Dev call Nov 18, 2024

Development Team
1

Issues & Pull Requests

Plane

Copter & Rover

Issues & Pull Requests

2

Attendee count (max): 21

UTC2301 - Release updates

  • ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

  • Possible regression in fence autoenable

    • And perhaps just in FENCE_ENABLE

  • Scripting memory expansion problem across multiple heaps

    • Thomas and tridge have spent a chunk of time on this in the last few days
    • Their PR looks good to go
    • Backport should be easy

  • Allowing RTC to shift forward

    • Log RTC uint64_t in STAT
    • We’ll push Peter’s PR further

  • Custom build server - CubeOrange with OpenDroneID

    • Link error
    • Probably out of space
      • Need to catch that problem in waf to do it properly

  • Power status flag changes

    • Need clearer errors in the user’s face
    • Be careful with spikes on your brick rails!
      • That power supply can be turned off and you’ll lose power on that supply. If you are getting the transient on both bricks you may lose the vehicle
    • Probably a statustext and a “critical” level
    • Enhancement rather than regression

  • When editing the issues list please put your name against the change so the maintainers can track things

  • If you need hardware to test then please ask the funding committee

    • The money is there to support DevTeam members and we’d prioritise hardware to help out with testing!

  • New beta end of next week probably

  • Maybe 3 months of beta

    • No longer than 3 months

  • Fold 4.5 issues into 4.6?

    • Probably not
    • Tridge will transfer some
    • Maybe link back to them?

UTC2322 - AP_Scripting: allow expansion of memory for scripting at runtime by tridge · Pull Request #26517 · ArduPilot/ardupilot · GitHub

  • Expansion of scripting memory at runtime
  • MergeOnCIPass
  • Backport?
    • Functions have been moved into a multiheap library
    • Bit neater
    • Not really a HAL issue
    • Will probably cherry-pick in cleanly

UTC2325 - Quicktune C++ conversion (WIP) by MichelleRos · Pull Request #27578 · ArduPilot/ardupilot · GitHub

  • Quicktune c++ conversion
  • Main question is
    • This sets it up for Copter and Plane
    • Only available on Copter on custom build server
    • This will be changed to only make it available on Plane
    • Tridge will address PH’s review and do a backport to 4.6

UTC2327 - AP_DDS: Service to check if vehicle is armable by tizianofiorenzani · Pull Request #28401 · ArduPilot/ardupilot · GitHub

  • Strcpy vs strncpy
    • Peter’s raised an objection but isn’t blocking

UTC2330 - AP_Scripting: add Plane autoland applet by Hwurzburg · Pull Request #28591 · ArduPilot/ardupilot · GitHub

  • Add plane autoland applet
  • Sets up an autoland sequence based on takeoff direction
  • Want proper parameters in applets, rather than SCR_USER1 etc
  • MAV_SEVERITY table a good thing
  • This is for fixed wings
    • VTOLs would be somewhat easier than this
  • Will probably need options
    • Strategy for weather-vaning etc
  • A 90% applet
    • Edge cases as parameters etc etc
  • AHRS yaw at takeoff level alt
  • Do you want ground course or heading?
    • Tridge thinks ground-course on compass-less
    • Ground course between two waypoints?
  • This has been testing on compass-less planes….
  • Needs separate discussion…
  • Mainly for not landing in trees on RC failsafes and whatnot…

UTC2343 - Fix MAV_CMD_DO_JUMP skipping to end of mission when Jump points to itself by joshanne · Pull Request #28604 · ArduPilot/ardupilot · GitHub

  • Fix MAV_CMD_DO_JUMP skipping to end of mission
    • If it points to itself…
  • DO_JUMP_TAG should also be fixed
  • Non-existent jump locations also RTL…
  • This PR would lead to inconsistent behaviour?
    • Non-existent is RTL
    • Pointing-to-yourself would be ignore
  • Still want to explicitly handle this case rather than let it fall through
    • We should tell the user what’s happened

UTC2354 - Plane: Fix MAV_CMD_NAV_LOITER_TURNS with zero turns skipping waypoint location by joshanne · Pull Request #28614 · ArduPilot/ardupilot · GitHub

  • Fix NAV_LOITER_TURNS skipping the waypoint if zero turns specified
    • Backporting will require change in L1 control
  • Tridge is going to have a bit more of a look at this
  • Ping tridge on code review if he hasn’t merged it

UTC0000 - Plane: slew limit all throttles in one place by IamPete1 · Pull Request #28653 · ArduPilot/ardupilot · GitHub

  • slew-limit throttles all in one place
  • Internal combustion engines and slew limits make it problematic for use in heli
  • Merged!

UTC0104 - Heli update with Bill

  • On-deck with rotors turning
  • Zeroing integrator on rate loops for yaw axis
  • Error in attitude that’s fed into the rate controller is not zeroed
  • Tandem rotors get stuff build up in the yaw axis
  • Off-putting for the user
  • PR incoming
  • Shouldn’t affect multirotors
    • Spool-up is quick
    • Helis can turn for a while spooling up

UTC0108 - AP_DDS: Copter takeoff service by snktshrma · Pull Request #26911 · ArduPilot/ardupilot · GitHub

  • DDS Copter takeoff service
  • Should this be VTOL takeoff?
  • Height datum reset on takeoff on Copter?
  • Copter skips takeoffs if flying
    • So we can probably reset the home altitude
  • Mark this as an experimental topic

UTC0121 - AP_HAL_ESP32: enable uart rc by srmainwaring · Pull Request #28650 · ArduPilot/ardupilot · GitHub

  • uart RC on esp32
  • Merged!

UTC0121 - missing documentation for 4.6?

  • VOXL2 setup?
    • Eric is happy to help
  • 4.6 docs have been moved into the Wiki

UTC0121 - QURT

  • Eric is cleaning up warnings
  • How about stuff that’s been copied in?
    • Eg. LUA
    • Eg. srxl
    • What to do?
      • Srxl one will stay in place
      • Should have had some ARDUPILOT comment in it somewhere
        • Probably a define
  • Funky maths with cast?
    • 28640
    • Just a flapping test
  • Tridge is going through these PRs

UTC0130 - ten-minute-warning on PRs on DevCall

  • Yeah, let’s keep doing it for a while

UTC0130 - close