Dev Call Oct 30, 2023

Issues & Pull Requests

Plane

Copter

Attendee count (max): 17

UTC2300 - AP_Compass: avoid saving device IDs if not calibrated by tridge · Pull Request #25058 · ArduPilot/ardupilot · GitHub

  • Avoid saving device IDs if not calibrated
  • Fresh board
    • DroneCAN first
    • Then external i2c
    • Then internal
  • Should be no change for existing users
  • Would be nice to get rid of initial 5 second delay
    • Need to run-time detect devices
  • Companies which have shipped ArduPilot on devices and booted them before shipping may be locking in the internal compasses as primary, which is bad
  • Workaround for pre-4.5 is to use compass-reordering interface to get correct compass first
  • Past this PR your compass order is locked in only when first calibration is done

UTC2312 - https://github.com/ArduPilot/ardupilot/pull/25164

  • Improve VTOL to FW transition behaviour for tilt-rotors
  • Insufficient thrust when also trying very hard to achieve desired pitch
  • During transition you can go past q-tilt-lim so long as motors aren’t saturated
    • Maximise forward thrust from tilting rotors during transition
  • Highlights underling issue where tilt is handled separately
    • Should be part of the motors library
    • Kind of like Sub’s 6-dof stuff
  • PH wants more tilt-rotor logging
  • Needs to be flown in SITL
  • Tridge will fly on his Griffin Pro
  • Need a 0 to disable new behaviour
    • Currently won’t work well
  • Have the algorithm always in use, perhaps, but default to existing rate
    • Disable back-off stuff
    • Tridge wants it on by default
    • 0 to mean existing behaviour
    • Q_TILT_OPTIONS bit to disable backoff behaviour

UTC2335 - AP_Winch fix verbose user output when using pos control by rmackay9 · Pull Request #25212 · ArduPilot/ardupilot · GitHub

  • Winch debug text fix
  • Merged

UTC2336 - AP_AHRS: ensure we check health of the sensor we are using. by IamPete1 · Pull Request #25272 · ArduPilot/ardupilot · GitHub

  • Ensure we check health of the airspeed sensor we are using
  • Merged!

UTC2339 - using the lua script with SITL by vzarkar · Pull Request #25342 · ArduPilot/ardupilot · GitHub

  • Using lua script with SITL
  • Comment fix
  • Merged!

UTC2340 - hwdef: support Holybro 6X revision 6 by tridge · Pull Request #25349 · ArduPilot/ardupilot · GitHub

  • Support Holybro 6X revision 6
  • ADIS as first sensor
  • Merged!

UTC2342 - AP_InertialSensor: init all notch center frequencies by IamPete1 · Pull Request #25355 · ArduPilot/ardupilot · GitHub

  • Init all notch centre frequencies
  • Tridge thinks longer conversation needed
    • If you have a forward motor on a quadplane and you have zero RPM we shouldn’t be running a notch for it
    • Make it such that if the reported frequencies was < half the min freq then we stop the notch completely
      • Abruptly?
      • Ramp the attenuation? To zero at half the frequency starting at minimum frequency
    • Helicopters need current behaviour
      • Use in hntch freq
  • Different harmonics need to keep going
    • Second harmonic often the strongest
  • Coming back to DevCallEU
  • Tridge will rework a little
  • Wants to discuss with Leonard

UTC2354 - AP_HAL: Improve speed param download in network links (sitl/linux) by Williangalvani · Pull Request #25357 · ArduPilot/ardupilot · GitHub

  • Fix mavlink data transfer rates on Linux
    • If you have an IP address then go really fast
  • Merged!

UTC0001 - AP_BattMonitor: added option allowing split InfoAux by tridge · Pull Request #25358 · ArduPilot/ardupilot · GitHub

  • Allow option allowing splitinfoaux
    • CAN node doing per-cell battery information
    • Another node doing overall current voltage
    • Packets are matched by serial number
  • merged!

UTC0009 - AP_Scripting: fix easy lua check issues in examples by IamPete1 · Pull Request #25367 · ArduPilot/ardupilot · GitHub

  • Fix easy lua check issues in examples
  • Merged!

UTC0010 - Plane: rework set_servos_controlled function by IamPete1 · Pull Request #25371 · ArduPilot/ardupilot · GitHub

  • Rework set_servos_controlled
  • Tidy for future work
  • Merged!

UTC0018 - Plane: rework set_servos_controlled function by IamPete1 · Pull Request #25371 · ArduPilot/ardupilot · GitHub

  • Handle rx-pair as both int and long
  • Merged!

UTC0019 - AP_Rally: support altitude frames by IamPete1 · Pull Request #25380 · ArduPilot/ardupilot · GitHub

  • Support altitude frames in rally points
  • merged!

UTC0031 - GCS_MAVLink: handle FLASH_BOOTLOADER as command-long and command-int by peterbarker · Pull Request #25385 · ArduPilot/ardupilot · GitHub

  • Flash_bootloader as both long and int
  • Merged!

UTC0032 - AP_Scripting:add README file to examples directory by Hwurzburg · Pull Request #25386 · ArduPilot/ardupilot · GitHub

  • Add README file to scripting examples directory
  • merged!

UTC0033 - Copter: correct defines around using payload place functionality by peterbarker · Pull Request #25388 · ArduPilot/ardupilot · GitHub

  • Correct defines around using payload place
  • Merged

UTC0034 - hwdef:add NMEA GPS into min configs by Hwurzburg · Pull Request #25389 · ArduPilot/ardupilot · GitHub

  • Add NMEA GPS into min configs
  • Could be quite bad because no vertical velocity
  • hold while we check the flash cost
  • Should we just say “use custom build server”?

UTC0035 - APM_Control: Allow autotune level 0 to actually reach the lowest entries of the autotune level table by WickedShell · Pull Request #25392 · ArduPilot/ardupilot · GitHub

  • Allow autotune level 0 to actually reach lowest level
  • Merged!

UTC0042 - Allow reading of default parameters from @ROMFS/defaults.parm by peterbarker · Pull Request #25403 · ArduPilot/ardupilot · GitHub

  • ROMFS for defaults.parm
  • should log into .BIN logs
  • Tempting in 4.5 to move away from apj tool
  • We process things a little differently in AP_Parm defaults vs file?
  • Example board using both is cuav v6
  • ROMFS
  • CPU cost and memory cost

UTC0057 - Enforce pre-commit in ArduPilot by Ryanf55 · Pull Request #24683 · ArduPilot/ardupilot · GitHub

  • Enforce pre-commit in ArduPilot
  • Need to know that errors that CI raises are human-readable
  • Should add a vscode file to add line endings if they’re not there

UTC0104 - AP_Camera/AP_Mount: support sending CAMERA_FOV_STATUS by rmackay9 · Pull Request #25390 · ArduPilot/ardupilot · GitHub

  • Support sending CAMERA_FOV_STATUS
  • Should add the parameters as we’ll need them anyway
  • DevCallEU time!

UTC0111 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane update
  • 4.4.2 is out
  • Waiting to do a new beta
    • SPI change from Sid to cope with floating SPI clock
    • Filter frequency sanity check
    • New beta in next few days

UTC0112 - Copter update

  • With PH
    • Either no new bugs or nobody’s tried the .2 release…

UTC0113 - off the floor

  • ROS stuff
  • Interesting paper on routing
  • Will need Plane support for external control
    • Trajectory control needed
      • Vector ro closest tangent point and curvature at that point
      • Rrt algorithm

UTC0116 - close