CraigElder
(Craig Elder)
September 10, 2018, 10:59pm
1
InterDrone Report
Issues & Pull Requests
Plane
plans for plane 3.9.2, including important fixes for dead-reckoning and for VTOL takeoff
Copter
Rover
Release Update
Non-GPS navigation
Rover simple mode
1 Like
CraigElder
(Craig Elder)
September 13, 2018, 6:12pm
2
Attendee count (max): 21
UTC2300 - https://github.com/ArduPilot/ardupilot/pull/9339
Merged
We will no longer knock back consts on pass-by-value
Despite extra syntactic noise
We do not require consts - but they’re not discouraged
UTC2303 - add cruise-trim-throttle
UTC2307 - https://github.com/ArduPilot/ardupilot/pull/8814
Vesca protocol
Some previous discussion on how this should be done
Developer not on call
Tridge added comment
UTC2311 - interdone
Very good attendance around booth
After-hours wasn’t well attended
Not sure what the problem was
Overlap?
We get a big room because it’s usually packed…
Was someone else offering free food?
Maybe next year we offer free pizza?
Jeff also attended ID and astm meetings and utm meetings
Tom and Jeff spent Thursday running through all of these meetings
Lots of protocol details
Bouncing back and forwards between technical and high-level items
Intel, amazon, google whitefox ardupilot, faa, research orgs, …
Specific formatting of data items
Uncorrected pressure or density altitude etc etc
Faa guys want integration with TCAS (uncorrected alt)
Long, brutal days
Intel’s POC implementation seems to be doing its job highlighting issues
Bluetooth was 400m, bluetooth 5 should be >1km
Spec is in flux
Protocol should be medium-agnostic
Trying to future-proof it
Signing support
public/private key setup?
Can-o-worms
If you do this badly people will go out of their way to break your system
Better off not doing it if you’re not doing it properly/securely
ADSB isn’t signed
The penalties for faking it would be extreme
“License plates” for drones
It already has an ID field
Where does the private key go?
Key-per-vehicle?
Use unique-id on processor?
Bolt-on-support?
Not much concern about hobby/diy crowd
Or thinking they’d get a module from an approved vendor
Some sort of booking system for people to say where they’ll be flying if they don’t have a device?!
UTC2325 - Plane update with tridge
3.9.2 betas starting soon
Fix to dead reckoning in case of loss of GPS
Tested on real aircraft, working very well
Quadplane takeoff
Bug in Copter’s attitude controller
Caused CanberraUAV some grief
Battery fade
High fuel level
Yaw issues
MdB - Looking at Leonard’s patches?
Including a transition issue
We are looking at others of Leonard’s patches
https://github.com/ArduPilot/ardupilot/pull/7493/files
Probably should base it on the spin status of the props
E.g. shutdown and spin-armed
“Wing twist and oscillation”
“inverting”
Probably affects ordinary multicopters
I.e. Copter 3.6
But only affects underpowered vehicles
If aircraft doesn’t make progress on takeoff then it may start drifting horizontally, and if it drifts for 15 seconds it will go crazy and roll/pitch corrections get applied too fast
Tracking issue related to crash detection code
Want Tom’s input on this one
UTC2336 - Randy and Copter
3.6rc9 went out on Saturday
Probably an rc10 before release
Rob: Failsafe events / parsing the data?
entering/exitting s.bus frsky receiver s.bus outputs 874 bug
Debouncing stuff has gone in
On rob’s 3.5 branch where Rob’s fix wasn’t inplemented
Channel-8 motor interlock
Nate also saw this yesterday
One-off glitches are hanled with debouncing (one or two bad frames)
Have to debounce all switch activities
Including interlock
Should be fixed in 3.6
When frsky receivers go out of range and they’re set to no-pulses they usually send no pulses
Sometimes they send some garbage instead
Nate saw most channels go out of range
The NuttX implementation doesn’t check parity bits on s.bus
Signature byte helps
Every byte has a parity bit
NuttX doesn’t check this
NuttX doesn’t understand parity bits on uarts
ChibiOS does check parity bits on the aux ports
But not on the IO firmware
Sid’s IO firmware will add checking for parity-checking serial streams
https://github.com/ardupilot/ardupilot/blob/master/ArduCopter/heli.cpp#L143
Set-range, set-angle - maybe a set-switch?
Which adds debouncing
Would like to handle flaps as part of same thing
3.6 needs to fix the 874 bug
Not all channels exit this failsafe state at same time
8 data log messages
2 or 4 frames make sense to tridge - but 8?
Spektrum send higher channels less frequently
To fit more stuff into bandwidth
https://drive.google.com/file/d/0BzWH4Q7IAU5YeVN0SG1xVEdlVWs/view
Need to get this sorted
S.bus decoder gets magic values for 874?
This probably translates to an in-air value of 0xff or something
There’s multipliers/shifts/additions to translate on-air to ranges
Exact value could be dependant on s.bus decoder implementation
Test it rapidly by turning internal transmission circuit on/off rapidly in transmitter
https://github.com/R-Lefebvre/ardupilot/commit/edb6ef1c9aa3bf28526c186afc950d900a47a272 (Rob’s patch)
Tridge is on the OBC prep ATM
Started to push some things back for point releases
[10:10 AM] (Channel) AndrewTridgell: 874 == SBUS 0
[10:11 AM] To Weekly devcall: Nice!
Rob to raise an issue
UTC0006 - Randy and Rover
Planning on getting sailboat support in before 3.5 betas
https://www.youtube.com/watch?v=NCUF66rQXFg
non-GPS navigation is coming along
Working on Cartographer
Passing 360-Lidar through ROS down into AP
Simple mode has been merged