Dev Call Oct 19, 2020

CraigElder · October 19, 2020, 11:00pm

Issues & Pull Requests

Plane

Copter

Rover

CraigElder · October 20, 2020, 3:18pm

Attendee count (max): 22

Back from last weekend
Parameter conversion done
GPS_PRIMARY parameter
Primary to blended?
What’s primary in dual can?
Set to 2 for blended?
Shouldn’t change behaviour for existing users?
Should this be 1-or-0 based?
Need to test
- Blending
- Single gps with primary set to primary
- Single gps with primary set to non-existant GPS
- Dual GPS
- Testing with first satellites than second and vice-versa
Allows users to specify your F9 as your primary GPS (which you’ve put on the second GPS port because it doesn’t have a plug suitable for the primary port)
Will be back again….

Wind_max disables sensor
Wind_warn warns about high wind
Disabling airspeed sensor by setting wind_max
No stable release with AIRSPEED_OPTIONS?
- Might not need conversion
Disable on sensor failure?
- Sets use to zero
Gps speed accuracy?!
- Disabling the airspeed sensor if you lose GPS would be bad
Airspeed used to keep attitude in DCM….
Quote of the day: “Since you are going to be re-writing this code to be neater you might as well rewrite it so it works”
- Using GPS speed accuracy looks bad in existing code
Probability failure work correctly 10m/s vs 100m/s?
- Users need to configure
We do need to think about where we use gps-based things in the code as vision is a thing now-adays

Discussed it on eudevcall
Changed float to int
Convention is to remove the class from the code with our #ifdef’s
- Not just the implementations

gps/nongps environment transitioning
Alt-source and horizontal-source split
- External-nav can be used for just-z or just-xy
Flown a lot
Part of a much more extensive PR which allows for selection of all sorts of bits and pieces for data sources
Useful for T265 as camera is quite sensitive to high-vibes
- Camera can lose its position and velocity estimates
- Loses Z-axis goes first
- Horizontal from camera, vertical baro
Users will need to set their alt-source to external nav too or they’ll continue to use baro (by default)
Ekf3-only
Active-height source should drop back to baro on failure
Goal is to use baro with external nav
50 commits in original PR
EKF doesn’t use rangefinder, broad look
- Not for Plane or Copter landings, essentially
- EKF is fundamentally flat-earth model which doesn’t get along with bumps and buildings
Bonus plug for ekf data source PR
- User can switch sources using switch on transmitter
- Also a LUA script which magically changes sources
  - Tested using three sources
  - OF, GPS, camera
  - Switching between camera and GPS
  - Gps speed accuracy was OK, but using camera innovations helped
- Video coming!

NMEA GPSs
- Off by 3 days in timestamp from NMEA GPS
A chunk of code cleanup but just sharing code
Will also affect MTK GPSs
Simulated NMEA GPS showed the problem up!
Perhaps we did break this at some stage
- Tridge remembers making sure he got the correct date/time

Do we want to notify a user of an EKF failsafe even if we’re not going to act on it?
- Randy likes it as it gives the user situational awareness
Users are getting annoyed by it?
Add another failsafe action which does not do reporting?
- Rename existing one to REPORT_ONLY?
Change existing behaviour to not report, andd a new report-only option

More script bindings - EKF variances
These are the scaled
- Values > 1 are outside the gate
Randy will add some comments….
Last entry is size of last reset
API concreteness issues
- Getposresetne shouldn’t be in this call but if we remove it we’d break the bindings
- Nobody actually uses it?
Make lots of calls?
- Consistency issue

Non-gps navigation stuff again!
Randy is really liking LUA
Flight mode in LUA
- Using guided-velocity to move the vehicle around
No user input in guided mode normally
- So normally we don’t let the vehicle arm
Extra option for allow-arming-from-scripting?
Why do we want to prevent people arming in guided?
- Support calls
We don’t allow arming in RTL…
- Plane uses throttle suppression
- Auto-armed is kind of like that
- Quadplane and throttle suppression?
Use a single bit for all modes?
- FLIGHT_OPTIONS for example?
Whitespace in LUA scripts?
- Spaces not tabs
- 2-space in LUA?

UTC0132 - Plane updates

Plane landing issue reported by Nate
- probably long standing
- Full descent into ground…
- 15608
Paul’s new TECS and landing improvements are great
- Part of 4.1…

UTC0135 - Copter and Rover updates

UTC0139 - out of time - closed