Dev Call Nov 15, 2021

Development Team
1

Issues & Pull Requests

Plane

Copter

Rover

2

Attendee count (max): 21

UTC2259 - https://github.com/ArduPilot/ardupilot/pull/14691

  • Gaps of 3 and gaps of 5
  • Share scheduling order between vehicle and base class
  • Move stuff up into AP_Vehicle
  • Tying battery and compass scheduling together….
  • Andy is seeing innovations
  • When we add something into the table things might get shifted
  • Fast-loop shenanigans
    • We could use 0 for priority
    • Could use a magic number

UTC2327 - AP_TECS: Height Demand model limiting based on command saturation. by rbeall · Pull Request #19262 · ArduPilot/ardupilot · GitHub

  • Demand model limiting based on command saturation

  • If you ask for more the na the aircraft can achieve the model can peel away from reality

    • Big descent can lead to deviation
      • If you re-command during this your throttle can remain off for a long time

  • This constrains things so the model doesn’t deviate from reality too much

  • Need an approval from Paul

  • “Don’t allow height demand to get too far ahead of the vehicles current height”

UTC2332 - AP_Compass: move param to table per instance by IamPete1 · Pull Request #19123 · ArduPilot/ardupilot · GitHub

  • Table-per-instance in AP_Compass
  • GCS authors seem to be generally OK with it
  • More churning on compass parameters
    • Flow-on-effects….
    • Pain for our GCS authors and potentially users
  • Rangefinder was a real pain when we did the same thing
  • Can we merge this without GPS support?
  • Need to worry about QGC just giving up if it doesn’t find some parameters
  • Need to make sure MP works before we merge this
  • A few commercial users using UGCS now-adays?
  • Tridge is a bit skeptical about this due to disruption
    • Need to get MP in first
  • Having a Vagrant VM for MissionPlanner development would be nice
  • Would be nice to get more MissionPlanner developers

UTC2347 - Plane: quadplane: limit pitch for all transitions into position control modes by IamPete1 · Pull Request #19136 · ArduPilot/ardupilot · GitHub

  • Limit pitch for all transitions
  • Now parameterised
  • All modes get q_lotier pitch up limit and qpos1 pitch down limit
  • Weathervaning when you miss the point is bad
  • Quadplanes flying backwards is bad….
  • Need to avoid it
  • Prefer harder pull-up in qloiter
  • The new structure is making this much nicer as a set of changes!
  • Pitch oscillation after aggressive stops is a thing on aircraft which are not well-tuned

UTC2358 - fix flare rc switch action with flight option bit 10 active by Hwurzburg · Pull Request #19180 · ArduPilot/ardupilot · GitHub

  • Flare rc switch when using flight-option-=bit 10 problematic
  • Can test flare switch on ground……
  • Need to do some factoring

UTC0005 - AP_RangeFinder_LightWareSerial: handle LightWare lost signal flag output by wynn4 · Pull Request #19191 · ArduPilot/ardupilot · GitHub

  • Handle lightware lost signal flag output
  • Might get a few readings in iteration
  • 2 real then one lost
    • Averaging means you get the wrong result!
  • Our comms with Lightware are restored thanks to Rishabh
  • Not all LightWares are the same in turns of their out-of-range values
  • Should be max-distance +1m
  • We have some issues around max-dsitance supported for Lightware - we state 100m limit but probably measure more
  • Shiv did some patches here: https://github.com/ArduPilot/ardupilot/issues/18602#issuecomment-946614494 https://github.com/ArduPilot/ardupilot/issues/18602
    • Just ignores exactly-150m and exactly-130m readings
    • Is_out_of_range_reading
    • User-settable out-of-range values?!
    • mturnbull: But if you have the 250 capable lidar, the max altitude would be 230(ish), so detecting an error above the max would still work ?
    • [11:12 AM] mturnbull: Also, from experience, those are not the only values it can return. SF11/C’s can output 150 as well, or 231.something in addition to just 130
  • Benewake SNR ratio
    • Threshold snr parameter?
    • Maybe we can use lightware equivalent when using binary protocol?
  • Reporting is an interesting problem with different snr values

UTC0016 - https://github.com/ArduPilot/ardupilot/pull/19221

  • Extracts code into data structures in RC Protocols
  • Change to boolean then can be merged

UTC0022 - https://github.com/ArduPilot/ardupilot/pull/19227

  • Autotest for Devo
  • Discovered that it was utterly broken
  • Peter to merge when he’s happy with it

UTC0025 - https://github.com/ArduPilot/ardupilot/pull/19230

  • Really want to use a bitmask here instead
    • Too much data on the stack

UTC0030 - https://github.com/ArduPilot/ardupilot/pull/19237

  • Throttle and pitch curves for manual modes

UTC0038 - https://github.com/ArduPilot/ardupilot/pull/19239

  • Logs scripts
  • Log script statistics
  • Are long descriptions OK in the MissionPlanner interface?
  • Documentation needs som help…
  • Scripting to shove files into log….
  • Crash debugging stuff is great!

UTC0039 - https://github.com/ArduPilot/ardupilot/pull/19246

  • Bugfix for fft
  • A few fixes to make

UTC0056 - https://github.com/ArduPilot/ardupilot/pull/19263

  • PITA battery conversion code
    • Led to some really weird and annoying bugs
  • Removed

UTC0058 - https://github.com/ArduPilot/ardupilot/pull/19267

  • Mkdir failure fixes
  • Pixhawk1
  • Plane 4.1
  • ChibiOS change
  • Master is different patch
  • 4.1 is simple patch

UTC0103 - Plane update

UTC0104 - https://github.com/ArduPilot/ardupilot/issues/16478

  • Copter update
  • Terrain following bug is a bit of an issue
    • Glitching lidars
    • PR needs testing
    • Henry’s filtering from a long time ago?
      • This is a bugfix rather than anything else
    • Will rebase on the Plane 4.1
  • 8 weeks until next scheduled new-stable beta
  • Long-term stable release?
    • Partners would like something like this
    • Some releases not same as others
    • Long-short release cycles?
  • Need to look at some of Rishabh’s PRs
    • 3d loiter avoidance
      • Slide code in 3-dimensions rather than just our current 2
    • Precision landing EKF fixes
      • Land uses different controller in this PR
    • A* object avoidance
    • Leonard is planning on 4.2
  • Position controller clean-up could be another couple of releases until it’s up to the stability of the attitude controller

UTC0106 - Tradheli update

  • Governor is coming
  • Autotune is coming

UTC0112 - Rover update

  • S-Curves are coming

UTC0112 - Support position

  • Partner program developing rapidly
  • Funded position via foundation
  • Please approach Randy or Tridge if you’re interested
  • DevTeam Member logo!
    • Please show your pride and put this on your social media profiles!