Dev Call Oct 17, 2022

CraigElder · October 17, 2022, 10:59pm

Issues & Pull requests

github.com/ArduPilot/ardupilot

AP_TempSensor:: Add MCP9600 and other upgrades

ArduPilot:master ← magicrub:pr/TempSensor_mcp9600

opened 05:45PM - 07 Sep 22 UTC

magicrub

+1226 -181

This PR does a few things: - This branch is on top of the frontend/backend spli…t PR https://github.com/ArduPilot/ardupilot/pull/20060 - Refactors the new AP_TemperatureSensor a bit - Add support for MCP9600 temperature sensor - Adds ability for AP_TemperatureSensor to override other library's temperature value: Battery, ESC, ESC_Motor (example, if your ESC doesn't have a temperate sensor, the value will always be zero but with an external sensor touching that ESC we can now override the ESC's temp property). - Added AP_Periph support - Adds a new AP_Periph hwdef build target: f303-TempSensor This replaces https://github.com/ArduPilot/ardupilot/pull/17627 and https://github.com/ArduPilot/ardupilot/pull/18841

github.com/ArduPilot/ardupilot

AP_GPS: Fix novatel driver to handle DOP correctly, and fix overly optimistic horizontal accuracy estimate

ArduPilot:master ← WickedShell:wickedshell/novatel-dop-acc

opened 07:05PM - 22 Sep 22 UTC

WickedShell

+6 -8

There's an error with the init blob for novatel in that it sends 3 different con…figuration strings for psrdop, which conflict with each other. If using actual Novatel hardware what you end up getting is a single DOP message once while doing the configuration, and then no more DOP messages. While I like onchanged for the dop message the best, it wasn't clear to me that all the other vendors would suppoprt it, so I consolidated on 5Hz updates for it. This also corrects an error with the horizontal accuracy estimate. It was just splitting the difference between the east/west and north/south error. However these terms are actually defining something more like an ellipse. Doing the pathagorean distance gives a more accurate (IE: reduces the over estiamte of accuracy) result, and makes us actually match what novatels software presents as the 2D accuracy. This was tested on a Novatel OEM719.

github.com/ArduPilot/ardupilot

Use Float16_t in AP_Mission

ArduPilot:master ← tridge:pr-float16-mission

opened 08:35PM - 13 Oct 22 UTC

tridge

+136 -31

This is an experiment in using a float16 type in AP_Mission storage. It would al…low us to store more parameters in the fixed 10 bytes (or 12 for mission command IDs below 256) In this example NAV_SCRIPT_TIME is able to store an extra two parameters. Due to the use of MISSION_ITEM_INT those two parameters need to be integers update: I initially meant this just to be a demo of using float16, but after discussions with @rmackay9 I think we could merge this. It would break the mission format for people with NAV_SCRIPT_TIME in missions, but that might be acceptable given small number of users

github.com/ArduPilot/ardupilot

CI: add Scripting docs check

ArduPilot:master ← IamPete1:scripting_docs_check

opened 03:38PM - 14 Oct 22 UTC

IamPete1

+305 -26

This adds a check that scripting docs are upto date. It re-generates the docs us…ing the generator and then spots the difference between the current docs and the generated ones. It ignores argument names and comments. This should currently fail because there is a bunch of stuff missing. It will also fail because there is no definition for the expected number of arguments for manual bindings, this will also need to be added. Could expand further in the future to also check fields, argument/return types.

github.com/ArduPilot/ardupilot

Stop sending BATTERY2 by default

ArduPilot:master ← peterbarker:pr/battery2-deprecation

opened 01:01AM - 15 Oct 22 UTC

peterbarker

+15 -7

Replaces https://github.com/ArduPilot/ardupilot/pull/18741 Also includes a de…fine so we can remove the code if desired (220 bytes) Intent is to set the define to zero in 4.5 and remove the code in 4.6 After this PR a user can get the thing streaming again with methods from the per-message items on https://ardupilot.org/dev/docs/mavlink-requesting-data.html , allowing them to unbreak their setups with configuration. @WickedShell mentioned OSDs might be affected - if so, this will give people 6 months to complain but still be able to fix things with a little work. Once we change the define they'll need to use the custom build server to enable it. Once we remove the code...well..

github.com/ArduPilot/ardupilot

Plane: GCS_Mavlink: use base class DO_SET_HOME

ArduPilot:master ← IamPete1:plane_set_home

opened 04:54PM - 15 Oct 22 UTC

IamPete1

+16 -34

This moves to use the base class method as the overrides are already in place fo…r `set_home_to_current_location` and `set_home`. They were already being used for the command int this brings command long to that same behavior. Base class methods is here: https://github.com/ArduPilot/ardupilot/blob/3abdc6ad25fbf4f197a755cef6d12c17ab36d8c3/libraries/GCS_MAVLink/GCS_Common.cpp#L4467-L4491 The only difference is the checking if lat/lon are zero when deciding to set home to current location.

Remote ID

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.3.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] Kakute H7 V2 config error ([discussion](https://discuss.ardupilot.org/t/holybro-kakute-h7-v2-config-error-ins-unable-to-initialise-driver/92003)) - [ ] Gremsy driver sending gimbal feed-forward values when vehicle is disarmed and pilot provides yaw input - [ ] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [ ] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) Copter specific issues (confirmed to be real) - [ ] SkyViper Journey broken (4.0.8 works, >4.1 does not) ([issue](https://github.com/ArduPilot/ardupilot/issues/21932)). Lucas and PeterB confirmed it does not work - [ ] Copter do-change-speed mission command not working ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) Rover specific (confirmed to be real) - [ ] internal error when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta2-has-been-released/91551/3)) - [ ] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) Wiki related requests: - [ ] Rover S-Curve tuning instructions Enhancement Requests (may or may not be done) - none --- Resolved Issues - [x] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771), [PR](https://github.com/ArduPilot/ardupilot/pull/21830)) -- resolved for beta2 - [x] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) -- resolved for 4.3.0-beta2 - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · October 19, 2022, 2:12pm

Attendee count (max): 19

UTC2300 - gitignore: add defaults.parm by hendjoshsr71 · Pull Request #21300 · ArduPilot/ardupilot · GitHub

Add defaults.parm to ignore file

UTC2303 - AP_TempSensor:: Add MCP9600 and other upgrades by magicrub · Pull Request #21662 · ArduPilot/ardupilot · GitHub

MCP9600
Dummy backends are now in place
Merged!

UTC2303 - AP_GPS: Fix novatel driver to handle DOP correctly, and fix overly optimistic horizontal accuracy estimate by WickedShell · Pull Request #21782 · ArduPilot/ardupilot · GitHub

Fixed novatel to do DOP correctly
Merged!

UTC2307 - GCS_MAVLink: fix set-default-rate of a message we don't send by default by peterbarker · Pull Request #21947 · ArduPilot/ardupilot · GitHub

Setting default rate now works if the message doesn’t have a zero rate
Merged
MissionPlanner now does have a screen to set these message intervals!
Randy used the feature to good effect in the Japan challenge

UTC2312 - AP_Relay: add 1, 2, 3 and 4 to valid pins in documentation by peterbarker · Pull Request #21953 · ArduPilot/ardupilot · GitHub

Fix Relay documentation
- Zealot uses 1, 2, 3, 4
- Go look at hwdef instead?!
Maybe an @SYS/pinmap.txt ?
Could do serial ports too?
Betaflight and inav have introspection stuff? Or is it just in the configurator?
[10:14 AM]Peter Hall: You could grab the hwdef out of romfs…
[10:14 AM]Peter Hall: And re-parse it.
[10:16 AM]Peter Hall: I was thinking of a sys file for motor layout.
Is this just more parameter documentation?
- Serial3 is uart2 sort of thing
- Too big?
  - Maybe just the deltas?
  - @sys/param-descriptions.txt
  - Same format as current documentation
    - Could potentially document scripting parameters this way
PR killed

UTC2333 - Rover OF redux

Replay rules broken by PR
Vehicle-specific stuff inside EKF also not good
Why not wheel encoders?
- Adding OF to a vehicle is easier
Orientation stuff was removed from this and Randy will add it
Randy will chat with Stephen because not sure of use case

UTC2342 - Use Float16_t in AP_Mission by tridge · Pull Request #21958 · ArduPilot/ardupilot · GitHub

Float16 in mission items
Allows packing in lots of floats!
Peter thinks a NAV_SCRIPT_TIME2 would be more appropriate so as not to kill vehicles
Tridge and Randy thinks it’s not widely enough used to be bothered with
- Change function name so script won’t run
Check binary form of mission?
Make NAV_SCRIPT where the timeout is set by the script
- Saves a float
Only 288 bytes

UTC2357 - fix ROMFS dirlist by peterbarker · Pull Request #21959 · ArduPilot/ardupilot · GitHub

Tridge will have a look

UTC0003 - Fix BMI085 scaling issue by lgarciaos · Pull Request #21960 · ArduPilot/ardupilot · GitHub

Fix BMI scaling issues
Merged
Will be backported

UTC0004 - CI: add Scripting docs check by IamPete1 · Pull Request #21965 · ArduPilot/ardupilot · GitHub

CI check ensures scripting bindings docs are always up-to-date
Also fixes a bunch of problems
Can be merged after minor Python fixes

UTC0008 - CI: add Scripting docs check by IamPete1 · Pull Request #21965 · ArduPilot/ardupilot · GitHub

Fix airspeed bus metadata
MergeOnCIPass

UTC0009 - Stop sending BATTERY2 by default by peterbarker · Pull Request #21969 · ArduPilot/ardupilot · GitHub

Stop sending BATTERY2 message by default
Merged

UTC0014 - Plane: preparing for 4.3.1beta1 by tridge · Pull Request #21971 · ArduPilot/ardupilot · GitHub

4.3.1beta1 changelist
Angle-p-gain-scaling
beta will be out later today
Maybe 4.3.1 next week
Copter 4.3.0beta3 is out there

UTC0014 - Use first defined RCIN serial port by andyp1per · Pull Request #21976 · ArduPilot/ardupilot · GitHub

Use first defined RCIN serial port
People moving to and from bdshot would find their RC receiver not found
This adds a warning….
merged

UTC0022 - Update SRX metadata by Hwurzburg · Pull Request #21977 · ArduPilot/ardupilot · GitHub

Update SRx metadata
Changes description so it doesn’t talk about sending to GCS
Needs a rebase then good

UTC0024 - Plane: GCS_Mavlink: use base class DO_SET_HOME by IamPete1 · Pull Request #21978 · ArduPilot/ardupilot · GitHub

Tidy set home of Plane
Tridge will look closer at this

UTC0030 - Baro: cope with MS5607 substitution for MS5611 in "Pixhawk 2.4.x" by tridge · Pull Request #21981 · ArduPilot/ardupilot · GitHub

MS5607 being used in place of MS5611
Adds a prearm check and an option bit to force a baro type
You end up with a very bad airspeed ration and estimate
Looks like “Bad airspeed install” but isn’t
5611 not available? Shove in a 5607? BAD!!!
One gives half the pressure as the other and can’t be distinguished by register values.
Eas2tas is 1.5 at sea level….
Changes out devid
Should we have a bit or should we have a baro definition?
- Tridge says turn CAN baros off as they’re generally a bad idea due to conflict in where you want the GPS vs where you want the Baro
- Copters seem to be OK for it, ‘though

UTC0042 - AP_SOARING: correct metadata for speed params by Hwurzburg · Pull Request #21982 · ArduPilot/ardupilot · GitHub

Soaring metadata fix
Merged
Should we really have an @Values field?!
Oops, will need to revert it
Will change to -1 to 50 in Range

UTC0046 - Plane: support hygrometer data for DroneCAN airspeed sensors by tridge · Pull Request #21987 · ArduPilot/ardupilot · GitHub

Support hygromer data for dronecan airspeed sensors
Adds to CAN airspeed driver
Little bit to look at

UTC0052 - AP_Logger: MessageWriter: SysInfo: write RCOut string by IamPete1 · Pull Request #21988 · ArduPilot/ardupilot · GitHub

Put rcout into logs
Merged!

UTC0054 - RemoteID update

WifI beacon support added
Dual RemoteID support
New mRo RemoteID board in tridge’s hands and Henry’s happy with it
MissionPlanner needs an update
- gives basic id fields
  - Done by device now

UTC0054 - Plane update

Beta out today
4.3.1 early next week

UTC0054 - Copter/Rover update

4.3.0 RSN
Randy doesn’t know of any blockers
Need more people testing
- ArduPilot firmware : /FWStats/Oct2022 only shows 17
Kakuteh7-v2 problems being looked at by Andy
Wheel encoders aren’t right yet
SCurves for Rover have some implementation issues

UTC0103 - Japan Competition

Terrain following was great
- Esp compared to 3 year
Videos and blogs coming

UTC0105 - Rover OF redux redux

Randy’s given it some more thought and thinks it might be quite useful in some applications

UTC0106 - Plane 4.3 release

Has gone really well so far!

Attendee count (max): 19

UTC2300 - gitignore: add defaults.parm by hendjoshsr71 · Pull Request #21300 · ArduPilot/ardupilot · GitHub

UTC2303 - AP_TempSensor:: Add MCP9600 and other upgrades by magicrub · Pull Request #21662 · ArduPilot/ardupilot · GitHub

UTC2303 - AP_GPS: Fix novatel driver to handle DOP correctly, and fix overly optimistic horizontal accuracy estimate by WickedShell · Pull Request #21782 · ArduPilot/ardupilot · GitHub

UTC2307 - GCS_MAVLink: fix set-default-rate of a message we don't send by default by peterbarker · Pull Request #21947 · ArduPilot/ardupilot · GitHub

UTC2312 - AP_Relay: add 1, 2, 3 and 4 to valid pins in documentation by peterbarker · Pull Request #21953 · ArduPilot/ardupilot · GitHub

UTC2333 - Rover OF redux

UTC2342 - Use Float16_t in AP_Mission by tridge · Pull Request #21958 · ArduPilot/ardupilot · GitHub

UTC2357 - fix ROMFS dirlist by peterbarker · Pull Request #21959 · ArduPilot/ardupilot · GitHub

UTC0003 - Fix BMI085 scaling issue by lgarciaos · Pull Request #21960 · ArduPilot/ardupilot · GitHub

UTC0004 - CI: add Scripting docs check by IamPete1 · Pull Request #21965 · ArduPilot/ardupilot · GitHub

UTC0008 - CI: add Scripting docs check by IamPete1 · Pull Request #21965 · ArduPilot/ardupilot · GitHub

UTC0009 - Stop sending BATTERY2 by default by peterbarker · Pull Request #21969 · ArduPilot/ardupilot · GitHub

UTC0014 - Plane: preparing for 4.3.1beta1 by tridge · Pull Request #21971 · ArduPilot/ardupilot · GitHub

UTC0014 - Use first defined RCIN serial port by andyp1per · Pull Request #21976 · ArduPilot/ardupilot · GitHub

UTC0022 - Update SRX metadata by Hwurzburg · Pull Request #21977 · ArduPilot/ardupilot · GitHub

UTC0024 - Plane: GCS_Mavlink: use base class DO_SET_HOME by IamPete1 · Pull Request #21978 · ArduPilot/ardupilot · GitHub

UTC0030 - Baro: cope with MS5607 substitution for MS5611 in "Pixhawk 2.4.x" by tridge · Pull Request #21981 · ArduPilot/ardupilot · GitHub

UTC0042 - AP_SOARING: correct metadata for speed params by Hwurzburg · Pull Request #21982 · ArduPilot/ardupilot · GitHub

UTC0046 - Plane: support hygrometer data for DroneCAN airspeed sensors by tridge · Pull Request #21987 · ArduPilot/ardupilot · GitHub

UTC0052 - AP_Logger: MessageWriter: SysInfo: write RCOut string by IamPete1 · Pull Request #21988 · ArduPilot/ardupilot · GitHub

UTC0054 - RemoteID update

UTC0054 - Plane update

UTC0054 - Copter/Rover update

UTC0103 - Japan Competition

UTC0105 - Rover OF redux redux

UTC0106 - Plane 4.3 release

UTC0107 - Close