Dev Call May 22, 2023

Issues & Pull Requests



Attendee count (max): 15

UTC1102 - AP Scripting: Add health by haydendonald · Pull Request #23634 · ArduPilot/ardupilot · GitHub

  • Add sensor health bindings to LUA
  • The ternary operator is too much
    • It looks correct
    • But too hard to read
  • Baro, compass, iomcu, gyro, accel
  • Can be merged once the baro function has been made more readable

UTC1106 - Plane: takeoff to xtrack to virtual wp ahead instead of heading-hold by magicrub · Pull Request #14679 · ArduPilot/ardupilot · GitHub

  • Appears to be using velocity vector
  • Tridge and Paul did some similar work back in 2020
  • Currently takeoff doesn’t have a location
  • Takeoff is a location message
  • lat/lng in the waypoint wasn’t traditionally used
    • If you did fill it in then MP wouldn’t show it on the map if Lat/lon != 0
      • So couldn’t manipulate it
      • Is there a MR or ticket for this?
      • Need to verify in Mission Planner - Tom thinks if either LLA is zero, it is removed - needs fixed
  • Need a mechanism to say that we should use the lat/lng as a point?
  • Ground heading?
    • Gps velocity vector or gps yaw?
    • Gps ground course?
    • Ground course from ahrs is pretty bad until you get some velocity
  • Placing the waypoint on the map works for both cases
    • Current strategy should actually work pretty well for Tom
      • Wind blows it off course
      • Should be a ground course that it holds
      • Does not cross-track is the problem
        • So ends up with a cross component
    • A tkoff_options bitmask?
    • Waypoint lat/lng has advantage because you have it right from the start
    • Method where you get it from the ground course is problematic because you need sufficient velocity for the GPS and EKF to settle on a velocity vector
      • Need a threshold of some description
      • There’s a min-gps-speed parameter at 5m/s at the moment
      • Don’t try takeoff-to-location if you don’t have position
    • All this is really doing is using AHRS instead of GPS
      • AHRS may not be as good as GPS
      • AHRS could be affected by magnetic interference
        • High currents at takeoff esp.
    • This PR could go in with the few changes
      • Wrap it in a switch with an option
      • Specify the LLA in the takeoff command
      • Need to look at the assumption of next_wp_loc == prev_wp_loc
      • Bits to specify type of takeoff
    • Plane: enable options for using NAV_TAKEOFF location in takeoff · priseborough/ardupilot@a6d2b2b · GitHub

UTC1138 - GCS_MAVLink: home position should always send by magicrub · Pull Request #23636 · ArduPilot/ardupilot · GitHub

  • Always send home position
  • Home position message has a position relative to origin fields
  • Need to know why we can’t send home position before origin
  • We’ll send nans in fields we don’t know about
  • And all-zeroes to make an invalid quaternion

UTC1152 - Plane: Quadplane: move modes fully to run function by IamPete1 · Pull Request #23657 · ArduPilot/ardupilot · GitHub

  • Moves modes fully to run function
  • Tested in RealFlight a lot
  • merged!

UTC1153 - .editorconfig: Update for more standards aware editors by WickedShell · Pull Request #23731 · ArduPilot/ardupilot · GitHub

  • Update for more standards aware editors
  • Trailing newlines are a PITA
    • Stop removing trailing whitespace on save as it causes git spam
  • Should we make it a CI rule on code style?
  • Discourages new developers?

UTC1158 - Copter update

  • Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub
  • Issue with very short failsafes ELRS
  • Yaw reset when not having flown over 2m
    • Still doing 2D fusion
    • More susceptible to interference
  • Andy’s report on serial ports and GPS / serial passthrough not working
  • Passhtrough to GPS over CAN for firmware update e.g. ublox f9p and ucentre would be nice
    • Sid had something working
    • More important as people are moving to CAN GPSs
  • Endless climb with vertical bendy ruler
  • Siyia8 not working right?
    • When yaw is disabled
    • Roi with 3d works but not if you disable yaw
    • Should act perfectly as a 2D gimbal at that point
  • Users forgetting to set CAM1_TYPE
    • Zoom not working on a8
    • CAM_TRIG_TYPE must be set
    • This is not just a mount!
  • RC loss and regain issue
  • Top priority is the RCIN problem
  • 4.0.6 was first version with the bug
    • Probably of bug occurring might have increased
  • we ‘ve worked out how to do multiple betas now
  • IOMCU problem
    • Two ports on IOMCU on same pin, one inverted, one not
    • Bug in IOMCU firmware means that we may lock onto wrong port and then never give you RC again
    • Took tridge many hundreds of times to reproduce with a debugger
    • But some people could reproduce straight away
    • The no-change things might have made things worse.
      • Tridge hasn’t found a reason as to why that would make things worse
      • Suspicious in terms of causality but doesn’t seem to be a path
    • Weirdly if you put your sticks into just the right position things might recover?!
      • Just the right bit-patterns
  • Randy’s going to work on a 4.3 this-afternoon
  • Randy’s going to work on Rover autotune
    • The quicktune method will probably work for this

UTC0002 - AP_Motors: example: add ability to dump all matrix motor layouts in JSON format by IamPete1 · Pull Request #23821 · ArduPilot/ardupilot · GitHub

  • Add ability to dump all matrix motor layouts
  • Generator diagrams automagically from code
  • If it did it live it could dump the scripted-setup motors
  • Merged

UTC0020 - AP_Motors: example: add ability to dump all matrix motor layouts in JSON format by IamPete1 · Pull Request #23821 · ArduPilot/ardupilot · GitHub

  • Gate set_rc_protocols
  • Just remove the defines
  • 10:26 AM]Peter Barker: Apologies for running away while dicussing that defines PR. IRLock sent me a Siyi A8Mini camera which just arrived

UTC0022 - AP_Logger: make SCR name field instance by tatsuy · Pull Request #23829 · ArduPilot/ardupilot · GitHub

UTC0027 - Filters: Examples add transfer function check tools by IamPete1 · Pull Request #23839 · ArduPilot/ardupilot · GitHub

  • Stop brute-forcing phase lag
  • Use transfer functions
  • Matlab experiments show these work
  • Filter tool will run very, very fast past this

UTC0031 - Remove type pun warnings and enable Werr in SITL CI by Ryanf55 · Pull Request #23841 · ArduPilot/ardupilot · GitHub

  • Remove type pun warnings and enable werr in SITL
  • Need a whitelist of SITL compilers to whitelist
  • Some naming issues
    • Sparse_endian.h is starting to get out of hand
      • Some cpp functions required
      • Should use byte_order.h for performance
  • Hundreds of places in our code which assume little-endian
  • #error ArduPilot relies on little-endian
  • Let’s do the memcpys turn out before we look at
  • Memcpy can be very efficient if it knows the third argument

UTC0050 - Vulnerability - AP_GPS_GSOF latitude conversion subject to arithmetic exception · Issue #23842 · ArduPilot/ardupilot · GitHub

  • If we get very bad data from a GPS then we can get arithmetic exceptions
  • Very weak checksum
  • Stm32 we’ll do the right thing
    • We don’t die
  • This is a SITL-only check
  • GPS vendor should fix their protocol to have a proper 16-bit crc (or better) checksum
  • Rented GPS?!
    • GPS will stop working….

UTC0059 - Tools: autotest: Web: remove tools by IamPete1 · Pull Request #23850 · ArduPilot/ardupilot · GitHub

  • Remove WebTools as we now have a dedicated repo
  • Merged!

UTC0103 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Beta for Plane-4.3 will be out this-arvo
  • Dual betas as this will also be going into the 4.4 beta
  • Please, please test the beta!
  • Even if you’re just firing it up in your study!
    • Flight controllers with iomcu and receiver on that iomcu
    • Test and comment on the PR

UTC0104 - close