Dev Call May 9, 2022

Issues & Pull Requests


Copter & Rover


Attendee count (max): 15

UTC1101 - Allow RichenPower generators to arm in maintenance period by peterbarker · Pull Request #20689 · ArduPilot/ardupilot · GitHub

  • Richenpower
  • Should we even be bothering the user?
    • User can’t reset the maintenance period
    • If they can’t reset the error
    • Add a GEN_OPTIONS to suppress warnings
    • Change to every 60 seconds

UTC1110 - AP_BattMonitor: SMBus fix PEC I2C_address error by hendjoshsr71 · Pull Request #20691 · ArduPilot/ardupilot · GitHub

  • PEC i2c error fix?
  • This function doesn’t actually do bus ops
  • This is a crc-getter
  • Should be called “calculate_pec” or similar

UTC1119 - fix vehicle specific parameters by tatsuy · Pull Request #20638 · ArduPilot/ardupilot · GitHub

  • Documentation fixes
  • Fix vehicle-specific parameters
    • This should work on Copter….
    • Copter doesn’t take actions on fence breach, which is different to Plane (when sitting on ground)
      • Sitting on ground is different between Plane and Copter
      • Plane does fence actions when disarmed so surfaces can move into their fence-failsafe permissions
      • For Copter you can’t really do much to prove you’re going to do what you’re going to do
  • We should move to showing prearm checks in Plane continuously
  • L1 is gone in Copter in master
  • Merged!

UTC1135 - AP_Scripting: load uint32_t via generator by IamPete1 · Pull Request #20693 · ArduPilot/ardupilot · GitHub

  • Load uint32_t via generator
  • Framework for LUA unit testing?
    • Named value floats rather than parsing output?
    • Would give us more confidence if there were tests for this stuff
  • Merged!
  • LUA useful for so many things….

UTC1143 - Remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION by peterbarker · Pull Request #20705 · ArduPilot/ardupilot · GitHub

  • Remove handling of set_home_position
  • Merged!

UTC1146 - Remove duplicate parachute event logging by peterbarker · Pull Request #20706 · ArduPilot/ardupilot · GitHub

  • Remove double-logging of parachute events
  • Merged!

UTC1147 - AP_Logger: make LogStructure non-packed to fix compilation of SITL on Apple M1 by ntamas · Pull Request #20709 · ArduPilot/ardupilot · GitHub

  • Fiddle with packing on log structure
  • Correct thing to do might be to extract the name out in a
  • RPi4 might also have this problem?
  • Only add PACKED on ChibiOS?
    • So Linux and ESP32 will all be unpacked
    • ESP32 is 8MB or more…
  • Maybe the compiler on stm32 is adding a copy internally to do the copy to align?

UTC0002 - AP_Airspeed: Remove Negative Pressure Check that sets Unhealthy Flag by hendjoshsr71 · Pull Request #20722 · ArduPilot/ardupilot · GitHub

  • Remove negatuve pressure flag setting unhealth flag
    • Causing issues for quadplanes
    • Massive negative pressures
  • Not a problem for Periph as tube order isn’t a thing on AP_Periph, it only provides raw pressure and the fc works out the ordering
  • Merged!

UTC0003 - My fixes to #18624 by Hwurzburg · Pull Request #20695 · ArduPilot/ardupilot · GitHub

  • Elevator goes to int16 from float?
    • Poorly resolve conflict
  • Fixes terrain behaviour in loiter and allows for pitch-stick input
  • Reuses fbwb to accomplish things
  • Need a comment or two updated

UTC0011 - Plane update

  • 4.2.0 is going really well
    • RSSI analogue broken in 4.2.0 on Cubes
  • Wrapped log count stuffed
    • 500 logs wouldn’t display them all

    • Python test case made it easy to reproduce, thanks Pierre
  • 4.2.1
    • Copy crash dump.bin from @SYS to SD card if it is there
    • Gets wiped when you update firmware
    • copy into log file on persistent storage at boot-time instead
    • Twice we’ve had a watchdog and the first reaction is to change firmware to try to reproduce it on 4.1
      • Wiped the evidence!
    • Maybe we should force logging on?
    • H-Wing motors spinning on soft reboot
      • Spin for a second
      • Chopped pulses thing?
    • Q-assist airspeed
      • Delay use of qassist speed until EKF is no longer fusing airspeed?
      • Median airspeed filter would fix this too
    • Dual harmonic notch?
      • Probably not 4.2.1
      • Tridge wants it back in 4.2.x though
      • What won’t we backport?!
        • Part of planned feature list for 4.2
        • Partners were expecting
        • Half-done
          • Harmonic but at fixed frequency…

UTC0020 - Copter update

  • Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub
  • RC3 is out
    • Very small
    • Accelerometer bias fix
    • PWM button cleanup
      • Just Randy’s setup
        • Confused level shifter
        • Servo tester connected but powered off caused issues
        • Advice to vendors on how to do protection circuitry?
          • Protections on aux pins
            • Level shifters to same voltage
            • Some use resistors
          • Each uses different schemes…
          • Different for d-shot vs buttons
            • D-shot can actually work through the bi-dir buffers in theory
            • Actively set direction?
          • [10:23 AM] rmackay9: this could go here on the wiki: Advanced Hardware Info — Dev documentation
          • [10:24 AM] rmackay9: or here OEM Customization — Dev documentation
          • Maybe just testing scenarios
            • Here’s how to test these sorts of hardwares
    • Tradheli guided mode internal error
      • Position controller not being called again….
    • Uavionix Ping disrupting parameter download
      • Why isn’t this a private channel?
    • ATC_SLEW_YAW affecting yaw speed in loiter
      • Leonard has this one in hand
    • Some reports about ModalAI not working
      • Working on setting up a channel with ModalAI
      • Randy should probably get one of these vehicles
    • CubeBlack consuming more memory
      • Tridge looked at it
      • Lots of little nibbles
      • New variable or parameter in subsystem == more RAM
      • May need to consider trimming drivers and new features based on RAM rather than just flash?
      • Disable SmartRTL, disable third IMU EKF, shrink logging buffer, ….
  • 4.2 release is going very smoothly
    • When do we actually push it out the door?
      • Now?
      • ATC_SLEW_YAW and the tradheli internal error are ones that need to be looked at
      • Andy’s seen the internal error in his little Copter
        • Some sort of event happening to make it occur?
      • Actually a couple of internal errors, not just one
      • The psc internal error also happens reliably on Sub
  • Maybe just release Rover…

UTC0034 - GSoC update

UTC0035 - close