Dev Call Oct 10, 2022

Development Team
1

Issues & Pull Requests

Remote ID

Plane

Copter & Rover

2

Attendee count (max): 13

UTC2300 - https://github.com/ArduPilot/ardupilot/pull/19732

  • Max alt for fbwb
  • Only if fence is enabled
  • Fence margin
  • Terrain following? What does minimum mean?
    • Fence minimum should be above terrain?!
      • Should currently do that…
      • We might follow contours but does this fence actually do the same?
  • Do basic testing in cruise then can be merged

UTC2307 - https://github.com/ArduPilot/ardupilot/pull/19860

  • Do-reposition gets radius
  • Guided mode gets a radius attribute
  • Needs documentation….
  • MergeOnCIPass

UTC2317 - Create and start to use minimize_features.inc by peterbarker · Pull Request #21050 · ArduPilot/ardupilot · GitHub

  • Use include file for minimize features
  • Looks like a good approach
  • Merged!

UTC2322 - AP_OpticalFlow - Add rover support by stephendade · Pull Request #21510 · ArduPilot/ardupilot · GitHub

  • OpticalFlow rover support
  • One for Randy to look at

UTC2324 - AP_TempSensor:: Add MCP9600 and other upgrades by magicrub · Pull Request #21662 · ArduPilot/ardupilot · GitHub

  • MCP9600 and other upgrades
  • Needs to be enabled on SITL
  • Costs a chunk of flash - 288 bytes of flash - when ostensibly disabled
  • Allows for temperature sensors on batteries
    • No subscription to a temperature
    • CAN battery monitor with temperature sensor?
    • Battery_info has a temperature field
  • LUA bindings will make this useful
  • Needs to move to AP_TemeratureSensor_config.h
  • Association of temperature sensor with other things?
  • Will; be next week

UTC2341 - AP_TECS: reset vdot filter if not been called by IamPete1 · Pull Request #21864 · ArduPilot/ardupilot · GitHub

  • Reset filter which needs resetting
  • merged!

UTC2342 - Correct compilation when most features out, one in by peterbarker · Pull Request #21878 · ArduPilot/ardupilot · GitHub

  • Fix some compilation problems when various things enabled and disabled
  • Add feature to test enabling features one at a time
  • Is the test-size feature actually working?
    • Yep
    • We changed stuff up in here recently to test against base branch rather than master
  • Merged

UTC2350 - AP_HAL_ChibiOS: default param updates for KakuteH7 autopilots by Hwurzburg · Pull Request #21879 · ArduPilot/ardupilot · GitHub

  • Default param updates for kakuteh7
    • Fix missing features in default build
    • We fixed the no-CR bug
  • Merged!

UTC2352 - AP_HAL_ChibiOS:add back displayport for KakuteF7 by Hwurzburg · Pull Request #21933 · ArduPilot/ardupilot · GitHub

  • Add back displayport in KakuteF7
  • Should we have a “redef” in hwdef files?
    • Combined undef and define
  • Can be merged once it passes CI
  • Henry will add some undefs

UTC2358 - Plane: if RTL with VTOL active and within QRTL radius and alt then QRTL by IamPete1 · Pull Request #21883 · ArduPilot/ardupilot · GitHub

  • If RTL with VTOL active and within QRTL radius and alt the QRTL
    • We already do this for QRTL but not for RTL
  • So we won’t try to transition if we suddenly RTL in a Q mode, we’ll just QRTL
  • This will land the vehicle, where we may have previously transitioned and circled
  • Ship landing?
    • Hold-off behind the ship
    • QRTL on the water would be bad
    • LUA script won’t get opportunity to update the hold-off point
    • [11:06 AM]Peter Barker: I wonder if applets should also be required to be autotested - because we could miss this sort of scenario in the future.
    • [11:06 AM]Peter Hall: Yeah, ship landing would be a very useful autotest.
  • Needs more thought

UTC0017 - Plane: Quadplane: SLT: enforce TECS pitch limits to beat race by IamPete1 · Pull Request #21885 · ArduPilot/ardupilot · GitHub

  • TECS pitch limits to beat race condition
  • 4.3.x

UTC0019 - AP_Peirph: fix CubeOrange-periph-heavy build by magicrub · Pull Request #21906 · ArduPilot/ardupilot · GitHub

  • Fix periph-heavy build
  • Merged!

UTC0020 - AP_Periph: add support for SLCAN by magicrub · Pull Request #21911 · ArduPilot/ardupilot · GitHub

  • SLCAN for AP_Periph
  • Periph can act as a CAN → serial translator
  • SLCAN is very expensive
  • Only works locally
  • MAVCAN is much nicer
  • Tridge wants to remove SLCAN
  • We’ll bring this in but it might go away soon enough
  • Merged!

UTC0026 - Plane: scale angle gains in POSITION1 state with airspeed by tridge · Pull Request #21919 · ArduPilot/ardupilot · GitHub

  • Scale angle gains in position1 state with airspeed
  • Tridge chatted separately with Pete on this one
  • Is rate_controller_run being called appropriately?
  • This is probably fine
    • If you came through here twice you might be in trouble
  • Yaw scaling?
    • We have the damper….
    • We use ff from ailerons for rudder
    • Use the roll tc?
  • Need to worry about random other frames
  • Logging for scale factors?
    • These can be calculated from other places
    • Was stepped through and printfs were used

UTC0026 - AP_Scripting: added get_aux_cached() by tridge · Pull Request #21928 · ArduPilot/ardupilot · GitHub

UTC0047 - AP_AHRS: rotate type=10 wind to correct direction by peterbarker · Pull Request #21929 · ArduPilot/ardupilot · GitHub

  • Fix AHRS type 10 wind direction
  • Current patch will break external sims
  • Peter will bisect and bring it back at DevCallEU

UTC0055 - RemoteID update

  • Need to use CLI tool ATM which isn’t great
  • DroneCANGUITool is getting patch to support it better
  • Remote unlock works
    • Large dronecan packets made it painful
    • 30 seconds or 40 seconds to do the one parameter change

UTC0056 - Plane update

  • 4.3.0 is out!
  • 4.2.0 was in May, so we made our 6 months!
    • Our beta was quite short
    • Another few weeks for Copter to come out to be within the 6 month mark
  • Now people can actually test Plane
    • People only run the stables….
    • Big change in user attitude
  • 4.3.0 got the fmuv2 warnings
    • Gentle reminder that they could run fmuv3
  • … and the fmuv3 warnings
    • Harder warning that you’re running on bad hardware (if you are)
  • Hopefully people will shift away from fmuv2

UTC0102 - Conference update

  • If you want to come, find the spreadsheet and add your name
  • Several people will be coming early to dig into some dev
  • Don’t need to stay at conference hotel, several within good driving distance
    • Maybe find a house with some other people?
    • Scooters are around which might make transport easy enough

UTC0108 - anti-weaponisation letter?

  • Register article on the matter was quite good - maybe not such a good thing to sign?
  • Agree with the letter - don’t need to agree to to intent of other companies?
  • Simplest thing is to leave it at current code of conduct

UTC0118 - close