Dev Call Sept 19, 2022

Development Team
1

Issues & Pull Requests

**Remote ID **

Plane

Copter & Rover

2

Attendee count (max): 15

UTC 2300 - Add OMC converted docs in temp location:ardupilot for review by Hwurzburg · Pull Request #3446 · ArduPilot/ardupilot_wiki · GitHub

  • OMC docs in right place
  • Probably just reference PR so as not to slow the Wiki build

UTC2302 - AP_EFI/AP_PiccoloCAN: Add Currawong ECU support by reilly-callaway · Pull Request #20399 · ArduPilot/ardupilot · GitHub

  • Currawong ECU support
  • Needs some patches for the parameter set stuff
    • Tridge will do that
  • Should this be off by default?
    • A “premium board” feature?
    • We will still run out of space
    • Taking things away can be problematic
    • Three CAN EFIs are coming via scripting
    • We will merge this as-is

UTC2304 - Implement BRD_PARAM_HIDE parameter by tridge · Pull Request #8789 · ArduPilot/ardupilot · GitHub

  • BRD_PARAM_HIDE option
  • For QGC
  • Make enable parameters / subtrees show up by default in QGC
  • Even with MP the reboot cycle is very painful
  • Rapid FTP download makes hidden parameters less useful
    • Rebooting to load driver is the really painful thing
    • Battery analogue pins is the poster-boy
      • Set to 4
      • Then reboot before battery pin and scale parameters turn up
    • Special case in battery monitor?
      • Monitor the parameter?
    • Best experience would subtree to instantly populate
  • First-time setup is cringe-worthy because of all the round-trips you have to do
    • And knowing the reboot-required / param fetfch stuff isn’t necessarily known

UTC2322 - ArduPlane: add 0 disable to FLTMODE_CH parameter doc by mirkix · Pull Request #21034 · ArduPilot/ardupilot · GitHub

  • Fltmode_ch for Plane 0 value is value
  • Important for herelink interface

UTC2325 - Add and use AP_RPM_ENABLED by peterbarker · Pull Request #21188 · ArduPilot/ardupilot · GitHub

  • AP_RPM_ENABLED and equivalents for backends
  • Merged!

UTC2328 - AP_Periph: The patch number should also be clearly indicated by muramura · Pull Request #21197 · ArduPilot/ardupilot · GitHub

UTC2330 - AP_Arming: add check for RTL by mentonin · Pull Request #21280 · ArduPilot/ardupilot · GitHub

  • Add option such that mission must include RTL
  • [9:35 AM]Peter Hall: Maybe we should have “landing of any sort”
  • [9:35 AM]Peter Hall: So you can land or RTL.
  • merged

UTC2336 - AP_InertialSensor: Allow gyro counts to be returned by muramura · Pull Request #21390 · ArduPilot/ardupilot · GitHub

  • Correct gyro counts
  • Merged!
  • Lgd320 does break the equals
  • But really it never happens in practise

UTC2336 - Disable CanManager in hwdef.h for AP_Periph by peterbarker · Pull Request #21453 · ArduPilot/ardupilot · GitHub

  • Disable can manager in chibios_hwdef.py
  • Merged!

UTC2340 - AP_BattMonitor: fix Rotoye Temperature Monitoring by hendjoshsr71 · Pull Request #21575 · ArduPilot/ardupilot · GitHub

  • Temperature reporting on Rotoye fixes
  • Merged!

UTC2343 - Bdshot for AP_Peiph and Matek L431 by andyp1per · Pull Request #21641 · ArduPilot/ardupilot · GitHub

  • Bdshot for matek l431
  • Merged!

UTC2345 - Send local ned home location to GCS by mustafa-gokce · Pull Request #21642 · ArduPilot/ardupilot · GitHub

  • Commit message needs fixing, can be merged after that.

UTC2345 - Send local ned home location to GCS by mustafa-gokce · Pull Request #21642 · ArduPilot/ardupilot · GitHub

  • We’re losing precision here
  • Wider problem?

UTC2351 - HAL_ChibiOS: increase short board names to 23 chars by yuri-rage · Pull Request #21701 · ArduPilot/ardupilot · GitHub

  • Board name changes
  • Serial number is useful
  • Peter’s being a pain and wants the displayed board length increased rather than decreased

UTC0007 - Harmonic notch slew limit by andyp1per · Pull Request #21704 · ArduPilot/ardupilot · GitHub

  • Harmonic notch slew limit
  • Constraints the max change allowed per tick to the harmonic notch center frequency
    • “Shot noise” fix
    • Changing notch coefficients by a lot results in a significant noise spike
  • What’s this look like on a big vehicle?
    • No impact on flight performance on any aircraft
  • How about the 10hz RPM source?
    • E.g. efi motor
    • Will work for rapid update ones
    • But not for something only called at 10Hz
  • Will DevCallEU

UTC0018 - RemoteID update

  • Two releases in the last week
  • Key features for real production use are in place
  • Remote update of the public keys
  • Signed firmware checking on RemoteID firmware
  • Mavlink and dronecan parameters
  • Secure update of parameters
    • E.g. uas ids
      • Via forwarded telem link
  • Tridge wants to work with people trying to deploy, please contact if you are implementing
  • Signed-update stuff is in place
    • Released by tridge is only tester
  • Need a management plugin for MissionPlanner
    • To be used by vendor who has the private key for managing which features are turned on and off on the module
  • Dronecan_gui_tool patches for secure update is coming
  • reading-of-GPS for standalone stuff is coming
    • Option to get pos info directly from CANbus rather than from flight controller
  • Steve is working on using the ESP32 for receiving the Remote ID messages for testing
  • Roahl is working on documentation for his product so you know exactly what to do to tick all the boxes
  • Operator-position-on-takeoff
    • Not legal for standard remote id in the US
    • Japanese requirements?
      • No requirement for GCS location ATM
      • Only require broadcast anyway
  • Single parameter to specify regulatory domain?
    • Universal firmware that will do all of them
    • Tridge will need guidance for other regulatory domains
  • Firmware releases are signed
  • Lock-level 2 sets efuses on board for tamper-resistance
    • Permanent change on the board
    • Board can’t be updated via USB or jtag
  • CAN bug? Loses operator location?
    • Tridge has not reproduced yet
  • Thing can be built into a system and fitted and then do updates remotely
    • So a vehicle could have one of these things but not activated
  • Bluemark is only commercial-quality device around ATM
  • Jeff will have one out soon
    • Screw-mountable
  • First DoC we’ll know what “tamper resistant” means
    • Wire harness? Screws? Potting?
      • “We’ll know it when we see it”
        • FAA want more than a sticker
        • FAA will revoke a DoC if they see a youtube video showing how to bypass it
  • Already several videos floating around for drone-flyer hunting parties
  • Some people are fixing on size, others on cost
  • Whatever is submitted in next 6-10 weeks probably will not meet the requirements in 18 months because the target is going to move
    • FAA will get mad at youtube videos
  • DJI already have a DoC which relies on their app
    • GPS spoofing on phones?
      • Works but will fall on operator
    • Apple receive app for wifi might exist now
    • Apple won’t open up the bluetooth stack to make a receive app there
  • [10:24 AM]Jeff Wurzbach: that parameter for operator location needs to be protected, btw.
  • [10:24 AM]Jeff Wurzbach: 9/16/2023 is the date for broadcast RID
  • [10:28 AM]Jeff Wurzbach: no mic today
  • [10:34 AM]Peter Hall: I predict public operator position will result in lots of those how to vids.
  • [10:34 AM]Josh Henderson: lol doublesided tape
  • [10:36 AM]Peter Hall: double-sided tape to hold it in, aluminium tape to bypass?
  • [10:36 AM]Josh Henderson: shhhh…
  • [10:37 AM]Josh Henderson: there has been talk of having a mechanism such that an app must receive a signal with such a level of signal stregnth
  • [10:38 AM]mturnbull: a friend of mine i just mentioned that youtube-video-decl.-of-conformity-loss thing too brought up an interesting point: does that mean the ArduPilot RemoteID repo can’t make use of GitHub issues, if an issue that comes up allows bypass?

UTC0044 - Copter update

  • Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub
  • A few issues in last week or so
  • Documentation requested for remote id and secure boot
  • Henry will be working with a partner and going through the RemoteID documentation steps
  • Neopixel issue fixed
    • Need to deconflict manually
    • Pwm output grouping issue
  • DO_CHANGE_SPEED doesn’t work immediately after a takeoff
    • Leonard and Randy know how to fix
  • Gimbal Default-mode not working
    • Fix merged
    • Out in beta2
  • RPM harmonic notch will go out in beta2
  • Wheel encoders are noisier
    • Rover 4.2 wheel encoder driver was getting scaling issue wrong
      • Fixing the issue caused problems
  • If you are doing weekend flying, maybe give beta1 a try instead of master
  • Rebasing isn’t going to happen, ensure 4.3 tags go onto things that really need to be backported

UTC0053 - AIRLink: USART2 enabled in hwdef by aviaks · Pull Request #21710 · ArduPilot/ardupilot · GitHub

  • Josh confirms this is the vendor, so Peter will fix commit message then mark MergeOnCIPass

UTC0057 - AP_Motors: move PWM range check from copter and plane by IamPete1 · Pull Request #21716 · ArduPilot/ardupilot · GitHub

  • Move pwm range check for motors
  • Merged!

UTC0058 - Plane: always report the airspeed estimate being used in VFR hud by IamPete1 · Pull Request #21729 · ArduPilot/ardupilot · GitHub

  • We currently always put in the airspeed sensor value rather than the currently-used airspeed
  • No direct airspeed sensor message ATM
  • First flight issue - telling if the data is good
  • Need that direct airspeed message
    • Instance, type, value, flags (e.g. currently being used to fly the aircraft)

UTC0109 - APM_Control: Plane controllers: only autotune if not in assisted flight by IamPete1 · Pull Request #21732 · ArduPilot/ardupilot · GitHub

UTC0119 - SRV_Channel: adjust trim, check all channels for range limit by IamPete1 · Pull Request #21735 · ArduPilot/ardupilot · GitHub

  • Autotrim range limit bug
  • Merged, backporting

UTC0120 - Plane: only log steer and yaw PIDs if there doing something by IamPete1 · Pull Request #21733 · ArduPilot/ardupilot · GitHub

  • Only log steer and yaw pids if they’re doing something
  • Merged!

UTC0122 - Rover: tell the user we're not docking because we have no target by peterbarker · Pull Request #21741 · ArduPilot/ardupilot · GitHub

  • Emit message when dock not in sight
  • Merged

UTC0123 - Copter: Simulink model and init scripts by fbredeme · Pull Request #21747 · ArduPilot/ardupilot · GitHub

  • A complete attitude controller simulink model
  • Can Load parameters from bin log into simulink model
  • Where should this live?
  • Somewhere in tools?
  • PR against 4.1?!
    • Master later

UTC0131 - Make sure notches are not spuriously disabled when not using throttle notch by andyp1per · Pull Request #21748 · ArduPilot/ardupilot · GitHub

  • Bumped to DevCallEU
  • Notch fixes

UTC0131 - AP_MSP: move arming status to MSP telemetry base class by yaapu · Pull Request #21749 · ArduPilot/ardupilot · GitHub

  • Move arming status to MSP telemetry base class
  • Full OSD is available is on DJI goggles v2
  • Color, hi-def, fonts on v2, v1
  • Henry will ping P once the requested fix is made

UTC0131 - GSoC update

  • Final evaluations are in
  • Congratulations to the students!

UTC0137 - close