Dev Call Oct 3, 2022

CraigElder · October 3, 2022, 10:46pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Plane: Allow reseting target airspeed to the parameter value

ArduPilot:master ← WickedShell:wickedshell/plane-cancel-change-airspeed

opened 11:10PM - 15 Apr 22 UTC

WickedShell

+6 -2

This allows us to send a MAVLink (or mission) command to resume the tuned airspe…ed of the aircraft, without having to know the speed in advance. This is useful for allowing a GCS to send any aircraft back to it's normal flight state, without having any dependency upon understanding it's parameters. This should probably wait until I get the proposed flag change into MAVLink before coming in, unless we want to just push forward with it. I've opened this now though to prompt discussion of it. As a note, I didn't change anything functional in the normal airspeed case, I simply fixed a tab/space whitespace issue, and split the if line into 2 lines for readability. I would *really* like to remove the send text of "Set airspeed" though :) We have NACK's for a reason! This was tested using SITL in guided.

github.com/ArduPilot/ardupilot

Plane: postition control QPOS1 and QPOS2

ArduPilot:master ← IamPete1:QPOS1_position_control

opened 05:05PM - 02 Sep 22 UTC

IamPete1

+110 -91

This adds position control to the QPOS1 and QPOS2 VTOL approach states. It attem…pts to fly a straight line from the entry of QPOS1 to the destination. In QPOS1 the target position is simply the closest point on that line. This allows to to "free wheel" along the axis of the line while trying to minimize cross track. If the vehicle ever goes beyond the destination the target point becomes "locked" to the destination, this means that the postilion controller helps slow down in the case of overshoot. Once in QPOS2 that target point is advances along the line at WP speed until it reaches the destination, where it is again locked. The threshold for the switch to QPOS2 is now purely based on ground speed. In both QPOS1 and QPOS2 the nose of the vehicle is pointed into the apparent wind. Some testing with 10m/s cross wind: PR Normal approach: ![image](https://user-images.githubusercontent.com/33176108/188201040-4239f1a0-bb2a-4f55-9624-dc8b17a80f3a.png) Master Normal approach: ![image](https://user-images.githubusercontent.com/33176108/188201407-7bd60b6f-9148-41d3-bcb8-a3ab9b9db36a.png) So for normal approach we see a very little difference, maybe slightly less overshoot. PR "too close" approach: ![image](https://user-images.githubusercontent.com/33176108/188201846-5013cac2-85f3-4beb-8491-2739aedaf276.png) Master "too close": ![image](https://user-images.githubusercontent.com/33176108/188202063-ab72831b-6ee9-480f-894a-e3c2929e427e.png) A significant improvement, PR stops much sooner thanks to the additional "pull" of the target potion. We still suffer somewhat when the vehicle is not traveling towards the destination when entering QPOS1. This PR apply the deceleration against the direction between the start of QPOS1 and the destination. Master always applies it away from the destination. I think this is a improvement, and it simplifys the code a little. I was tempted to combine QPOS1 and QPOS2, there is now very little difference. There is still more improvements possible especially for "too close" approaches. Needs lots of edge case testing and testing with ship landing.

github.com/ArduPilot/ardupilot

Copter: Autoyaw updates

ArduPilot:master ← IamPete1:autoyaw_updates

opened 08:34PM - 06 Sep 22 UTC

IamPete1

+226 -378

A WIP of what some auto yaw refactoring might look like. Not tested at all, I…'m fairly sure this now allows pilot override in all cases, so that would need to be fixed, possibly by passing a bool. Is it worth it? ~~looks like flash cost will be at least 2K~~ This does make it easier to pull out auto yaw to its own library at some point so it could be shared between copter, quadplane, blimp and sub (maybe omni rover too). I tend to think this is a nice improvement, however it ~~quite a bit of flash and~~ will need lots of testing as it touches most every mode.

github.com/ArduPilot/ardupilot

Plane: always report the airspeed estimate being used in VFR hud

ArduPilot:master ← IamPete1:plane_vfr_hud_airspeed

opened 08:27PM - 14 Sep 22 UTC

IamPete1

+2 -2

Currently a unused airspeed sensor (`ARSPD_USE` = 0) will be reported rather tha…n the airspeed estimate that the vehicle is actually flying to. This changes to use the same criteria and index as `ahrs.airspeed_estimate`, however as stated in the existing comment we do not constrain with wind max as we would via ahrs. I'm actually quite tempted to remove this extra case all together and always report the exact ahrs airspeed the vehicle is flying to, I think that is more important than reporting the exact airspeed measured, as it is included in other messages, sort of anyway (`SCALED_PRESSURE`).

github.com/ArduPilot/ardupilot

AP_InertialSensor: Logging: only log single notch frequency unless per-motor, never log fixed

ArduPilot:master ← IamPete1:FTN_logging

opened 10:45PM - 16 Sep 22 UTC

IamPete1

+27 -10

Firstly stops logging centre frequency of a fixed notch. Its just the frequency …set in the params. Secondly it splits logging into one message for per motor and one for other sorts. So ESC telem based logging, or FFT if configured, will get the big message everything else will get the smaller. Main goal is to stop logging 11 zeros at 25hz for static, throttle or RPM based, there is no way to disable this log message so this at least makes it smaller most of the time.

github.com/ArduPilot/ardupilot

Plane: remove throttle and rudder from CTUN as in AETR

ArduPilot:master ← IamPete1:plane_redundant_logging

opened 10:54PM - 25 Sep 22 UTC

IamPete1

+7 -9

Were logging the same values in two places at the same rate. This removes thrott…le and rudder from `CTUN` as there in `AETR`. So as not to loose data this now always logs `AETR` if `CTUN` is enabled. Would quite like to remove roll and pitch desired and actual too, there in `ATT`, however `ATT` switches to Quadplane view where as CTUN does not. Having both sets could be useful.

github.com/ArduPilot/ardupilot

GCS_MAVLink: remove individual static members for fence, mission and rally

ArduPilot:master ← peterbarker:pr/remove-statics-for-mission-types

opened 11:53PM - 27 Sep 22 UTC

peterbarker

+23 -49

This removes individual member pointers for each of the mission types which we c…an transfer via the mission item protocol, instead using an array to store them. This removes a chunk of code and we can iterate the list to work on all of the items in a loop rather than each pointer separately. Also fixes the nesting problem found by @muramura here: https://github.com/ArduPilot/ardupilot/pull/21820 Also fixes a bug where if fence wasn't compiled in we wouldn't have rally or mission items.

github.com/ArduPilot/ardupilot

Make and use AP_LANDINGGEAR_ENABLED

ArduPilot:master ← peterbarker:pr/AP_LANDINGGEAR_ENABLED

opened 10:37AM - 01 Oct 22 UTC

peterbarker

+62 -51

The vehicle definitions weren't really accomplishing much: ``` Master: bin/ar…ducopter 1807572 3484 258884 1811056 155016 This PR: bin/arducopter 1805316 3484 258884 1808800 157272 ``` The patch in RC_Channels makes the difference. elf_diff shows no difference between Copter binaries when landing gear is included. This starts to include landing gear on Plane on Pixhawk1-1M, clearly not acceptable. What's the way forward there? Stop including it on any vehicle if `HAL_MINIMIZE_FEATURES`?

github.com/ArduPilot/ardupilot

Copter: Message length within 50 bytes

ArduPilot:master ← muramura:AP_Message_length_within_50_bytes

opened 02:38AM - 02 Oct 22 UTC

muramura

+1 -1

This "Mode change to AUTOTUNE failed: initialisation failed" message was split i…n two. The split "led" was displayed on the MP's HUD. One message is 50 bytes. I will change the short name to flight mode. I want to use 1 message for message display and voice notification. AFTER ![Screenshot from 2022-10-02 11-23-03](https://user-images.githubusercontent.com/646194/193435262-867fa570-248a-4077-b60e-758bc2ac6248.png)

github.com/mavlink/rfcs

RFC 0018 - Improved Battery Status Reporting

mavlink:master ← hamishwillee:rfc_battery_status_v2

opened 10:49AM - 24 Mar 22 UTC

hamishwillee

+293 -0

The [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) …has two arrays that can be used to report individual cell voltages (up to 14), or a single cumulative voltage, and which cannot be truncated. The vast majority of consumers are only interested in the total battery voltage, and either sum the battery cells or get the cumulative voltage. This RFC proposes two new messages, separating out the individual voltage for cells as cell fault information. The result is a simpler message to understand and use. We've also liased with UAVCAN in order to ensure that the messages are compatible with what UAVCAN is doing.

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 - [ ] dsplay m…essage on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] 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 - [ ] 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 - [ ] 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) - [ ] 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) - [ ] 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 5, 2022, 5:07pm

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

Yuri_Rage · October 5, 2022, 5:18pm

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.