Dev Call May 25, 2020

Visual speed estimates!
Need to get chobitsfan’s stuff in first
Ekf3 support
SITL features to add velocity glitches
Select in real time which messages are sent
- Tmask parameter
Sending both vision position and vision speed estimate
Remote-time-us is timestamp from remote system
Time-millis is when it arrives locally
New maths thing
- Get vel correction for sensor offset
Flight test video
More Time wrapping issues
- https://github.com/ArduPilot/ardupilot/issues/14058
Gps horizontal velocity noise
- Precludes using external nav and gps velocity tuning at same time
- Need an enum class for the EKF
Boolean value for ready-to-use-extnav when you’ve got pos and vel?
- Currently two booleans rather than an enum
Should be able to observe the scale factor by using the IMUs
Separate parameter table for SIM_Vicon would be nice
Velreset thing does seem to be an issue
- Need to check if we’ve ever seen vel data
Should now get similar performance as external-gps-and-external-yaw
Chobitsfan’s work generally
- Polish by Randy

UTC1156 - https://github.com/ArduPilot/ardupilot/pull/14328

Thread-switching can cause receiver to get out-of-sync
Downlink and uplink could share code

UTC0002 - https://github.com/ArduPilot/ardupilot/pull/14317

Runtime test GND_ options parameter
- Allow init with no barometer
- Runtime not required for this PR
Merged

UTC0005 - https://github.com/ArduPilot/ardupilot/pull/14248

Merged

UTC0005 - https://github.com/ArduPilot/ardupilot/pull/12200

Alex has been flying this a lot
- No crashes!
- Lucky as there’s a bug
- Significant bug in this PR - do NOT fly it
Metadata is downloaded from servers
User then chooses which parameters to modify before going to the field
- Empty uartdriver pointer on stack is bad
- protected/private methods
- Two constructors for gcs-mavlink-frsky?
- Pointer-to-driver
Needs a rebase

UTC0013 - Plane 4.0 release

4.0.6 beta is close
- Wants a test flight
- Henry will do one
- Backport risks…
- https://github.com/ArduPilot/ardupilot/blob/plane4.0/ArduPlane/release-notes.txt
- Randy’s been working on similar release notes for Copter
- Major change from 4.0.5
- Brings back compass ordering stuff
- Rtl-climb-min
- New boards
- HOTT telemetry
- Subset of LUA bindings
  - Thread-pulling didn’t extend to the LUA bindings
  - “More” is unclear in the release notes
- Biggest behaviour change is that we compensate VTOL gains for pressure alt
  - Like Copter
  - Only matters at unreasonable altitudes
  - SITL now takes into account
    - Have alt ceiling
      - 5.4km
        
        Runs out of oomph there
  - Denver, Colorado?
    - 1.6km
    - 3 or 4% change
  - Buzz Today at 10:25 AM: i did the maths once, and it worked out that adding an inch to the propsize per 1000ft alt was about right… so a copter on the top of everest would need props about 8" bigger than they started with.
  - … in theory.
Need to warn people they may lose their telemetry data (so if they can’t refetch at field that might be a problem)
In-flight reboot of IOMCU
- Power on the IOMCU should be more resilient than the FMU
- 4.0V?
- Anything below 4.7 is potential risk
- … actually 3.5/4.0V batch-to-batch
- No brownouts enabled on stm32 so things get corrupted rather than resetting
Probably 4.1 for ftp
No configuration requests understood by our simulated uBlox
Flight testing to be done
3 weeks of beta
Travis is working again on Copter stable

UTC0032 - https://github.com/ArduPilot/ardupilot/issues/12547

M9 from mRo is on the way
Not multi-band
F9-ey configuration stuff
So moving baseline
Faster cold-startup
More satellites so more constellations
Doesn’t need a fancy antenna
M9 is F9 without multiband?
https://store.mrobotics.io/product-p/mro10070.htm
Unit cost of GPS is similar to M8, so hopefully we’ll see lots of M9s!
Huge groundplane?
- Antenna performance will drop significantly
M8Q / M9Q
- Tiny, tiny ones with essentially no baseplane
See if Matek produces a bunch of small M9 boards?
S.curve stuff is basically working now
- Corners are nice and consistent
  - Very different from leash method
  - Leash length change is the confusing thing about current code
  - Splines are not as good as they could be
- Needs thorough review
- Style issues
- PR in a couple of weeks

UTC0043 - https://github.com/ArduPilot/ardupilot/issues/12509

No Rover update ATM

UTC0043 - GSoC update?

Randy’s connected with his two students
Blog post for avoidance is up
Ashvath walking robot block on the way
Pete’s MatLab stuff is coming along nicely
- 2000fps
Physics of vehicle in matlab then fly it in ArduPilot SITL
- Aerodynamics / testing
- Real fluid-dynamics environment for Plane dev?
- 5* real time ATM
- Some contribution is much faster than matlab built-in
- Mathworks has been contacted but the conversation didn’t go well
  - Will point them at Pete’s brilliant Wiki pages
    - Once they’re written
- https://github.com/ArduPilot/ardupilot/pull/14392/commits/4fa192c2543343a4f371335bbb929ffc88614d98
Some progress on Harshitt with PaulR
- PR in next week or so
Thienn’s working on the vision stuff
- Hasn’t really stopped working since last week!
- Passing confidence back into ArduPilot
- 435 support

UTC0048 - close