Dev Call May 8, 2023

Issues & Pull Requests

Plane

Copter

Attendee count (max): 17

UTC1101 - common: Add message GIMBAL_MANAGER_SET_PITCHYAW from upstream by khanasif786 · Pull Request #305 · ArduPilot/mavlink · GitHub

  • Support for gimbal manager set pitchyaw
  • QGC is ignoring a NAK?
    • Continues to send?
  • Why would we support this when we support the pitchyaw equivalent?
    • Because a streaming message for setpoints makes sense
  • We’ve merged this mavlink and there’s a PR to support the feature for future calls

UTC1114 - common.xml: add MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE by Davidsastresas · Pull Request #315 · ArduPilot/mavlink · GitHub

  • Add DO_GIMBAL_MANAGER_CONFIGURE
    • V2 gimbal control protocol
    • Deconflict 2 things that want to control a gimbal
  • This is used by the potential controller of a gimbal to request access to it

UTC1120 - CAN: support Himark CAN servos by tridge · Pull Request #22331 · ArduPilot/ardupilot · GitHub

  • CAN - support Himark CAN servos
  • Much smaller after Sid’s additions
  • Zeus servos are the most compliant DroneCAN servo
  • All-or-nothing option bit to send the himark servo
    • Original DroneCAN actuator status message
  • Merged!
  • Wikineeded
  • Hobbywing servo support are going to be very cool
    • High-quality escs
    • CAN devices on the way
  • Peter wanted guards to allow this to not be compiled in on boards that don’t want it

UTC1139 - Tools: Add missing functions for Simulink model by fbredeme · Pull Request #22674 · ArduPilot/ardupilot · GitHub

  • Add missing functions for simulink model
  • Quaternion conversion functions for matlab cost extra dollars
    • Aerospace package

UTC1142 - AP_RangeFinder: add support for RDS02UF radar driver on seria by zebulon-86 · Pull Request #23056 · ArduPilot/ardupilot · GitHub

  • Add RDS02uf rangefinder support
  • Peter will help out with getting this one in

UTC1151 - AP_AHRS: add accel position correction and logging by IamPete1 · Pull Request #23511 · ArduPilot/ardupilot · GitHub

  • Add accel position correction and logging
    • Lever-arm corrections
  • Adds noise
    • Velocity correction already adds noise
      • Gps lag
  • On a quadplane IMUs are often far from CoG
    • Couldn’t have this on by default
  • What problem is this trying to solve?
    • Accel readings can be wrong based on IMU offset from CoG
    • Centre of control a long way from IMU
  • Would need significantly filtering and time-alignment stuff
  • Need to get Paul’s input on this
  • Maybe the consumer should be filtering?
    • JC doesn’t like the filtering done in TECS
      • Should be more like EKF
        • Offset of airspeed and offset of IMU and then computer the airspeed at imu position and then use angular velocity to translate back to CG
    • New data product from the AHRS?

UTC0015 - Plane:change Mode Takeoff to climb to TKOFF_ALT minimum if already flying on entry by Hwurzburg · Pull Request #23630 · ArduPilot/ardupilot · GitHub

  • Climb to tkoff alt if already flying in takeoff mode
    • Climbs to height-above-ground

UTC0022 - JFB-100 board support by rmackay9 · Pull Request #23652 · ArduPilot/ardupilot · GitHub

  • Support for JFB100
  • Use virtual pin numbers
  • Some cleanups could be done
  • Randy will continue to work on it

UTC0037 - AP_Motors: test: fix for heli by IamPete1 · Pull Request #23656 · ArduPilot/ardupilot · GitHub

  • Fix motors test for heli

UTC0039 - Plane: Quadplane: move modes fully to run function by IamPete1 · Pull Request #23657 · ArduPilot/ardupilot · GitHub

  • Move modes fully to run function
  • Need to test this a bit more

UTC0042 - AP_OSD: fix format of RF panel and check for out of range by Hwurzburg · Pull Request #23668 · ArduPilot/ardupilot · GitHub

  • Make rangefinder display in OSDs nicer
  • Particularly out-of-range stuff
  • Merged!

UTC0049 - Add and use AP_MSP_config.h and AP_OpticalFlow_config.h by peterbarker · Pull Request #23670 · ArduPilot/ardupilot · GitHub

  • Add and use AP_MSP_config.h and AP_OpticalFlow_config.h
  • Merged!

UTC0056 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane update
  • Beta2 soon
  • RTK GPS patch from Paul needed first
  • High accuracy of RTK GPS on the ground
    • 1cm precision and 1cm speed accuracy
    • Takeoff
    • EKF could diverge very badly
      • Accel bias calculation went bad
      • Might need to backport
      • Can tune it out
        • Accel bias process noise
  • Engine restart in internal combustion?
    • Looks like a bug
    • Tridge is trying to reproduce
    • In fact, ardupilot stopped the motor

UTC0100 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

  • Copter update
  • Barometer temperature calibration not working?
  • Custom build server issue?
    • Poke Shiv!

UTC0105 - Funding committee vote is on now

  • Please vote if you’re on the DevTeam!

UTC0105 - tridge vtol expo script

  • Please test this LUA script on your quadcopter
  • Thread on Copter development on Discord, please pop in

UTC0106 - GSoC

  • Asked for 5 slots, got 4
  • Couple of ROS
  • Couple on gimbals
  • Swarming database stuff

UTC0111 - Actions: test_size: fix elf diff for vehicles by IamPete1 · Pull Request #23698 · ArduPilot/ardupilot · GitHub

  • Correct elf diff comparison
  • PH might just PR a removal of them as nobody looks anyway

UTC0113 - AP_Compass: remove CAN auto replacement by IamPete1 · Pull Request #23706 · ArduPilot/ardupilot · GitHub

  • Remove CAN autoreplacement
  • Need Sid’s input on this as out history here has been pretty nasty
  • After this you would have to reorder compasses then calibrate
  • Having random compasses disappear is more annoying than problems when field-replacing compasses
    • Problematic when your compasses are powered separately from flight controllers
    • Craig sees this a bit on dual-CAN-GPSs with separate powering for the CAN bus
  • You can post-boot-detect dronecan

UTC0126 - AP_Vehicle: change no airspeed sensor message by tridge · Pull Request #23717 · ArduPilot/ardupilot · GitHub

  • Fix airspeed sensor error message
  • Merged!

UTC0126 - Plane: fix rangefinder correction when terrain follow is off by jschall · Pull Request #23658 · ArduPilot/ardupilot · GitHub

  • Fix rangefinder correction when terrain follow is off
  • Land waypoint below alt 0
  • The approach won’t work correctly if the rangefinder is out of range
  • Terrain follow disabled
  • JC will show SITL test when it fails
  • Really need autotests for this
  • Descending-slope can be a problem….

UTC0138 - AP_HAL_SITL: ADC resolution configurable by define, default to 16 bit by jschall · Pull Request #23683 · ArduPilot/ardupilot · GitHub

  • Make adc resolution configurable in SITL
  • Merged!

UTC0142 - Plane: treat LAND waypoint param1 as an AGL alt to climb to by jschall · Pull Request #23723 · ArduPilot/ardupilot · GitHub

  • Fix aborted landed code when rangefinders in use
  • Diving to get airspeed
  • Minimum 2m climb on abort
  • A few problems picked up….
  • Land waypoint should be a location on the ground

UTC0153 - close