Dev Call Mar 28, 2022

Development Team
2

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
  • 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

UTC0011 - close