Dev Call May 29, 2023

Issues & Pull Requests


Copter & Rover

Attendee count (max): 12

UTC1102 - AP_AHRS: make ExternalAHRS an AP_AHRS_Backend by peterbarker · Pull Request #18860 · ArduPilot/ardupilot · GitHub

  • Add a shim for externalahrs to make it a normal AHRS backend
  • Getting trims right really matters
    • Copter landing detector really mattered
    • Making these consistent
  • Need to check why the flash cost

UTC1115 - Move mavlink receive buffer into GCS_MAVLINK object by peterbarker · Pull Request #22558 · ArduPilot/ardupilot · GitHub

  • Move mavlink receive buffer into GCS_MAVLINK
  • Need to do better with mavlink buffers
  • Peripherals that do mavlink will simply not work with this

UTC1122 -

  • Thrust linearisation for ddfp tail rotors
  • Trims were interesting
  • Tested on real hardware
    • User reported huge improvement
  • Want to have live-updating of some parameters
  • Compound helis notionally have two tail rotors
  • Easy post-PH’s changes

UTC1130 -

  • Add subscriber support to DDS
  • Stdint types?
  • Need to work out how to do DDS in terms of binaries
    • Always point to custom build server?

UTC1144 - AP_GPS: Remove gsof zero initialization by Ryanf55 · Pull Request #23828 · ArduPilot/ardupilot · GitHub

  • Remove zero initialisation
  • Merged!

UTC1145 - Remove type pun warnings and enable Werr in SITL CI by Ryanf55 · Pull Request #23841 · ArduPilot/ardupilot · GitHub

  • Remove type-punning warnings
  • Add werr in SITL CI
  • Using a reference means you get type safety, because automatic promotion won’t work
  • Doesn’t turn warnings on for developers?
    • Maybe we turn it on by default
      • Add a –disable-werr?

UTC0005 - AP_OSD: Add missing labels for new serial protocols by sypaq-nexton · Pull Request #23872 · ArduPilot/ardupilot · GitHub

  • More labels for OSD menus
  • Merged!
  • Static assert is good!

UTC0009 - AP_HAL_ChibiOS: minimize VRUbrain-v51 by peterbarker · Pull Request #23887 · ArduPilot/ardupilot · GitHub

  • Minimise a bunch of boards
  • Removing the bootloader would be reasonable
  • Removing CRSF is pretty extreme, however.

UTC0013 - Rover: add Circle mode and Auto mode Loiter_Turns support by rmackay9 · Pull Request #23890 · ArduPilot/ardupilot · GitHub

  • Add circle mode and auto mode loiter_turns support
  • Blocker
    • SCurves needs the vehicle to be tuned!
    • This PR makes it easier to add autotune
  • Merged!

UTC0017 - EKF: support passing in an external position estimate by tridge · Pull Request #23903 · ArduPilot/ardupilot · GitHub

  • Support passing in an external position estimate
  • Tested on a real vehicle
  • For if your GPS is misbehaving
  • So if you have a video feed you can tell the vehicle where it is
  • “Align”
  • Two use cases
    • Realigning vehicle position by telling vehicle where it is
      • This requires feedback to the GPS that it succeeded
    • External vision systems giving constant updates
  • Randy has some similar PRs
  • This message seems to be a superset of Randy’s except it doesn’t support yaw
  • Height?
  • That continuous update vision positon system should probably go through existing visual odometry system?
    • Can’t fuse this in the EKF as it’s several seconds lagged
      • Numerically unstable if you even try
  • Velocity states etc are the ones you don’t want to move
  • This is for the correction of dead-reckoning
  • Upstream mavlink for this?

UTC0049 - AP_HAL_Chibios: Update hwdef for FlywooF405S-AIO (alternative IMUs) by mbuzdalov · Pull Request #23908 · ArduPilot/ardupilot · GitHub

  • Extra IMUs for FlyWooF405
  • Merged!

UTC0050 - GCS_MAVLink: remove more compass cal if it is not enabled by peterbarker · Pull Request #23909 · ArduPilot/ardupilot · GitHub

  • Exclude more code based on compass cal
  • MergeOnCIPass

UTC0052 - AP_Scripting: mount-poi applet sends camera feedback message by rmackay9 · Pull Request #23912 · ArduPilot/ardupilot · GitHub

  • Mount-poi applet sends camera feedback
  • Needs some fixing
  • copy/paste encode/decode because require doesn’t seem to be working?
  • Should we have output of mavgen available from
  • Aerobatics is going to change to use new mavlink stuff
  • Rockblok stuff can be updated to use new mavlink stuff
  • MergeOnCIPass

UTC0054 - waf distclean not removing build/ folder after commit 22c1470acac8bc112e77ffcdfb868314a3d32be7? · Issue #23913 · ArduPilot/ardupilot · GitHub

  • Waf distclean isn’t working properly
  • Needs Sid
  • Randy’s not happy about the rapid merging without proper testing

UTC0101 - AP_AHRS: don't reject airspeed using EKF if dead-reckoning by tridge · Pull Request #23915 · ArduPilot/ardupilot · GitHub

  • Don’t reject airspeed data based on EKF state if that EKF is dead reckoning
  • This can stop Planes stalling if the EKF might be having problems with its velocity estimates due to a lack of position
  • Why doesn’t the EKF start to trust the airspeed sensor if it has reason to think its wind estimation is suspect because of bad velocity?
  • Trusting your primary estimator to tell you whether your airspeed sensor is working correctly?
    • Ask all your estimators and take a median?
  • MAX_WIND is kind of flawed
    • No basis to set that parameter
    • Can’t dictate the weather

UTC0114 - Plane update

  • 4.3.7-beta is going well
  • Final release tomorrow
  • Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
  • Out-of-band-beta seemed to work OK
  • 4.4.-beta2 PR is open
    • Beta after tomorrow
    • RC input fix in 4.4 a good thing
  • Flight from 90,000 feet by NOAA
    • Landed perfectly happily
    • Close to the speed of sound
    • Need to scale the barometric noise in the EKF with your baro alt
    • Pressure noise stays constant but the relative pressure noise climbs
    • Innovation climbs and climbs and climbs
    • no height estimate is bad
    • height-from-GPS
    • 95% of the speed of sound
  • Too many lane changes?
    • Not fusing bad velocity in same loop, you can bounce between lanes

UTC0128 - Copter update

  • 4.3.7 tomorrow afternoon, probably
  • 4.4
    • Fpv406 reports getting watchdog
    • Siyi gimbal user having problems with crsf
    • beta release later this week
    • Watchdog
    • Want crashdump

UTC0031 - close