CraigElder
(Craig Elder)
1
Copter
Rover
Log analysis
http://www.maverick.one/analysis/uploader/
Issues & PRs
FAA’s UAS integration program
- Registering as an interested party
Contribution of the month
Funding Committee
Code Of Conduct
CraigElder
(Craig Elder)
2
Attendee count (max): 22
UTC23:02 - Log analysis / James
- Maverick is available and people should give it a try and provide feedback
- Pre-alpha version
- A few limits on log-size that can be uploaded
- Tridge needs to talk to Dronee about their Javascript stuff again
- Perhaps this will work well with
[b]UTC23:04 - [url=https://github.com/ArduPilot/ardupilot/pull/7291]
- Set a variable in existing switch statement
- Don’t generate all the names - too much wasted space
- “Executing wp=%u %s”
UTC23:14 - Randy and Copter and Rover
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3.5.4 was out last Thursday
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Compass fixes
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See release notes
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HMC compass GPS modules going away is less of a problem now!
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Will need a new release of Rover for new GPS stuff
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Also a Plane release, probably soonish
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New loiter is progressing
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Flight-mode-classes
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Focussing on getting a Rover release out
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New version is better than the stable version
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Need to get it out
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Motor jump when you are rotating on the spot with a skid-steering vehicle and you go from forward to reverse or reverse to forward
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High left-motor value vs high right-motor value
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Mixer changes were possibly better the first way
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Reverting a few bits
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Should skid-steering vehicles drive like a car?
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When you drop in reverse….
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Set_global_position ROS changes
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Manual mode / steering mode
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Like driving in auto mode
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Lateral acceleration etc etc
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We have other things we could do, ‘though
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E.g. rotate at 90 degrees/second when holding stick all the way over
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E.g. headless mode
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E.g. cruise mode
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When you activate the sticks it moves a waypoint around (in Plane)
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Would be useful for boats
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Yaw’s been fixed for this
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Guided is already a heading controller….
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Define size of tires and vehicle length?
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Maybe all tuning parameters would work after that?
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Maybe a max steering angle
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Might need to know more about the steering system
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Rovers have a very direct line between these parameters and its handling
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E.g. Wide vehicle with small wheels has slow rotation
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Halve the vehicle width and turn rate doubles
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Model-based controller…
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PR in next couple of days to add this stuff
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Pierre: small-speed issues need looking at
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Sometimes the EKF is saying we’re moving slowly backwards when we’re moving slowly fowards….
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Perhaps an epsilon for speed?
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Leonard thinks we should rely more on our desired vs our actual speed
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Trust lower-level controllers to actually get us to that speed
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Pierre: Ability to add different frames in ROS is coming
[b]UTC23:34 - [url=https://github.com/ArduPilot/ardupilot/pull/7270]
- S.BUS out PR
- Should be much safer to merge now
- Flight-tested now
- Servos on boot is a problem
- Setting initial mode to qstabilize seems to work around that
- SERVO_SBUS_RATE
- Refresh rates need to be higher to be able to use on multirotors
- Doing a good job on the Convergence, however!
- Unbuffered writes will be useful for other systems
- E.g. the volz servo
- Jitter goes down a long way
- 300us now
- There’s some Log_Writes under SITL
- Couple of debug statements to go away
- Tridge will need to look at in-depth
- UART Pid-restriction needs to be looked at
- Maybe a semaphore
- Use early-returns rather than deeply nesting if blocks…
[b]UTC23:48 - [url=https://github.com/ArduPilot/ardupilot/pull/6406]
- Continue land on failsafe
- If vehicle is in land mode, should it continue to land if a failsafe activates?
- Originally this PR changed behaviour with no parameter
- Parameter now which specifies behaviour
- No default change in behaviour
- If param is set then vehicle may continue
- Should we have a bitmask here?
- Volume of parameters is a bit painful…
- Mission Planner’s bitmask interface needs improvement
- See APWeb’s bitmask interface with checkboxes
- FS_OPTIONS
- See Q_OPTIONS
- Started off with a single bit but within 2 days it was three bits
- We only ever have one level of failsafe ATM
- Perhaps we could have multiple levels of failsafe?
- Land mode is both a mode and an intent
- E.g. if you are using correction data from a GCS (landing on a ship) then you may not want to continue landing on GCS failsafe!
- E.g. some people use land to just lose height rather than to actually land
- Land-within-auto needs to be checked and considered
UTC00:05 - Airspeed driver
- External baro and airspeed baro on same address
- Airspeed pin parameter to disambiguate?
- This is why we added the airspeed_bus parameter
- But they’re on the same bus
- Need to change the address on 5525
- Can we do that?
- We test for both addresses ATM
- Add new type ms5525 on alternate address
- Changes probe address
- Ms5525-high and ms5525-low?
- MS5525, MS5525-[hi-addr], MS5525-[low-addr]
UTC00:09 - battery monitors
- Enable parameters make sense
- People want more battery monitors
- Lots of people have power bricks and don’t configure them
- Type an enable parameter?
- On by default?
- Would break the MP setup page if we were to change this behaviour
- Failsafe may engage by default?
- All power bricks have different scaling factors
- Voltage-scaling on motors!
- Need to do scaling on correct battery pack for quadplanes
- Trim_throttle in normal planes hsould be scaled with battery voltage
- Not an issue if you have an airspeed sensor
- Teach AP_Param to teach the first open to display?
- Magic flag
- Sounds complicated
- Tridge: “parameter library isn’t that scary”
[b]UTC00:17 - [url=https://discuss.ardupilot.org/t/use-apds-9930-proximity-sensor-for-land-detection/23487]
- really , just be aware of it
UTC00:17 - sensorhub
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Doesn’t work well with the singleton
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Instantiates multiple copies
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Needs to generate the protocols separately from the sensor
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Pierre wants to use this to test electronics
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[url=https://github.com/ArduPilot/ardupilot/pull/6388]
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Using SITL to test more hardware
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We already have ways of getting data from physical devices
UTC00:23 - regulation
- This morning the FAA had some webinars to get people to register for their UAS integration program
- We can register as an interested party
- Important because US scheme will probably be model for other countries
- Jeff is willing to take the lead on this
- Spektreworks, Aion robotics and a few other partners have already registered
UTC00:28 - Contribution of the Month
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eligibility
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Maintainers are excluded?
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Dev-team-members are excluded?
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Apparently we forgot to put Paul R on the dev-team until yesterday!
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Welcome to the dev-team Paul!
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Tridge: Nomination for lorbass for RealFlight modelling
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Olivier: Nomination Patrick P for helping users on forums etc
UTC00:40 - Volunteers required for funding committee
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Term has ended
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People need to step forward if they want to do this
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We now have three new people! (Olivier, David, Luis)
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Make funding requests for unconference
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Clarify FF’s funding term!
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Vote was for one year discussion was for 6 months
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Also, please contribute on US$ vs Euro discussion
UTC00:50 - Code of Conduct
- Prevent member of dev team in own consulting activity working on weaponised/manned aircraft
- Do good as opposed to weaponising which by definition is intended to do hard
- How does AP ever get better at manned stuff if we absolutely decree you can’t work with AP on manned?
UTC01:25 No-fly zones
- At current state we could be excluded
- Not even close at the moment
- How about vehicles without GPS?
- Time frame?
- Force-down?
- MISSION_AUTHORIZATION?
- Or have GCS upload a set of no-fly zones
- Couple of weeks work
- Tom did some of this for Syria uplift
- Randy can do the flight control stuff
- Need low-level SD-card database storage stuff
- Authorized zones instead?
- Authorized areas within no-fly zones?
- Really has to be done on the flight controller
- Not CC or GCS
- DJI is almost real-time
- updates maps in real-time
- Bypass codes. Bleh.
- Multiple tools, we should do many
- So do MISSION_AUTHORIZATION
- AND no-fly zonesundefinedundefined