Issues & Pull Requests
Swarming
Plane
Copter
Hardware
Mateksys has offered to send a developer or two an F765 based flight controller. Any volunteers to do the port?
Attendee count (max): 20
Pre-agenda:
New version of ChibiOS has been in master for a while
UTC2300 - battery parameter conversion broken on 3.6
Removes some older parameter conversion code
For those that have installed current Plane stable
Could be bad in Copter as it does have defaults for the battery failsafe stuff
This is an important fix for Copter and Plane
Randy will test this
UTC2305 - https://github.com/ArduPilot/ardupilot/pull/9690
Sometimes doing the sqrt and checking for NAN is actually a fast way of doing things
Need to make sure we’re not doing isnan checks afterwards
MdB quickly found a problem where blindly changing to safe_sqrt was the wrong fix
He will provide a patch
Not a good place to use safe_sqrt
Base it on floating point exceptions enabled in SITL?
We already die in SITL unless no-fpe is set, and you might want to replicate what will happen on stm32 - and this PR would stop that happening
UTC2305 - https://github.com/ArduPilot/ardupilot/pull/9690
Minimal fix
Doing this on the IO thread would be better
Merged!
UTC2310 - https://github.com/ArduPilot/ardupilot/pull/9661
ChibiOS IO processor firmware
As part of the continuing efforts to get rid of the PX4/NuttX submodules
Adds IO failsafe
Adds DSM support
DSM binding
Marge set of patches
Please test this!
Fixes a race condition
Intermittent Safety switch on boot issue
Fixes BRD_SAFETYENABLE intermittency
Hopefully 3 weeks to remove NuttX/PX4 Firmware submodules
Appeal for testing will go out
MdB will test after the call
UTC2319 - https://github.com/ArduPilot/ardupilot/pull/9391
No update, tridge has been busy!
Along with lots of other devcall-marked issues
And one for Leonard
UTC2320 - https://github.com/ArduPilot/ardupilot/pull/8839
Needs to zero the structure
Check the return value of set_home and don’t lock a bad position in!
UTC2334 - changed the VFR_HUD message
Should we switch back?
Should we add a parameter so people can change it?
Minimosd
HOTT and graupner
JP: we need to get it right at our end
Use devop bit to get back old behaviour
For people that can’t update their minimosd firmware
Would like to use minimosd as a screen update protocol rather than mavlink
Use existing ArduPilot OSD code
Would also future-proof things
Mavlink screen-painting message?
Peter will add a devop bit to get back old behaviour
Need to work on getting testers before we issue stable
Working with consumers of our telemetry stream
Users don’t update?
UTC2350 - akshath and swarming
Working with ArduPilot for the last three years
Lack of any GCS which swarming capabilities
Extending MAVProxy for multiple vehicles
Add flag to module init to mark whether a module is multi-vehicle aware
If it is multi-vehicle aware it will get packets from multiple vehicles
Start with console and map
Drop-down list to select vehicle
Update modules as they cause issues
Peter’s pymavlink patches are relevant here
Swarming on ArduPilot
Sharing a link
E.g. wifi
http://ardupilot.org/copter/docs/common-telemetry-robsense-swarmlink.html
Flying swarms in SITL would be a good thing to do
Simulating the transports in SITL
E.g. mesh network
Multi-cast UDP?
Swarming boats!
Would be able to test avoidance this way
Currently inconvenient to do swarming ATM
JP: fyi swarm in gazebo https://discuss.ardupilot.org/t/how-to-simulate-a-swarm-of-quadopters-using-ardupilot-sitl-gazebo-plugin/18616/3
Want to move parameters for SITL into romfs
Offset in position required too!
Heterogenous swarms too!
A swarm.conf?
[11:01 AM] (Channel) Naterater.mobile:
I’d really like to mapping with multiple vehicles, in kind of like a V-formation
UTC0002 - Plane updates
3.9.3beta1 is out this-morning
Minimum necessary changes from 3.9.2
Tridge found a situation where corrupt RC input would induce a crash
Unlikely to happen in practise
Range-checking issue
Fix speed-scaling on very fast aircraft
Old limit between 0.5 and 2
Very fast jet 250km/h needed scaling all the way up
3 new boards added
Gpio numbers are now consistent across all boards
50-55 for first 6 aux channels
Kakute fixes
Should be a quick beta
RC options bit to disable s.bus failsafe is not in master yet
UTC0007 - Copter update with Randy
3.6 went out a week ago
Bunch of things have come up
A number have already been fixed in last 48 hours or so
Downgrading has been fixed
D-shot dma thing is in progress
No sd cards can’t do terrain following
Should be able to use laser
Need to fix missions
In SITL vehicle will skip spline waypoint
Performance issue on uavcan is with Francisco
Compass switching on EKF3 is happening a lot
3.6.1 will be getting more hardware definitions
3.6.1 beta will start today
UTC0010 - Rover update with Randy
Beta soonish
Sailboats are in master
Iampete has done documentation!
Since we put in external position estimate support there’s a constant stream of people using it
UTC0016 - partner’s call tomorrow morning
UTC0016 - Canberra dev meetup!
deposit for conference are being paid
23rd and 24th of March
Solid dates
Book your plane tickets now!
Turn up ahead of time for MORE fun!
Separate smaller meeting room with projector earlier days than the conference
Applications to funding committee early would be a good idea
It’s a devteam conference
JP: It will only be funding for a very small number. Preference is for sponsored (employer?) attendance where possible
Book your rooms!
Proper announcement as to where will be made on the Discourse server
Including a discount code
Rooms will be a little cheaper than last time
Advertising starts now
We’d love to see lots of our newer developers come along
Will be using lake to show boats off
Arduplane off floats would be nice
Olivier is going to try to make it
UTC0023 - vector graphic logo
Any reason not to create and add to repo?
In the ardupilot_wiki on the trademark page
UTC0024 - trademark is moving along