Issues & Pull Requests
Plane
Copter
Attendee count (max): 16
UTC1101 - common.xml: Add MAV_RESULT_COMMAND_LONG_ONLY and MAV_RESULT_COMMAND_INT_ONLY to MAV_RESULT by sypaq-nexton · Pull Request #1982 · mavlink/mavlink · GitHub
- Add a pair of return values to determine if the vehicle understands command long/command int
- Perhaps we should do a default mapping from command int to command long
- Shouldn’t the command long be the base?
- No, we should convert command long to command int
- Use a default case in the command long to command int case
- Use a specific list in the other case
UTC1109 - Plane: don't trigger RC failsafe until RC has been received for the first time by IamPete1 · Pull Request #23189 · ArduPilot/ardupilot · GitHub
- Don’t trigger RC failsafe until RC received for first time on Plane
- Merged!
UTC1111 - ESP32 classic fixes and a new board by davidbuzz · Pull Request #23569 · ArduPilot/ardupilot · GitHub
- Fix ESP32 and add a new board
- Needs to stop adding more ifdefs for the HAL we’re building for
- Commit messages need fixing
- Nested interrupts or not on this platform?
- Stack is on current thread under ChibiOS
- Not sure if it’s a separate stack on freertos
UTC1118 - Tools: sim_vehicle to only launch one 1455x UDP port by magicrub · Pull Request #23579 · ArduPilot/ardupilot · GitHub
- Launch only one 1455x port rather than two in sim_vehicle.py
- Merged!
UTC1120 - Move NTF_LED_TYPES to hwdef, rename to new pattern, fix line endings in Sierra autopilots hwdefs by Hwurzburg · Pull Request #23589 · ArduPilot/ardupilot · GitHub
- Move NTF_LED_TYPES to hwdef, rename and fix some line endings
- Can’t do a lot of things in the hwdef
- E.g. servo channel defaults
- Need to fix the CUAV nora
- Can be merged once the cuav nora thing has been fixed
UTC1125 - Plane: move to more mode run functions by IamPete1 · Pull Request #23595 · ArduPilot/ardupilot · GitHub
- Move to more mode run functions
- Fixing stabilize mode?
- Surface deflection based ons ticks
- But actual rate you get is very dependent on tune as you’re fighting the PID
- Incorporate logic from acro?
- Make it somewhat like our new acro controller?
- Try to do a loop in stab?
- Really weird and gets squirrelly
- Would be nice to be able to do a loop in stab
- Stab in a tailsitter doesn’t work at all!
- Acro trainer in stab?
- People reach for stab because that’s what Copter has….
- Betaflight?
- Angle is fbwa
- Horizon switches between angle and rate
- Maybe rope in rcgroups people and see what they’d like?
UTC1130 - Filter: SlewLimiter: always caculate slew limit by IamPete1 · Pull Request #23597 · ArduPilot/ardupilot · GitHub
- Slewlimiter - always calculate slew limit
- So we can log it!
- Pretty graphs….
- Still need to log PIDs in Copter….
- Maybe at 10Hz?
- Bill wants them faster
- Or at least an option for it
- 10Hz at least gives you integrator windup (and slew rates past PH’s PR)
- And FF on heli
UTC1138 - Make default for land airspeed halfway between min and cruise and make it apply to both FW and QPlane approaches by Hwurzburg · Pull Request #23601 · ArduPilot/ardupilot · GitHub
- Move default for land airspeed half-way between min and cruise
- Problems with slowing down on large quadplanes with this patch?
- tridge will work with Henry on this one
UTC1147 - Normalize SerialManagers ports defaults to allow inclusion in hwdefs by Hwurzburg · Pull Request #23602 · ArduPilot/ardupilot · GitHub
- Make serialmanager defines regular
- Peter thinks doing parameter conversion would be good
- Tridge doesn’t think it is worth it
- Maybe we can just remove SERIALMANAGER_CONSOLE_BAUD?
- Can be merged if Peter’s happy with it!
UTC1157 - AP_Mount: Siyi supports absolute zoom control by rmackay9 · Pull Request #23609 · ArduPilot/ardupilot · GitHub
- Support absolute zoom control on Siyi
- As a percentage
- Works on A8 and ZR-10
- Distinguished by message length!
- Merged!
UTC0001 - AP_HAL_ChibiOS:correct KakauteH7 IMU label by Hwurzburg · Pull Request #23628 · ArduPilot/ardupilot · GitHub
- Correct IMU label on kakuteh7v1
- They’re bringing this back….
- Merged!
UTC0002 - AP_HAL_ChibiOS:correct KakauteH7 IMU label by Hwurzburg · Pull Request #23628 · ArduPilot/ardupilot · GitHub
- Mode takeoff to climb to tkoff_alt_minimum if already flying on entry
- Flipped into mode takeoff
- Started to loiter at 20m
- They were expecting mode auto behaviour
- If you enter the mode and you’re below the altitude you’re after you will climb to your takeoff alt
- Like a loiter with a minimum takeoff if you’re already flying
- We don’t do the wings-level thing
- Valid-position checks
- Offsets were wrong too
- Flat-world assumptions using home?
- Should be terrain-relative
- We shouldn’t descend… but that’s already in here
UTC0016 - Add AP_RCPROTOCOL_SBUS_ENABLED option by peterbarker · Pull Request #23631 · ArduPilot/ardupilot · GitHub
- Add and use AP_RCPROTOCOL_SBUS_ENABLED
- Merged!
UTC0020 - Copter takeoff max rpm check by WickedShell · Pull Request #23637 · ArduPilot/ardupilot · GitHub
- Copter takeoff max rpm check
- Sanity check that the rpm is sensible
- Might catch ESCs desyncing
- What spin regime are we in?
- Merged
UTC0024 - AP_Camera: support image tracking by rmackay9 · Pull Request #23640 · ArduPilot/ardupilot · GitHub
- Track a point on a video stream
- Also track a rectangle
- Seemed to work OK on the camera Randy was using
- Aux switch locks in current thing to track
UTC0034 - EKF: fixed watchdog on failure to allocate EKF cores by tridge · Pull Request #23648 · ArduPilot/ardupilot · GitHub
- Fix watchdog-at-boot in low-memory situations
- Why are people running out of memory all of a sudden?
- Spot checks to be done
- Will be merged after minor change made
UTC0037 - waf: added -g option to configure by tridge · Pull Request #23649 · ArduPilot/ardupilot · GitHub
- Add -g option to configure
- Gives you debug symbols
- Merged!
UTC0038 - Add failsafe protections to Mode Takeoff by Hwurzburg · Pull Request #23650 · ArduPilot/ardupilot · GitHub
- Add failsafe protections for mode takeoff
- Descriptions on failsafe actions are…accurate but incomplete and confusing
- Henry was making detail tables
- Mode takeoff does nothing on failsafes ATM
- Henry thinks we should at least what we do in auto
- So long as you’re above takeoff alt
- Will re-trigger once you’re above takeoff alt
- If you have your long failsafe as glide would the extra 5 metres of alt you can if you lost RC immediately be an issue?
- If we put the protection in takeoff - why isn’t the same thing in auto?
- Tridge thinks we should climb to normal altitude and then trigger
- If you get a GCS failsafe should we do this new behaviour?
- Mode takeoff and nav takeoff is different
- Different throttle levels!
- RTL with climb assumes vehicle is climbing
- Rolling takeoffs would make going to RTL problematic!
- Not necessarily on your wings!
- Vast majority
- You would get two events logged
- Stale state with the long failsafe state?
- Don’t call check_long_failsafe during takeoff?
- Maybe have a “long failsafe action suppressed” timestamp which can be updated?
UTC0102 - Plane update
- 4.4 Testing has been positive
- Some sort of filter on airspeed input data might be a good idea
- There’s the EKF-out-of-memory problem
- A few other things marked as 4.4
- Ina228 battery monitor is pending testing
- Tridge wants to backport to 4.4
- Compass-less Plane permanent disarm
- Re-arm in flying is not guaranteed!
- Isn’t this why we added the estop variant?
- yes
- Prior to 4.4rc1 or 2 you could rearm in the air
- State reset on disarm was added for gsf
- Problem was there
- When only on GSF it’s OK
- But if you add a compass you can’t re-arm
- Refusing to arm
- On disarms the gsf is reset
- Don’t do this if is_flying?
- “EKF is no longer aiding” is what you get
- Tridge to get some logs to look at
UTC0110 - Copter update
- 4.4 testing has gone OK
- Watchdog fix
- Custombuild builds flying strangely?!
- Seems unlikely!
- Need logs…
- Michelle found an EKF error on a small quad
- Yapu reporting for second battery
- Ekf origin alt being set badly by MissionPlanner
- Can be very bad
- Only really affects non-GPS-navigation user
- Beta2 probably won’t go out this week
- Golden Week
UTC0114 - ESP32 redux
- Merged
UTC0117 - partner’s call tomorrow
- Need to cover use of apj tool to add parameters
UTC0117 - vote for funding committee
- Now open
UTC0117 - GSoC
- Waiting for number of slots to come back