeps getting reset issue
Merged!

UTC1141 - HWDEF: add SLCAN OTG port, correct defaults.param errors by Hwurzburg · Pull Request #20391 · ArduPilot/ardupilot · GitHub

Qiotek H743 in Orca
SLCAN OTG port nor right, defaults.param incorrect
Merged!

UTC1144 - Plane: stable 4.2.0 issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

No Plane update today
New beta released
- Plane 4.2 beta release - #59 by tridge
Played with RC failover
- Throttle-threshold-failsafe does not work in this case as that’s done by the controller
Good text output now for RC failover

UTC1152 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

Terrain alt issue
Vehicle hitting ground too faster
- Not slowing down at land alt correctly
  - Caused by subtle change in terrain library
  - Doesn’t slow 10m above home, slows down 10m above terrain
    - Terrain adjustment which got removed
    - Another PR went in to restore the functionality
    - When you arm and takeoff it assumes that the vehicle is on the ground
      - So it zeroes the terrain altitude
Another beta coming out this week
Redux ~middday
- All-zeroes watchdog
  - Scary
  - Peter couldn’t find anything in the log
  - Need to get something in place, even if it just some more logging
  - Bdshot had stack overflows?!
  - Maybe the crash catcher might show something
  - Bumped to DevCallEU

UTC1156 - heli

Autotune testing highlighted an issue
determines max allowable p and d gains
- If it can’t it should stop
Direct-drive fixed-pitch rotor didn’t like autotune
- Spinning at high rate in yaw
- ESC gave up
- No ESC logging
  - Being commanded appropriately
  - Overcurrent shutdown?
  - Overtemp shutdown?
  - Dramatic shortage of ESC manufacturers who understand multirotor requirements
- 10:57 AM] Peter Hall: autotune does tend to catch out such issues.
- [10:59 AM] Peter Hall: its about as agressive as the vehicle will ever see, especially since vehicle are not really they run in when people are autotuning.
Flash-reduction PR to go back into 4.2

UTC0005 - Rover update

Testing is going well
More testers than usual
SCurve navigation
- Will merge soon
- Won’t make 4.2
- Beta3 coming soon

UTC0009 - GSoC

Looking forward to submissions
Just a few more days of the current period
Applications start next Monday

UTC0012 - Conference

Next Friday
- 8th/9th/10th
- Thursday evening US
Tentative schedule
- 2022 ArduPilot Developer Conference Schedule - Google Sheets

UTC0011 - close