Issues & Pull Requests
Issue details
There are several old messages/interfaces that we had with MAVLink which have been eclipsed by later messages we are sending...
AllVehicles
DevCallTopic
MAVLink
NeedAnswer
NeedToChangeGCS
GCC 8.1 Changes
https://github.com/ArduPilot/pymavlink/pull/176 and
https://github.com/ArduPilot/ardupilot/pull/8383
are required to build plane under GCC 8.1, similar patches are needed for copter and sub
GSOC
ChibiOS
new ESP8266 fw is ready
some ChibiOS on F7 progress thanks to Mirkix
Hardware
First production CAN Flow units came off the line!
They have been sent to the devs working on them, so expect them to be available soon!
The Cube Orange Prototype pcbs are on their way to Philip for test assemblies.
That will give us the F7 cube and the H7 Cube.
Rover
Rover-3.3 release progress
Copter
Copter-3.6 release progress
Attendee count (max): 25
UTC2300 - PR for MAVLink
https://github.com/ArduPilot/ardupilot/pull/8388
Do we try to handle base link latency here or do we add an assumed latency
GPS timestamping of incoming messages to reduce jitter?
Using a uart-goes-idle callback in the HAL
Packaging of messages issues?
More book-keeping data would be required
AP-IOMCU already has some sort of end-of-interrupt-wake-up-thread
PP - need to handle different jitters
Camera-sync
E.g. 200Hz IMU data decimated to 10Hz triggering a camera
Need to sync camera, IMU and transport
Serial latency and jitter will be fixed by this but the ROS camera and IMU timestamp have to get into the FCU
120-180ms lag/jitter in camera system
This patch reduces jitter
Need to measure/add in lag later
Confirmed to be working on a Rover firmware
Two other users are also testing
Also works in SITL
UTC2315 -
https://github.com/ArduPilot/ardupilot/issues/8387
Created yesterday libraries are not dependent on vehicle configuration
Current system provides compilation benefits, reuse compilation results between vehicles, few exceptions
Problems - one library can’t know if another is present and modify behavior based on that during compiling
Add the ability to conditionally compile stuff based on presence of other libraries - ex fence/avoidance
Using singletons means it’s easy to get in this situation
One solution would be to revert #include “config.h” patch
Tridge: AP_Feature, global defines for features
Peter: unclear, has to be up to vehicle maintainer to decide which libraries to include or not, ex tridge don’t want ac_fence in plane
Peter: break config.h into config and config_libraries.h <- libraries include that from vehicle directory during compilation
Peter: https://github.com/peterbarker/ardupilot/tree/config-libs this is me mucking around with reverting the commit mentioned above
Tridge: how to make examples work without config.h, maybe a ‘have config h’
Limitation of make to include file ‘if it exists’ waf can do this, make can’t
Randy: what libraries fall into this? Peter: ap_arming, fence, avoidance
Jacob: is this a nice to have or need to have? Peter: it’s a nice-to-have
Randy: it will make some builds smaller, Peter: ex if you are only interested in quadcopter motors mixer, you have to hack the library, we can use this new mechanism instead to edit the config in vehicle code
Fransisco: ideally this would go in build system instead of config. Peter: agreed, but we have two build systems, and with one it won’t work out
Tridge: right now patch only applies to make. Peter: C urrently playing with applying same thing to waf. Tridge: needs to be fleshed out more before evaluating. Peter: want to get go ahead on entire concept
Tridge not a huge fan but understand the motivation, think about it some more, continue off call
UTC2338 - https://github.com/ArduPilot/ardupilot/issues/8166
UAVCan corruption in Plane
Tridge has looked at this a bit
Tridge will work on a PR to mitigate the effects anyway
UTC2340 - GSoC update
Engaged with most of the students
Welcome Saphyr!
Neural networks to control UAV entirely on the vehicle
Heavily pruned network required
Working on design to physically build drone
Parts have started to arrive
Meeting with mentors to organise more expensive hardware
Need a funding proposal!
5 students ATM
One with an issue he’s working through
HW is being looked at
Funding committee proposals are being put in
Coding started yesterday
Stability problem:
UTC2351 - ChibiOS
F7 support coming along with Mirkix
I2c uarts, SPI, bootloader working
IO firmware is moving along
Close to replacing NuttX-based firmware with ChibiOS on Cube/PixHawk1
Safety-switch and one-short support are in
Lots of testing needed
RSSI input needed
UTC2352 - ESP8266
New release out
Another one due out today
Will be put up on firmware.ardupilot.org
web-UI improvements
Mavlink2 support
Not running ChibiOS
Improves firmware update via web interface
1megabyte chip required
QGC has a wifi bridge widget
Strings are a problem in mavlink
Sequences of integers in mavlink parameters
Randy’s happy to help with the documentation
PlatformIO is a pain
Jani has three different models coming
Esp04 esp02 conect via usb and normal serial port
UTC2358 - hardware
Uavcan flow going out to devs
Cube Orange also in prototype
Soon will have cube versions of the F7 and H7!
UTC2359 - Rover/Copter update
Rover 3.3.1rc2 went out to beta
Turn rate limits weren’t being applied
User-base isn’t big enough to get thorough testing
Motors spinning even when ESC is @1500
Linux boards all have different RC output methods
Underwater sonar support coming
Terrain following for subs?
Support for 3.6
Mostly good news
CO seems happy with new loiter
More work to be done
Rc2 in a week or two
UTC0013 - [10:14 AM] (Channel) https://github.com/ArduPilot/ardupilot/issues/8361
Randy supports getting rid of them
It will break GCS if they don’t update
Battery2 vs battery_status
Instance variable problem
Lots of work to support this!
OSD-updates
Send-message-interval PR will be useful before this is done
(Channel) JW: patching MP, QGC, and mavproxy is quick and easy and will cover almost all users as far as I know, this is my point idk why we talk about breaking them with so much concern.
UTC0020 - https://github.com/ArduPilot/ardupilot/pull/8383
Need a helper function which takes a const-char-* and creates the buffer
Sometimes these things are both bytearrays and strings
Tridge has commented on issue
UTC0025 - Plane 3.9?