Dev Call May 16, 2022

Issues & Pull Requests


Copter & Rover


Attendee count (max): 20

UTC1102 - Allow up-to 32 servos by IamPete1 · Pull Request #16301 · ArduPilot/ardupilot · GitHub

  • Allow up to 32 servos
  • Tridge went through it
  • Want this in in early phases of 4.3
  • Tridge fixed a few places up
  • Parameter servo32_enable
    • Enable parameter so we don’t end up sending many extra parameters
  • This worked back in March
    • Changed since then
  • Testing?
    • NeedsTesting
    • Ground testing….
    • Flight testing….
  • Octaquad quadplane user needs this…
  • SITL support would be good
    • New target vehicle?
      • ComplicatedQuadPlane?

UTC1108 - AP_BoardConfig: Increase the number of digits in the board serial number by muramura · Pull Request #19854 · ArduPilot/ardupilot · GitHub

  • More digits in board serial number
  • Merged

UTC1109 - Allow individual Baro backends to be compiled out by peterbarker · Pull Request #19897 · ArduPilot/ardupilot · GitHub

  • Allow individual baro backends to be compiled out
  • Only SkyViper uses the stuff ATM
  • Need to ensure MSP, CAN and ExternalAHRS
  • Baros in GPS kind of suck
    • Exposed in wind
      • Baro errors
  • More testing required

UTC1126 - Tools: environment_install: set python3 as default on ubuntu by khancyr · Pull Request #20281 · ArduPilot/ardupilot · GitHub

  • Python3 by default on most platforms now
  • Merged!

UTC1127 - Copter: improve shaping of rate controlled axes by bnsgeyer · Pull Request #20307 · ArduPilot/ardupilot · GitHub

  • Improve shaping of rate controlled axes
  • Started with rate-shaping control
  • Parameter conversion still to be done
  • Impact on quadplane?
    • How does the command model get into attitude controller?
      • QuadPlane will need some patches
      • Copter will use different time-constant-based-shaping rather than the accel-based shaping
        • Sub and Blimp would also need patches
        • Quadplane won’t change behavior based on this
  • Acceleration limit still in AC
    • Fast time constant? Accel limit will still apply
    • Only if you increased accel limit and then slowed down response you’d get different handling of aircraft
  • PH will follow up with QuadPlane patches
  • Should the command model be passed straight into the library rather than passing results from the command model object in?

UTC1141 - Feature Request: Add version number to firmware file name · Issue #20224 · ArduPilot/ardupilot · GitHub

  • Feature Request: Add version number to firmware file name
  • Break older tools?
    • E.g. MissionPlanner
    • Symlink?
  • Simple tool to rename apj?
  • Board + vehicle type + version
  • Significant amount of work?
  • Manifest generation should actually do really well for this
  • It’d be nice, but…
    • We’d start with 4.3
    • Rely on manifest to get the names

UTC1151 -

  • Console output can be disabled
  • Merged!

UTC1153 - AP_HAL_SITL: init ArduSub pwm_output to 1500 by clydemcqueen · Pull Request #20403 · ArduPilot/ardupilot · GitHub

  • Init sub pwm output to 1500
  • For discussion not merging?
  • Try to come back to this later in the call

UTC1154 - hwdef: do not run rcin thread on Hitec-Airspeed periph by peterbarker · Pull Request #20522 · ArduPilot/ardupilot · GitHub

  • Still needs testing
  • Hitex airspeed rcin thread

UTC1155 - AP_Scripting: always free heap before returning by IamPete1 · Pull Request #20549 · ArduPilot/ardupilot · GitHub

  • Should work but doesn’t
  • The way we do heaps on ChibiOS
  • Realloc stuff on heap to 0?
  • Useful for scripting restart so you don’t run out of memory
    • Scripting restart can allocate larger heap
    • Throw everything away and start again
  • Move to a single allocate call
    • Single free
    • Deallocate_heap_memory which subtracts the memory heap_t from heap pointer to work out what to free

UTC0002 -

  • Added compass glitch detection to fix gps_glitch showing in mag anomaly
  • Should we differentiate?
  • Use the GSF to work out if the compass is good?
  • Just say “GPS/Heading Glitch”?
    • “Compass/Heading Glitch”?
    • “GPS Glitch of Compass Error”
  • This is a lot of code to just change a string
  • The vibration aspect is covered by existing messages….

UTC0010 - AP_HAL_SITL: init ArduSub pwm_output to 1500 by clydemcqueen · Pull Request #20403 · ArduPilot/ardupilot · GitHub redux

  • Doing stuff which is done in other vehicles?
  • Alternative: Send invalid PWM before the vehicle is ready?
    • Use 0 as a marker value?
    • Hal-safetyon sort of thing?
    • A few changes in SIM_Submarine
      • Check for zeroes specifically?
  • MergeOnCIPass

UTC0014 - Plane: Quadplane: QRTL climb to QRTL alt first if in Q mode by IamPete1 · Pull Request #20645 · ArduPilot/ardupilot · GitHub

  • QRTL climb to QRTL alt first in in Q mode
    • Only if going to transition to forward flight
    • Will tend to over-shoot as no slow-down at top of climb
  • Stopped using the waypoint controller…
  • Tridge will test IRL

UTC0019 - Run prearm checks on all vehicles @1Hz, displaying @0.0333Hz by peterbarker · Pull Request #20730 · ArduPilot/ardupilot · GitHub

  • Bill will test and we can merge it if Bill’s happy

UTC0027 - AP_Param: eedump_apparam fix accessing uninit var by hendjoshsr71 · Pull Request #20745 · ArduPilot/ardupilot · GitHub

  • Fix eedump tool
  • Merged

UTC0027 - AP_OSD: correct compilation without OSD_ENABLED by peterbarker · Pull Request #20748 · ArduPilot/ardupilot · GitHub

  • Correct compilation when OSD enabled
  • Merged

UTC0028 - Plane Auto TakeOff : Idle Throttle for Hand/Bungee/Catapult launch · Issue #20754 · ArduPilot/ardupilot · GitHub

  • idle throttle for takeoff with folding props?
  • Less keen on RC input concept
  • Say there’s a problem… what now?
  • We’ll need a PR for discussion
    • So flesh out on the issue and then create an implementation

UTC0031 - AP_EFI: added fuel usage integration for Lutan EFI by tridge · Pull Request #20759 · ArduPilot/ardupilot · GitHub

  • Implement Lutan fuel consu tpion
  • EFI fuel consumption is really good
  • Merged

UTC0035 - Airspeed: fixed dual airspeed calibration by tridge · Pull Request #20772 · ArduPilot/ardupilot · GitHub

  • Airspeed autocal fixes
  • Dual airspeedsensor autocal problems
  • Will be back-ported

UTC0041 - Plane: increased safety of QGC guided takeoff by tridge · Pull Request #20773 · ArduPilot/ardupilot · GitHub

  • Safety fixes when using QGC
    • Quadplane on ground having tested RC failsafe, going to a DO_LAND_START, slider changes to guided, arms and goes back to auto
  • Magic slider switches to guided and then back to auto which can be a problem as the quadplane arming checks aren’t run
  • Throttle suppression code now protects but isn’t perfect due to heuristic
    • Disarm in Copter goes back to first waypoint on disarm
  • Sprung-throttle fixes already merged
  • You now can’t arm quadplanes in RTL
  • Reason we got into the problem is Copter’s inability to arm in auto
    • QGC worked around that my using guided to do the arming checks
    • Quadplane suffered because of this!
    • AUTO_OPTIONS=3 is wonderful
  • Fixing QGC is a good idea
    • But 2 or 3 years before it isn’t a problem
  • Starts-with-takeoff has to include vtol takeoff
    • Vtol takeoff in copter now a synonym for takeoff
  • Quadplane now will refuse change to auto if you armed in guided and haven’t done a guided takeoff
  • Fundamental issue
    • Three separate things
      • Fly-to-here
      • External control
      • Takeoff-in-guided
    • Guided mode/armed…
      • Is it flying to here?
      • Or are we waiting for a takeoff command?
      • Now much stricter
        • If you arm in guided mode then we ill now wait for
          • disarm
          • Takeoff command
          • Takeoff as waypoint
          • Change mode to qloiter or whatnot
          • Need to test QRTL
        • Significant behavioural change
  • Testing needed
  • Obscuring the core reason with the modereason change?
    • E.g. batteryfailsafe reason will get squashed
  • PH will look at it

UTC0058 - Plane update

  • 4.2 PR pending with several fixes already covered in this call
  • Probably a week of beta and then 4.2.1

UTC0059 - Rover and Copter update

  • Several resolves items
  • ATC slew yaw fix
  • 4.2 alt_hold still not right?
    • Single IMU
    • Earth frame accel was coming from 1st IMU
      • EKF bias correction wasn’t being applied
      • Accel from RTL was coming from the accel cal
    • Now it is using the bias correction
      • Logs seem to show the EKF is doing a bad job of estimating the z-bias when flying in acro with high vibes
      • Andy would like accel bias to not be calculated when doing acro
      • Bias in one direction in acro then another in RTL!
      • EKF accel bias code broken?
        • Not really
        • High accels means GPS lag becomes more important
    • Ahrs option bit which says “don’t use EKF accel biases”?
      • Rely on accel cal when you set up the vehicle
    • This is not standard flight
      • First IMU is disabled
      • High-accel high-clipping
    • [11:10 AM] Buzz: if clipping, then set this bit automatically?
    • So we’ll add a bit and then look at fixing the accel bias learning
    • Not common enough to warrant patch into 4.2
  • D-shot blue-jay issues
    • Works in master but never worked previously?
    • Users says it is a regression but not considered a blocker ATM
  • MatekH743 four IMUs?
    • No, the hwdef just gives options
    • INS_ENABLE_MASK is the probe mask
      • Different variants of the same boards need different values
      • USE will log but not usem ENABLE to not probe for it and EK3 parameter to not create a core
      • Probing mask particularly useful for killing IMUs which spew errors
  • 4.2.0 maybe next Saturday

UTC0125 - GSoC update

  • Students have been selected
  • Waiting for Google to get back to us

UTC0126 - close