Dev Call Oct 3, 2022

Issues & Pull Requests

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Attendee count (max): 16

UTC2300 - Plane: Allow reseting target airspeed to the parameter value by WickedShell · Pull Request #20541 · ArduPilot/ardupilot · GitHub

  • Resetting target airspeed to parameter value
    • Mavlink message says go-to-default

UTC2306 - Plane: postition control QPOS1 and QPOS2 by IamPete1 · Pull Request #21620 · ArduPilot/ardupilot · GitHub

  • Pos control to qpos1 and qpos2 in vtol approach
  • Cross-wind issues, slewing around when descent starts?
  • Have some nice yawing if you’re happy with wind estimate?
  • Large wind you really do need to point into wind, not into the vector
    • Some sort of threshold parameter before we point into wind?
    • Wrong wind estimate?
      • Check the uncertainty in the wind estimate before use?
  • Having the vehicle do a pair of 180s would be bad
  • Ship landing?
    • Don’t want to do this on a ship landing
  • Overshoot was the only place we used the wind estimate during navigation
    • This would add it to all quadplane landings…
  • Ancient versions of ArduPlane did manage to do this slewing without the airspeed - maybe based on roll?
    • Maybe look at how that worked?
    • This stuff changed slowly over time…
      • Pos2 has been rewritten half a dozen times since then
  • EKF wind estimate isn’t great as it’s a long-term integration of wind state and won’t take into account rapidly changing wind as you’re descending through the different wind layers
  • Takeoff you won’t have wind estimates…
  • Might be able to come up with a nice yawing thing during takeoff before we hand off to L1

UTC2332 - Copter: Autoyaw updates by IamPete1 · Pull Request #21651 · ArduPilot/ardupilot · GitHub

  • Autoyaw updates and fixups
  • 2.5kB saved
  • Some behavioral changes on purpose
  • Still needs some testing

UTC2332 - Plane: always report the airspeed estimate being used in VFR hud by IamPete1 · Pull Request #21729 · ArduPilot/ardupilot · GitHub

  • Always report the airspeed estimate being used in VFR_HUD
  • The development.xml message is convoluted
    • And buggy
    • Raw_speed is much better than static pressure
    • We’ll make a counterproposal
    • Try to move towards killing scaled_pressure and making a barometer message
  • Also a magnetometer and IMU message into the future…

UTC2349 - Correct prescaler calculation and add testing debug by andyp1per · Pull Request #21833 · ArduPilot/ardupilot · GitHub

  • Prescalar calculation testsuite fix
    • Sid found a bug, but we need to tread carefully
  • Need to make sure we’re running this test program in CI
  • Marking for DevCallEU

UTC2352 - Add and use AP_GRIPPER_ENABLED by peterbarker · Pull Request #21754 · ArduPilot/ardupilot · GitHub

  • Removes gripper
  • Merged!
  • Extract-features script is really very cool

UTC2355 - Plane: remove throttle and rudder from CTUN as in AETR by IamPete1 · Pull Request #21800 · ArduPilot/ardupilot · GitHub

  • Remove throttle and rudder from CTUN as we already log them in AETR
  • Might break a bunch of external tools
  • Can get rid of the rudder field but ThO is a problem as Dashware requires CTUN.ThO
  • Will drop this as it’s not worth the pain for the external tool

UTC0007 - AP_InertialSensor: Logging: only log single notch frequency unless per-motor by IamPete1 · Pull Request #21736 · ArduPilot/ardupilot · GitHub

  • Stop logging zeroes in many notch filter logs

UTC0009 - GCS_MAVLink: remove individual static members for fence, mission and rally by peterbarker · Pull Request #21825 · ArduPilot/ardupilot · GitHub

  • Use array rather than separate pointers
  • Merged!

UTC0017 - Use CLASS_NO_COPY() macro to delete copy operations by jackhong12 · Pull Request #21847 · ArduPilot/ardupilot · GitHub

  • Use CLASS_NO_COPY all over the place
  • Will this cause backport problems?
    • Probably not….
  • Merged!

UTC0022 - Make and use AP_LANDINGGEAR_ENABLED by peterbarker · Pull Request #21848 · ArduPilot/ardupilot · GitHub

  • 4.3.0 beta2 is disabling GPSs
    • Should we merge it to master?
    • Pixhawk1-1M loses everything but uBlox and nmea
    • More than 13kB saved
    • Custom build isn’t quite working for the custom build server
      • Only take stuff away if people can get it back again….
    • What boards are people actually using?
      • ArduPilot firmware : /FWStats
        • Needs some prettifying
      • Fmuv2 is the number 1 board for Copter?!
        • Almost the same as Pixhawk1-1M
      • Many many Pixhawk1 clones, probably
        • China users, perhaps?
      • Plane has CubeOrange first then Copter
      • Most users are using stable and are happy so we’re not seeing much beta testing
        • 11:31 AM]Peter Hall: Were getting too good.
        • [11:31 AM]Peter Hall: Less incentive to update.
      • This came up because Michelle asked who was using boards
      • People don’t need to use fmuv2 but don’t really need to
        • Prompt people to move forward from fmuv2 to Pixhawk1-1M or Pixhawk1 in Mission Planner?
      • We should get tridge a PixSurvey
        • Make it a standard build
        • Are they really flying fmuv2 firmware?!
      • Massive disconnect between user and dev community
        • Devs didn’t realise that fmuv2 was so popular
      • plane/copter ratio is much smaller than it used to be
        • Many assumptions the dev community has made have been wrong…
      • Are we really going to suggest people flash their bootloaders?
  • Landing gear Copter vs Plane
    • Randy wants to keep landing gear for 1MB boards

UTC0044 - Plane: prepare for 4.3.0beta2 by tridge · Pull Request #21852 · ArduPilot/ardupilot · GitHub

  • Beta2 prep
    • Had to kill some GPSs
    • Airspeed ekf stuff was probably a big one
    • Bunch of important bug fixes
    • Videotx stuff from andy
  • One copter-specific patch

UTC0056 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

  • Copter beta - Randy hasn’t been keeping up with news
    • Competition this weekend
  • Rover wheelencoder problem may not be one
  • Do-change-speed must be after a waypoint, so immediately after takeoff doesn’t work
  • Rover SCruve corners might be problematic
    • Castors at front are a bit of an issue

UTC0059 - RemoteID update

  • No new release this week
  • Has anybody got their doc accepted?
    • Craig doesn’t know of any
  • A web interface for people to run through for their doc?

UTC0100 - Copter: Reorder Alt_hold state switch statement for clarity by lthall · Pull Request #21854 · ArduPilot/ardupilot · GitHub

  • Reorder alt_hold switch statements
  • Merged!

UTC0104 - CI: use base branch for test size by tridge · Pull Request #21859 · ArduPilot/ardupilot · GitHub

  • Size-compare vs base branch so beta size comparisons work
  • Merged!

UTC0106 - remove Copter auto_trim functionality by peterbarker · Pull Request #21861 · ArduPilot/ardupilot · GitHub

  • Are we OK to kill the autotrim feature?
    • Stop moving horizontally
    • Leonard uses this!
  • Ahrs trim is really not the right thing
    • Should be like trim_pitch_cd
    • Frame assymmetries vs ins flatness to gravity
  • Make use something like Plane’s servo autotrim instead?
  • qPlanes creeping forward use Q_TRIM_PITCH for something similar
  • Remove stick trigger and replace with just a switch?
  • Three-axis accel cal killed this feature
  • Peter will remove the yaw trigger and add a rc option instead

UTC0126 - Plane: correct range for kff_thr_2_pitch by Hwurzburg · Pull Request #21862 · ArduPilot/ardupilot · GitHub

  • Simple doc fix for kff_thr_2_pitch
  • merged

UTC0127 - Tools: update signing readme for correct reversal instructions by Hwurzburg · Pull Request #21863 · ArduPilot/ardupilot · GitHub

  • Update signing readme
  • Merged!

UTC0129 - Better Battery Messages by dakejahl · Pull Request #7 · dronecan/DSDL · GitHub

  • Better DroneCAN battery messages
    • Fewer bytes on wire
  • Big message at 0.5Hz?
    • Recommend something!

UTC0139 - RFC 0018 - Improved Battery Status Reporting by hamishwillee · Pull Request #19 · mavlink/rfcs · GitHub

  • Need to get people to look at this
  • Trying to keep this looking like the CAN equivalents

UTC0139 - Data: add Aux function page to allow easier triggering · Issue #2957 · ArduPilot/MissionPlanner · GitHub

  • Was created to get aux function options to allow easier triggering in MissionPlanner

UTC0139 - Data: add Aux function page to allow easier triggering · Issue #2957 · ArduPilot/MissionPlanner · GitHub

UTC0147 - close

To be clear on this (I’m the source of the complaint), I don’t think it’s a blocker for release. I would like to see a firmware fix in a later release, though, rather than relying on a script to manipulate PID terms on the fly.

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