Dev Call Oct 5, 2020

CraigElder · October 5, 2020, 11:01pm

**Issues & Pull Requests"

Plane

Copter

Rover

CraigElder · October 6, 2020, 3:23pm

Attendee count 20 (max):

Backporting fixes
Rangefinder code should be using a median filter from a library rather than doing its own
4.0.5 hasn’t been put out yet
Prearm check bit is nice
Tridge could bring these into Plane as well
Looks harmless
Will leave this one for later as we want to get 4.0.5 out and nothing in here is critical enough to delay 4.0.5
4.0.5?
- Watchdog reset
  - No resolution as yet
  - Problem is on 4.0.4 so 4.0.5 will be no worse
  - Race condition in DMA on UART driver
  - 4.0.4 is relatively young
    - Perhaps the watchdog came in in 4.0.4?
  - Need to get a reproduction
If we do another rc we might pull this one in

Fx prearm on M9
Arming failure because its failed to set up tmode / sol speed
Works on f9 but not f9
Need to distinguish on software version string?!
- Nasty but no other way?
- MON_SVINFO dropped?!
  - No more capabilities message
  - M8, m6 use space-vehicle-info packet
Merged

Run vibration monitoring on all instances
CPU load?
- E.g. CubeBlack (F4, three IMUs)
On F4 run on selected lane on primary ekf instance?
- Run F7 and H7 run vibe loggers on all cores
Tricky ifdef?
HAL_CPU_CLASS
Still need to log all three so we get clipping
How much stuff do we change on memory class?
- Log buffer size
- Should use it in SmartRTL
- Randy thinks we should just use “300 and above” rather than all the other levels
- The “rtl pause” in smartrtl does need to be measured
- Orange (H7) has a lot of RAM @1000kB
  - Across 5 regions
    - Weird memory layout
    - 1055kB

3.6 behaviour where GCS failure would not invoke for pilot-controlled modes
This maintains 3.6 behaviour moving to 4.0
Default changed going from 3.6 to 4.0
Change the default behaviour for everyone
- So by default it doesn’t change mode if you’re in a pilot controlled mode
- Massive change in behaviour?!
- Consistency across vehicles would be good!
- Expected default behaviour for a GCS failsafe should be to not change mode if you are in a pilot-controlled mode
- People with RC failsafe turned off will get a surprise when their vehicle doesn’t failsafe at all
- Surprising number of large vehicles flying out there without RC failsafe set
  - 3.6 to 4.0
Add complex behaviour when user has neither check enabled
- Add a prearm check instead?
  - Easier to understand
- Arming check will ensure you have one or the other
- Based on the “parameters” check bit

Add a type
Separate things e.g. BTN1_PWM_MIN
BTN_PWM1_PIN
BTN_PWM1_MIN
BTN_PWM1_MAX
Tridge likes the addition of the function
Works fine with the switch
Concerns with interrupt positioning
Tridge would prefer to retain the existing timer-based boolean-switch stuff
- Aux2 and aux5 can’t have interrupts attached
Might hit the too-many

New Lighware SF45B rangefinder
- 50g
- 300mW
- 50m
  - Randy has seen 30
- US$450 (backorder)
Same wire protocol as SF40C
Drive-by change to proximity library
Removing complication on number of sectors
- Get-horizontal-distances cleaned up
Macros need prens
Endian-ness issues…
- RISC-V?
  - WickedShell: RISC-V is little endian
- We’re a little-endian autopilot….
By assuming LE we can save flash….
Big-endian lost the war
https://www.youtube.com/watch?v=ztGovDXdZLM

Set position for termination
If you know the aircraft setup you can perhaps crash the vehicle more reliably?
Commit messages need help
Tridge can’t think of an aircraft that this would terminate the aircraft better for
Putting nose up is deliberate
Original values were required by CASA
2:13 PM] WickedShell: My concern is more does this make it more probable for people to be unable to terminate or end up with really weird termination behaviour, vs the existing one will definitely go bad if you could fly the vehicle…
Need to stall and spin

Require armed state to activate failsafes
Copter and Plane do failsafes differently
- Should we make them common?
Plane allows failsafes on ground
- This is how you test them
Copter triggers failsafes but doesn’t undertake actions
Plane’s jump-to-DLS is a bit of a pain
Tridge likes the FS_OPTIONS stuff from Copter
- Maybe use a bit to indicate if actions should be undertaken
- Or FLIGHT_OPTIONS
No assumption of being disarmed while flying
[12:16 PM] WickedShell: if you arm it motors spin… wait yeah what?
[12:17 PM] WickedShell: text doesn’t tell me the action worked, mode change does though?
Reset mission on arm?
New scheme needed
People do fly disarmed
- Watchdog reset
- RC not present?
  - Want to RC failsafe
Tridge does not want to have the vehicle arm to check failsafe
Tridge agrees there is a problem this just isn’t the solution

Nooploop driver
Partner is keen on this one
Was done as a visual odometry backend
- Assumes you’ll get a heading
- Beacons don’t give you that
Needs a good review
Peter to review
Run it through astyle

UTC0203 - Copter update