Issues & Pull Requests
Plane
Copter
Attendee count (max): 16
UTC2300 - AP_InertialSensor: init all notch center frequencies by IamPete1 · Pull Request #25355 · ArduPilot/ardupilot · GitHub
- Init all center notch frequencies
- We know what’s going into 4.4.x
- Andy and Leonard have agreed to leave the 2Hz solution (“bandaid”) solution
- Now. short-term master vs long-term master
- Tridge’s rework PR Tridge thinks is best in master
- Do we need an interim solution like this one before Tridge goes in?
- Rebase conflict needs resolution
- Then needs testing for odd use cases
- Tridge and Andy discussed last night for an hour
- Octa-quad with 4-channels of bdshort?
- I.e. only half your motors have telem!
- There’s still a lot to understand about the ramifications of changing things
- Logging of actual notch frequency PR from Tridge would be good
- Current FTN logos don’t match reality
- Notch.txt file for actual frequencies for debug on;y
- 50-column file for all frequencies
- Leonard to get the math right then look at Tridge’s again
- Tridge will rebase PH’s and force-push it and then we can test that for short term
- Other one to fix in short-term is to fix second harmonic on quadplanes on two of the motors where the quadplane has 5 ESCs with feedback
- Already fixed by tridge’s rework
- But a shorter fix in short-term
- Longer term adding EMSCK parameter which would be zero meaning automatic non-zero meaning mask of frequency sources you want
- One harmonic notch for vtol motors, separate for forward ESC
- add INS_HNTC3….
- So support for 3 sets of motors
- Plot review tool is going to have to get wider!
- Attenuation ramping stuff from Leonard will also provide challenges
- Will see some pushes onto this PR
UTC2311 - Plane: ensure pilot throttle is valid, more set_servos_controlled rework by IamPete1 · Pull Request #25416 · ArduPilot/ardupilot · GitHub
- Ensure pilot throttle is valid, more set_servos_controlled
- Always check has_valid_input
- Is_valid waits for failsafe
- Has_valid_input vs is_valid
- Manual vs non-manual…
- If you are in fbwa and you’re in the intermediate stage with no RC input but not failsafe
- We level the aircraft by squashing the inputs
- Zeroes the throttle in non-q-mode
- Copter keeps inputs
- We level the aircraft by squashing the inputs
- Manual vs FBWA is different in terms of failsafes?
- If you are in fbwa and you’re in the intermediate stage with no RC input but not failsafe
- Tridge needs to stare at this a chunk
- Throttle pass-through in manual vs non-manual applies throttle min in fbwa but not in manual
- See also direct-passthrough option
- For starting ICE and jets
- And idling…
- Where some EFIs take low PWM to cut motor
- Are we opening up more possibilities of brief RC outages causing engine to stop?
- PH doesn’t like the set-control-in stuff
UTC2322 - AP_ADSB: avoid using GPS and RTC libraries in backend by peterbarker · Pull Request #25427 · ArduPilot/ardupilot · GitHub
- Avoid using GPS and RTC libraries in backend
- Merged!
UTC2330 - hwdef: add YJUAV_A6SE_H743 board support by yunjiuav · Pull Request #25431 · ArduPilot/ardupilot · GitHub
- Add YJUAV A6SE_H743 board
- Merged!
UTC2331 - GCS_MAVLink: handle DO_ADSB_OUT_IDENT as both long and int by peterbarker · Pull Request #25436 · ArduPilot/ardupilot · GitHub
- ADSB_OUT_IDENT as both long and int
- Merged!
UTC2332 - Change tense of GPS detection message by Ryanf55 · Pull Request #25445 · ArduPilot/ardupilot · GitHub
- GSoF driver tense change
- Ryan found the message misleading
- Maybe the Trimble isn’t setting the auto_detected_baud
- Change actually needs to be in _detect_isntance around GSOF
UTC2338 - AP_GPS: Expose COM port and Output Rate in header, Fix default COM port by Ryanf55 · Pull Request #25456 · ArduPilot/ardupilot · GitHub
- Remove magic numbers
- Checks message enablement
- Document hardware debugging stuff
- Merged!
UTC2341 - AP_GPS: Add configurable baud rate/port for AP_GPS_GSOF by Ryanf55 · Pull Request #25449 · ArduPilot/ardupilot · GitHub
- Add configurable baud rate / port for GSOF
- Want a GPS_DRIVE bit to say use the serialn_baud parameter
- Basically a skip-auto-bauding
- Would just instantiate the document directly
- But also want one to say, “move to the serialn_baudrate”
- We have a uBlox packet creation function which will be useful
- Do we modify GPS_AUTOCONFIG?
- Ryan will attack first bit and we’ll come back for the second
UTC2355 - GCS_MAVLink: handle MAV_CMD_DO_SPRAYER as both long and int by peterbarker · Pull Request #25454 · ArduPilot/ardupilot · GitHub
- Sprayer commands as both long and int
- Merged!
UTC2355 - Add expanded explanation in Fwd throttle code comments and metadata by Hwurzburg · Pull Request #25463 · ArduPilot/ardupilot · GitHub
- Tidy forward-throttle code comments and metadata
- Merged!
UTC2357 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub
- 4.4.3beta1 is out and active for Plane
- Copter and Rover later today
- Couple of new issues mav-cmd-yaw using relative angles being broken
- Searching for dummy
- Suddenly changing yaw as going around the course
- Edge-case?
- Doesn’t record yaw in in picture
- Have to point vehicle North all the time
- If you yaw around a course it subtly changes heading?!
- Accumulation of errors, probably
- When should we do 4.5?
- January, probably
- Not really ready yet
- 4.4 isn’t bedded in properly?
- 1st beta in December instead?
- Camera stuff stuck in master ATM, not available in 4.4
- Tridge wants to fix parameters up
- E.g. Airspeed on Plane
- Precision landing in quadplanes?
- A few partners have developed their own solutions for that
- Nothing in the WIki for precision land?
- IRLock is there
- … doesn’t include Rishabh’s stuff
- New page in advanced features page, probably
- lua scripts sometimes do not start or re-start · Issue #25455 · ArduPilot/ardupilot · GitHub
- LUA scripts not starting
- Tridge got various debugs in place
- Linked list just seems to be empty
- setjmp/longjmp optimisation issue, maybe?
- Should be able to get remote access again to the board, but probably won’t be able to reproduce
- Probably can’t release 4.5 with scripts like this
- Sid has seen it
- A parameter to say how many scripts should be loaded
- Script option to say n-scripts
- SD-card related?
- Tridge knows it is reading and parsing the scripts and it’s valid
- So probably not
- Rover pivot-turns should be fixed (SCurve-related)
- When Randy gives up he’ll replace 4.4
- BluRobotics BluBoat shows 4.4 works nicely
UTC0002 - Plane update
- 4.4.3 Beta1 will go out after this call
UTC0017 - Comparing ArduPilot:master...Ryanf55:gsof-49-50 · ArduPilot/ardupilot · GitHub
- Off the floor
- How to handle serial link when handling serial data and handling an ack
- Single byte returned for configuration
- Co-mingled the rest of the stream
- Turn off messages
- The vendor suggestion was use ethernet
- Two different UDP ports, one for configuration, one for data
- Not really an option for us
UTC0022 - votes passed for the new positions
- Contact Tridge or James if you are on the DevTeam and are interested in the positions
- 26 responses
- 25 for, 1 against
UTC0024 - one outstanding votes
- See developer email list
- Gimbal support in MissionPlanner/QGC
UTC0025 - discussion of funding
- Josh brought up point about having a higher-level view of funding
- James has a list he gathered earlier in the year
- Randy will send out an email with a link to that list
- Randy doesn’t want this to be a wish-list of things other people would do
UTC0027 - off the floor
- ISO9001 compliance?!
- Certificate regarding procedures of a company
- ArduPilot foundation is
- The dev process is separated off from that
- In principle the foundation could get certified?
- Craig thinks our development methods wouldn’t be compliant
- ISO27000?!
- If we can get these
- We might make it easier for someone down the line to certify the autopilot for a particular use case
- All existing code wouldn’t fall under that certification?
- Would be a significant amount of work just to work out what what we’d need to do
- Amilcar will do some leg-work
- Compliance work via automation works
- “We have a process and we follow it”
- Related to software bill-of-materials
- Astm certification things might also be affected
- Python module to go off and work out what’s in a firmware build?
- Features.txt equivalent
- How deep does the hole go?
- Kernel version you compiled on?
UTC0045 - feedback on funding software
- “ArduPilot doesn’t support software development’
- Unforeseen consequences of funding software development
- Funding core ArduPilot code means less development happening, probably
- If it became the norm that we paid for that dev we’d not be able to come even close to funding it
- Then you end up with “won’t happen without funding”
- Would change the character of AP development substantially
- Seen this a bit with the documentation
- It’s become more common to ask Henry to do it
- Before that each developer tended to take responsibility
- Would be bad if this happened in the broader code base
- Social issue
- MIssionPlanner and QGC pines?
- Tridge thinks they’re worthwhile
- Skirts closer to core code being funded
- Separable from core cpp code
- Josh
- Can it be funded externally?
- If it isn’t will there be an expectation of funding future work here?
- QGC RID and gimbal work was funded externally already
- Cash-in-hand is not a budget
- Setting properties matters
- Can it be funded externally?
- Books need to be done
- More people on administrative side would be nice
- The $400,000/year mark we need to get external audit
- Could pass this in next year or two
- Accounting practices required at this point…