Dev call Sept 2, 2024

Development Team
1

Issues & Pull Requests

Plane

Copter

2

Attendee count (max): 10

UTC2301 - Sub: remove ENABLE/DISABLE defines, use 0/1 instead by peterbarker · Pull Request #27831 · ArduPilot/ardupilot · GitHub

  • Use 0 and 1 rather than ENABLE/DISABLE in preprocessor macros
  • Merge after Willian Reviews

UTC 2303 - Support MAV_CMD_EXTERNAL_WIND_ESTIMATE by python36 · Pull Request #27847 · ArduPilot/ardupilot · GitHub

  • External wind estimate setting in DCM
  • For dead-reckoning
  • Setting this in the EKFs would make this PR vastly more useful
  • Paul has a branch which adds EKF3 support for setting external wind estimates
  • Config option should be more than just DCM
    • Probably 2MB+ boards

UTC2319 - Compiling with cygwin broken!? · Issue #27867 · ArduPilot/ardupilot · GitHub

  • Compiling with cygwin
  • Randy tested
    • Much slower compiling with a shared directory vs a copy of the tree in the wsl instance
  • Tridge created a PR to fix the cygwin build

UTC2323 - Plane: Enable quadplane dead reckoning navigation to start earlier by peterbarker · Pull Request #27883 · ArduPilot/ardupilot · GitHub

  • Tridge has concerns that things like Skywalker X8 quadplanes might get very bad results if you move sideways rather than forward
    • So we use an option bit
  • PH thinks we should do this in the transition timer logic stuff
  • Need to re-check the 23 bits thing
    • Add an autotest
    • Tridge wants to revive the 32-bit-clean stuff

UTC2339 - AP_Camera/AP_Mount/AP_Scripting: add change settings method by rmackay9 · Pull Request #27911 · ArduPilot/ardupilot · GitHub

  • Add change settings method
  • Hide this behind a define or not?
    • Randy thinks this is being too fine in our defines
    • Not just the size of the feature but also the number of users
    • Vast numbers of defines means we don’t need to take out an entire subsystem
    • We still have -O2 vs -Os
    • Little bit of leeway by marking some cpp files as -Os
    • Mark all 2MB boards as -Os
    • Randy thinks we should focus on big features
    • “One standard build”
      • “Is that the problem?”, asks Tim?
    • Do we cut out Septentrio out of the standard build?
    • Identify a driver to remove that we could remove from the default build?
      • Apart from generator
  • Why can’t we harvest information from people to work out what to include?
  • Good topic of conversation at the conference?
  • Randy will add the defines if we ever choose to

UTC00002 - Plane: Allow wind relative dead reckoning when lift motors are assisting by peterbarker · Pull Request #27917 · ArduPilot/ardupilot · GitHub

  • Normal GPS flight, attitude recovery, upside-down, sideways
    • And we tell the EKF we’re in forward flight all of a sudden?!
    • Need to know that this is OK!
  • If your ICE dies and you’re hovering due to qassist - you’re not in a q-mode
    • FBWA, zero-throttle, being blown sideways
  • Maybe there’s a minimum airspeed involved somewhere?
    • Tridge thinks Paul has missed the odd cases
  • Need Paul to justify things….

UTC0011 - Tools: siyi image and video download script by rmackay9 · Pull Request #27947 · ArduPilot/ardupilot · GitHub

  • Siyi image and video download script

UTC0016 - AP_NavEKF3: use reference for dal in frontend in place of method calls by peterbarker · Pull Request #27958 · ArduPilot/ardupilot · GitHub

  • Stop calling into AP::dal() to get singleton
  • Use a reference instead
  • Merged!

UTC0017 - AP_NavEKF2: stop including AP_DAL.h in header by peterbarker · Pull Request #27961 · ArduPilot/ardupilot · GitHub

  • Fix includes
  • Add something to build ci to make sure CubeOrange
  • Can be merged after –enable-ekf2 build in CI

UTC0023 - Tidy AP_DAL memory allocation and freeing by peterbarker · Pull Request #27962 · ArduPilot/ardupilot · GitHub

  • Tidy DAL memory allocation
    • Maybe this was in here as part of the compilation checks
  • Do we go the other way?

UTC0030 - Rename some variables and slight reformatting by peterbarker · Pull Request #27963 · ArduPilot/ardupilot · GitHub

  • Is the rename good?
    • Yes
  • Merged!

UTC0034 - Stop including AP_AHRS.h in header files by peterbarker · Pull Request #27964 · ArduPilot/ardupilot · GitHub

  • Avoid using AP_AHRS.h in header files
  • And various other fixes
  • Merged!

UTC0036 - Avoid use of AP_Logger.h in library headers by peterbarker · Pull Request #27965 · ArduPilot/ardupilot · GitHub

  • Remove include of header files in new Heli code
  • Needs to remove LogStructure.h from header
  • Can be merged if no compiler output change

UTC0039 - hwdef: fixes for BotBloxSwitch by tridge · Pull Request #27973 · ArduPilot/ardupilot · GitHub

  • Fixes for BotBloxSwitch
  • Autoneg?
    • Already off in some boards
    • 100Mbit to ArduPilot or it doesn’t work
      • Why would you want to run slower?!
    • On other ports, fine, other devices might only do 10
  • Networking on F4 eg. CubeBlack?
    • Really only an H7 feature
    • Could probably make it work
  • We enable this o boards with native networking
    • And on CubeOrange+
    • High flash-cost feature…
  • “DroneNet” board
  • We’re renaming BotBloxSwitch to BotBloxDroneNet

UTC0053 - Restart logging after transfer complete when LOG_DISARMED=1 by peterbarker · Pull Request #27977 · ArduPilot/ardupilot · GitHub

  • Restart logging after a log download
  • Merged!

UTC0101 - AP_HAL_ESP32: improve the reported LOOP_RATE on esp32s3 to similar lo… by davidbuzz · Pull Request #27978 · ArduPilot/ardupilot · GitHub

  • Improve reported LOOP_RATE on esp32s3
  • Merged!

UTC0103 - Plane: added glider pullup support by tridge · Pull Request #27985 · ArduPilot/ardupilot · GitHub

  • Add glider pull-up support
  • Why not a script?
    • Elevator offset
    • Do something like aerobatics?
      • Does the rate controllers
      • But can’t rate-control-pitch-with-elevator-offset
  • Revolutionary NOAA high-altitude research tool passes key milestone - NOAA Research
  • PH is thinking we should avoid changing the loiter radius
    • Tridge says it’s not to avoid stall it’s to avoid G-force limits
    • PH doesn’t like the fact your loiter radius is different to your programmed loiter radius
    • Some sort of funnel shape then coming into a constant radius circle below a limit?
    • Inflection
  • Add a g-limit-factor?
    • Somewhere in the rate controller
    • This adds one during the pull-up phase, in Z at least
    • Precludes lateral navigation
    • Adds elevator and zero-roll-rate control, then adds roll attitude control later
    • 90,000ft == massive circle
    • Full rudder can rip your tail off…
      • Need three G-force limits?
  • NOAA do speed scheduling
    • Partly as part of the instrument requirements
  • Circle-radius adjustment should probably have been off by default
    • Confusing to users
  • PH will look more closely at this

UTC0112 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

  • Beta is pending
    • Not a lot of testers of latest beta…
    • Those who have tried it are happy
    • Reverse position assist in Copter mode not working
    • Bug in signature verification in signing mode in pymavlink
    • Research student in UK might have found issue in signing code

UTC0124 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

  • No issues in 4.5.6 really
  • Good to create a 4.5.6
    • Merged the relevant PR
    • Missed the MacOSX fix; PRs should be left open and made against the relevant backport branch
  • Sub catching up?
    • Not yet!
    • Wants to test with real vehicles

UTC0126 - conference update

  • Three sizable donations for partners - thanks!
    • Now in pretty good shape

UTC0034 - What's the path forward towards having 64bit builds for linux? · Issue #27984 · ArduPilot/ardupilot · GitHub

  • 64-bit builds for Linux?
  • Navigator is 32-bits
  • Navigator64?
    • Or all future builds are 64-bit?
  • Willian wants to support both 32 and 64 bit builds
  • What advantage?
    • Future-proofing
  • Could do static builds
    • Move to 32-bit but give option to do 64-bit
  • Static build instead was decided upon
  • But also possible make navigator 64-bit and create a navigator32

UTC0041 - close