Dev Call Nov 22, 2021

Issues & Pull Requests




Attendee count (max): 19

UTC2302 - AP_IntertialNav clarify 2D vs 3D uses and get_bearing_cd() takes Vector2f by hendjoshsr71 · Pull Request #18658 · ArduPilot/ardupilot · GitHub

  • Rename some variables
  • Include some units
  • length() vs length_squared()
    • Really should prefer the latter
  • Inav.get_position for position always
    • Get_position_xy_cm?
  • Get_position_z_up_cm instead of using altitude

UTC2321 - AP_Airspeed move into AP_Vehicle by hendjoshsr71 · Pull Request #18838 · ArduPilot/ardupilot · GitHub

  • Move airspeed up to AP_Vehicle
  • Adding AP_AIRSPEED_ENABLED to cover the airspeed sensor case
  • 18kB worth of code covered by existing AP_AIRSPEED_ENABLED
  • Would need to test waterspeed somehow on Sub
  • The #if clause is complicated because APM_BUILD_Type isn’t available generally in the libraries
    • Do the checks in waf?
    • Chibios hwdef generation?
      • Can’t at configure time
    • Cygwin build fix for Rover…
      • Chained builds didn’t work because this system didn’t work…
        • Dependency tracking issue
  • Maybe do some performance testing of removing the restriction?
    • See how bad it is?
  • Dummy the library?
    • No #ifs all over the place….
    • Doesn’t solve the “parts of library used” problem.

UTC2340 - Copter: Add Airspeed Support by hendjoshsr71 · Pull Request #18813 · ArduPilot/ardupilot · GitHub

  • Copter gets airspeed

  • Skipped as dependent on the above

UTC2341 - ArduCopter: fix few broken frames by shiv-tyagi · Pull Request #19010 · ArduPilot/ardupilot · GitHub

  • Fix broken frame types
  • Motors matrix change
    • Called the wrong thing, so a bugfix
    • Also adds support for cw?
  • Needs Randy to look at it

UTC2343 - EK3 Failure to initialize with no GPS · Issue #19072 · ArduPilot/ardupilot · GitHub

  • Remove failure to initialise with no GPS
  • Should stop EK3 trying to work out how bigs its buffers are

UTC2344 - Add custom rotation library, removing params and special cases in compass, ahrs and INS by IamPete1 · Pull Request #19164 · ArduPilot/ardupilot · GitHub

  • Custom rotation library, removing params and special cases
  • A few bugs….
  • Ground-station logs might not contain all parameters?
    • Use a vargroup instead…
    • Too many patterns already and don’t start another one…
      • Already do it in battery monitoring?
  • May allow for >1 custom compass rotation in the future
  • Don’t want to delay parameter fetching until all subsystems are up
  • Delta-parameter-download thing would help…

UTC0006 - Make SITL::ADSB a SITL::SerialDevice by peterbarker · Pull Request #19197 · ArduPilot/ardupilot · GitHub

  • If non zero ADSB vehicle count, packets get “spewed back” at a port

  • Tested in sim_vehicle


UTC0010 - AP_L1_Control: Simplify the decision process by initializing the stack variables by muramura · Pull Request #19247 · ArduPilot/ardupilot · GitHub

  • Marked as merge-on
  • Just a code cleanup

UTC0013 - AP_TECS: Log input height demands. by samuelctabor · Pull Request #19275 · ArduPilot/ardupilot · GitHub

  • Tidy some units TECS stuff up
  • Merged!

UTC0016 - Rover: Auto's init stops vehicle, updates mission on each loop by rmackay9 · Pull Request #19278 · ArduPilot/ardupilot · GitHub

  • Rover auto mode changes in preparation for SCurve
  • merged!

UTC0018 - Plane: format the scheduler table by peterbarker · Pull Request #19280 · ArduPilot/ardupilot · GitHub

  • Whitespace only change
  • Killed it - tridge didn’t like the formatting

UTC0021 - AP_Mission: PLANE to refuse NAV_SPLINE_WAYPOINT missions items by magicrub · Pull Request #19298 · ArduPilot/ardupilot · GitHub

  • Reject SPLINE waypoints for plane
  • Merged

UTC0024 - Eliminate HAL_LOGGING_DATAFLASH define by peterbarker · Pull Request #19302 · ArduPilot/ardupilot · GitHub

  • Merged

UTC0025 - Add support for DISTANCE_SENSOR.signal_quality by peterbarker · Pull Request #19303 · ArduPilot/ardupilot · GitHub

  • Signal_quality field on DISTANCE_SENSOR
  • Instructions on LightWare website wrong?
  • We should be using binary by default
  • Can be merged after we’ve done the MAX() thing rather than the rescaling

UTC0031 - AP_LandingGear: add enable param, RC_Channel: remove landing gear print by IamPete1 · Pull Request #19310 · ArduPilot/ardupilot · GitHub

  • Add param for landing gear
  • K_landingear_control is a virtual function which could be used by scripting to move output elsewhere
    • “Whacky lua scripts to do funny stuff”
    • Landing gear does its own print, so why the Landing removal?
  • This is a chassis deployment feedback pin….
    • Detection of successful landing gear deployment…

UTC0040 - AC_PID_2D: refactor limit calculation by IamPete1 · Pull Request #19312 · ArduPilot/ardupilot · GitHub

  • Refactor limit calculations in AC_PID_2D
  • Adds logging
  • Leonard will merge after another review

UTC0044 - AC_PosControl: remove unused limit flags by IamPete1 · Pull Request #19322 · ArduPilot/ardupilot · GitHub

  • Cleanup
  • Leonard will review and merge at leisure

UTC0045 - AP_Boardconfig: correct va_list memory over-read error by peterbarker · Pull Request #19330 · ArduPilot/ardupilot · GitHub

  • Memory over-read fix
  • Merged

UTC0046 - Plane: stable 4.1.0 issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • 4.1.4 plans
    • Parachute release on low value
      • Double-release of parachute
    • Position stuff
      • 7kg quadplane and some issues….
      • Bitmask editor in MAVProxy bug?
        • Full vertical and forward throttle on landing approach?!
    • New release in next few days

UTC0048 - Copter update in absentia

  • The update from me is just that we’re about to release Copter-4.1.2-rc1 and Rover-4.1.2-rc1. I expect those will go out within the next 24hrs or so just need to verify the FetTec ESC stuff doesn’t push any boards over the edge and Andy Piper has reminded me that a couple more bug fixes should be included.
  • In terms of new support issues, it seems that the AP lightware serial drivers rely on the user connecting the lidar to lightware studio and setting the protocol to “legacy” but this is not listed on the wiki so users struggle.
  • There’s also a new report (not investigated yet) that DroneKit is broken with 4.1.1. What aspects are broken I do not know so I’ve asked the user to create a topic the the Copter-4.1 discuss category