Dev Call Mar7, 2022

Issues & Pull Requests





1 Like

Attendee count (max): 19

UTC1100 -

  • Ship takeoff/landing
  • Some places modified outside Plane code for people to look at if they like
  • Back-transition logic has changed
    • Good reports so far
  • PH has reviewed and changes have been made appropriately
  • Leonard’s new velocity control for P1 is in here
    • Jerk and accel limiting and smoothing is active now
  • Few changes in follow mode to add extra APIs
  • Location code get_bearing which returns float was being converted from the int32 centidegrees
    • Inaccuracies fixes
  • several fixes for Plane nav_controller_output in here
  • This should be able to get into 4.2
    • Tridge Wants to get this merged so others can test now
  • Aborts, go-arounds, ship angles all worked nicely
  • Moving truck next week for this
  • Input_vel_accel_xy really needs the correct target accels - now supplied, allowing for less lag in velocity
    • Improves landing positioning
  • Tilt quadplane guided mode takeoff was broken
    • Motors always pointing forward until takeoff
    • Plane would lurch forward and might crash
      • Now waits until motors pointing up
      • Don’t know user wants takeoff until command received
    • Needs some more thought on when to point motors up in guided
  • Testers wanted!
  • Copter ship landing coming…
  • Qgc follow message now works well
    • They’re adding global_position_int support now
  • MissionPlanner should send out global_position_int messages….
    • Would be nice to have a wiki page on MissionPlanner plugins
      • 99% Michael still…
    • A dev env for MissionPlanner is much easier now with VS2022
      • Not a build all!
      • Build mission planner only works

UTC1120 -

  • pause/continue with SCurve
  • Randy’s reviewed it
  • This is the last PR which Leonard really wants in as part of 4.2
  • Any impact on Plane?
    • Some changes in ac_wpnav…
    • But nothing that really matters
  • Can be merged as is but we might wait for the comment to be nuked

UTC1123 - hwdef: added HolybroG4_GPS by tridge · Pull Request #20149 · ArduPilot/ardupilot · GitHub

  • Add hwdef for HolyboG4 GPS
  • M8n on CAN
  • Mergeoncipass

UTC1124 - AP_Param: try both native and AP::FS filesystems for posix systems by Williangalvani · Pull Request #20193 · ArduPilot/ardupilot · GitHub

  • Absolute path issues on Linux
  • Optional parameter to open to allow absolute paths
  • A boolean option to allow absolute paths to be used…
  • Maybe only for read?
  • So we stop doing the fopen in AP_Param.cpp and just use AP::FS()

UTC1131 - AP_Compass: Fix compass priority instance message to make sense to users by WickedShell · Pull Request #20195 · ArduPilot/ardupilot · GitHub

  • Fix compass priority instance method
  • Merged

UTC1132 - Rover: loiter: sailboats don't try and sail directly into the wind by IamPete1 · Pull Request #20206 · ArduPilot/ardupilot · GitHub

  • Loiter ended up trying to sail into the wind if you waited long enough
  • Merged!

UTC1134 - Stop libraries including AP_Logger.h in their header files by peterbarker · Pull Request #20215 · ArduPilot/ardupilot · GitHub

  • Header include fixes
  • Should this really go in?
    • This close to 4.2?
    • Merging it after is problematic because backports become problematic
    • So far we’ve had 124 patches…
    • Do we really want custom rotations stuff pushed back into 4.2?
  • This can go in as-is but not right now!

UTC1147 - Move Fence to AP_Vehicle by IamPete1 · Pull Request #20217 · ArduPilot/ardupilot · GitHub

  • Move fence to AP_Vehicle
  • Why is this costing so much?!
    • Alignment?
    • 1.2kB is quite large….
    • AC_Fence on tracker?!
      • Who cares - not really going to run out of space….
    • Double vs single precision, perhaps?
  • Fence logging can’t tell if fence is there or not…
  • Longjmp vs shortjmp?!
    • Move ac-fence up in the build list to see if it makes any difference…
  • Maybe waf?
  • DEST_BINFMT is windows build stuff - is this still required?!

UTC0004 - Potential unexpected operation of sprayers, parachutes, etc. · Issue #20218 · ArduPilot/ardupilot · GitHub

  • Unexpected operator of sprayers/parachutes etc
  • Hwdef gpios
  • BRD_PWM_COUNT means
  • Arming check used to be enough…
    • But if you upgrade to 4.2 you might be outputting pwm to the pin?
      • I.e. on boot after update you might suddenly pop a cute
    • E.g. parachute
    • Active low vs active high
    • Tristate might pop the actuators?
    • Parameter conversion from old system to new?
  • Put a warning into the 4.2 update warning of this?
  • Parameter conversion for the case where they have set the value?
  • Reset all servo parameters to -1?
    • Break everyone’s setup
  • Need active low output required for proper fix

UTC0016 - include GPIO in servo no function checks by IamPete1 · Pull Request #20219 · ArduPilot/ardupilot · GitHub

  • Include GPIO in servo no function checks
  • Merged!
  • Fixes picoolocan

UTC0017 - Rename within_min_dz to in_min_dz for consistency by peterbarker · Pull Request #20221 · ArduPilot/ardupilot · GitHub

  • Rename function for consistency
  • merged!

UTC0017 - AP_NavEKF : remove the space around the operator by RuffaloLavoisier · Pull Request #20223 · ArduPilot/ardupilot · GitHub

  • Random whitespace changes….
  • Do we really want these?
  • Not really
  • Merging anyway

UTC0020 - Plane: don't prevent stick mixing in none RC failsafe by IamPete1 · Pull Request #20232 · ArduPilot/ardupilot · GitHub

  • don’t prevent stick mixing on non-RC failsafe
  • Merged!

UTC0021 - Plane: disallow mavlink disarm while flying by tridge · Pull Request #20234 · ArduPilot/ardupilot · GitHub

  • Disallow mavlink disarm while flying
    • So people don’t fat-finger a button on their table and crash their quadplane
  • Aligns with Copter
  • Can still force it

UTC0024 - AP_RangeFinder: add AP_RANGEFINDER_LEDDARVU8_ENABLED by peterbarker · Pull Request #20236 · ArduPilot/ardupilot · GitHub

  • Allow Leddar vu8 to be compiled
  • 4.2 beta1 was being built with old compiler
  • Should we really keep older drivers around?
  • Merged!

UTC0031 - HAL_ChibiOS: fixed min/max inversion in MCU voltage logging by tridge · Pull Request #20237 · ArduPilot/ardupilot · GitHub

  • Fixed min/max inversion in MCU voltage logging
    • Division was incorrect….
  • Merged!

UTC0033 - Clean up Heli Autotune to reduce flash size by bnsgeyer · Pull Request #20238 · ArduPilot/ardupilot · GitHub

  • Clean up Heli autotune to reduce flash size
  • Saves ~1700 bytes of flash space
  • Bill wants to do more testing on this - but Randy’s happy for this to go in…

UTC0038 - Add Rangefinders build option by Hwurzburg · Pull Request #20240 · ArduPilot/ardupilot · GitHub

  • Allow all rangefinder backends to be compiled out individually
  • Can be merged once the variable name is fixed
  • Will prepare 4.2beta2 branches to cherry-pick some changes
  • Peter will merge after that name change

UTC0050 - Always choose high for dshot prescaler calculation by andyp1per · Pull Request #20247 · ArduPilot/ardupilot · GitHub

  • Choose high fordshot precalar calculations
  • D-shot was broken recently
  • This fixes that
  • Will discuss on eu devcall
  • Need to get Andy some more hardware for testing?
    • Worried this will break other hings

UTC0051 - Plane: stable 4.2.0 issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Generally happy with 4.2
  • Beta2 at end of week?

UTC0053 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

  • Couple of issues that have popped up in 4.2
    • Gps-for-yaw issue?
      • Tridge will need to test
  • Custom build server will need to be updated for 4.2
  • Fence logging…. Would be nice…
  • Gps-for-yaw not working in a particular GPS driver…
  • Optical flow?
  • Thanks to Andy for helping out on the forums

UTC00101 - update

  • No new reports of note
  • Big feature not gone in is SCurves
  • Not slowing down in corners for Copter has gone in
    • So it’s probably a lot better for Rover now

UTC0102 - GSoC update

UTC0104 - Developer conference

  • Need to start assembling a schedule

UTC0105 - close