Dev Call Sept 25, 2023

Issues & Pull Requests

Plane

Copter

1 Like

Attendee count (max): 19

UTC2300 - Plane:clarify CTUN.SAs message meaning by Hwurzburg · Pull Request #25042 · ArduPilot/ardupilot · GitHub

  • Clarify the CTUN.SAs message
  • Merged!

UTC2303 - Correct/expand metadata for Q_OPTION bit12 and TECS_SYNAIRSPEED by Hwurzburg · Pull Request #25051 · ArduPilot/ardupilot · GitHub

  • Documentation fix for Q_OPTION bit we, TECS_SYNAIRSPEED
  • Merged!

UTC2304 - Add airspeed estimate status logging by Hwurzburg · Pull Request #25080 · ArduPilot/ardupilot · GitHub

  • Add airspeed estimate status logging
  • Need to compress log message strings…
  • Could do with a better formulation
  • Peter to help with reformulation of the API

UTC2317 - AP_ICEngine: Add an option to disable starting while disarmed by WickedShell · Pull Request #25053 · ArduPilot/ardupilot · GitHub

  • Add an option to disable starting while disarmed
  • Diversion
    • Relay rework
    • Relay1_func relay2_func
    • Parameter conversion?
    • Pin library?
      • Three places to configure
        • ICE parameters
        • RELAY parameters
        • GPIO parameters
      • No, something like SRC_CHANNELs where you set it in one place
    • GPIO1_PIN etc as defines?
    • GPIO CAN?
      • We do support GPIO already….
    • Probably an enabled set of parameters in ICE for now
    • … actually, relay for now and ICE if that doesn’t work
  • Follow-on PR will enable starting ICE while disarmed, bypassing this feature

UTC2350 - AP_DroneCAN: Add a servo offset to match ESC offset by WickedShell · Pull Request #25076 · ArduPilot/ardupilot · GitHub

  • Add a servo offset to match ESC offset
  • ESCs are non-contiguous
  • Servos are, so this shouldn’t save anything?
  • Michael will re-measure

UTC2354 - SRV_Channel: Consider igntion something that should be e-stopped by WickedShell · Pull Request #25068 · ArduPilot/ardupilot · GitHub

  • E-stop the ignition channel
  • Vertical lift motors come through a different channel….
  • Add an ICE option instead, to allow people to recover if they e-stop in flight
    • We document this scenario so people use estop in place of disarm

UTC0003 - Improve quadplane use of forward throttle in VTOL modes by priseborough · Pull Request #13760 · ArduPilot/ardupilot · GitHub

  • Improve quadplane use of forward throttle
  • Allows vehicle to move around with forward throttle when in vtol modes instead of pitching
  • If position controller saturates then we allow the forward tilt angle through to the maximum tilt angle
    • So a loss of forward motor still lets you make progress
  • There’s a gain involved so an ICE engine can probably be used for this
  • This is off by default
  • PR has had forward flight speeds in qhover
  • Perhaps a way of moving into forward flight?
  • Tridge will do some SITL testing
  • Will this oscillate if you lose the motor?
    • Probably, but very slowly
    • Will find equilibrium
  • Probably merge this after SITL testing
  • Aside: some sort of TECS height-control issue?
    • VTOL planes using airspeed sensors?

UTC0007 - SMBus :expanded SoloBMS to 6s - providing support for madhacker BMSOne by AndKe · Pull Request #23676 · ArduPilot/ardupilot · GitHub

  • Expand SoloBMS to 6S
    • Madhacker BMS
  • Merged!

UTC0017 - Fix for the Gopro/Solo Gimbal issue by mtbsteve · Pull Request #23861 · ArduPilot/ardupilot · GitHub

  • Fix for the gopro / solo gimbal issue
  • Global scope variable is no good
  • GOPRO_HEARBTBEAT?
  • Tridge will tidy the use of the global and merge

UTC0021 - AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging by IamPete1 · Pull Request #24311 · ArduPilot/ardupilot · GitHub

  • Use batch logging options to allow pre-post-raw logging
  • For those boards that can’t keep up with raw logging
  • Our raw logging is actually our filter-rate logging
  • Tridge has patches to log at the fifo rate
    • But only gyro… and one IMU…
      • Custom hackery
  • INS_LOG_OPTS bitmask?
  • Nice to have options to just log the gyro, not the accels?
    • Would be more useful to have 1 data source at 8kHz than our current 6 sources at 2kHz
  • Tridge managed to trigger his lock-ordering problem with his logging changes…
    • Logging in FIFO… tough stuff.

UTC0031 - Sub: Lua scripts can query joystick button state by clydemcqueen · Pull Request #24347 · ArduPilot/ardupilot · GitHub

  • Allow lua scripts to query joystick button states
    • sub -only

UTC0036 - Add PID object PD limit by lthall · Pull Request #24567 · ArduPilot/ardupilot · GitHub

  • PID object PD limit
  • Merged!

UTC0041 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

  • Plane update
  • TECS issues are most interesting
  • 4.4.1 soon-ish
    • This week, probably
  • Quadplane yaw tuning needs some documentation and possible defaults changes

UTC0042 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

  • Copter update
  • External nav is using wrong noise
    • Uses gps noise when it shouldn’t
  • Really want stable releases to have stable CI
    • Backport test fixes!

UTC0046 - Camera: image start/stop capture fixes by rmackay9 · Pull Request #25075 · ArduPilot/ardupilot · GitHub

  • Fixes for image start/stop capture fixes
  • Merged!

UTC0053 - AP_Compass: avoid saving device IDs if not calibrated by tridge · Pull Request #25058 · ArduPilot/ardupilot · GitHub

  • Avoid saving device IDs if not calibrated
  • So if you power on without an external compass then the parameters will lock your internal compass as the first compass!
  • Maybe change MP to warn the user they’re using internal compasses?
    • Wouldn’t help QGC users
  • Autotest needed

UTC0110 - AP_Scripting: winch-test simplification by rmackay9 · Pull Request #25094 · ArduPilot/ardupilot · GitHub

  • LUA Winch test simplification
  • Merged!

UTC0112 - AP_Winch: Options param for init state and verbose output by rmackay9 · Pull Request #25093 · ArduPilot/ardupilot · GitHub

  • Winch library niceness changes
  • Randy will make a few cosmetic changes then merged

UTC0116 - Feature/rover enum class by khancyr · Pull Request #25066 · ArduPilot/ardupilot · GitHub

  • Rename a bunch of enumerations in Rover
  • MergeOnCIPass!

UTC0123 - Plane: fix guided heading control anti windup by IamPete1 · Pull Request #25085 · ArduPilot/ardupilot · GitHub

  • Fix guided heading control anti-windup
  • Needs to be tested….

UTC0126 - AP_Scripting: add some missing dependencies and support per method by IamPete1 · Pull Request #25072 · ArduPilot/ardupilot · GitHub

  • Add missing dependencies and support per-method
  • Merged!

UTC0130 - Only provide config for serial ports that exist by andyp1per · Pull Request #25090 · ArduPilot/ardupilot · GitHub

  • Only provide config for serial ports that exist
  • Saves user confusion
  • Merged!

UTC0131 - AP_Baro: Fix GCS DPS310 HWID issue by lida2003 · Pull Request #25087 · ArduPilot/ardupilot · GitHub

  • Fix reporting of dps baro type
  • Probably won’t do this as a backport
  • Will merge the master patch

UTC0134 - Copter: allow MAV_CMD_CONDITION_YAW to be run as COMMAND_INT by peterbarker · Pull Request #25045 · ArduPilot/ardupilot · GitHub

  • And command_yaw as both long and int
  • Merged!

UTC0135 - Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int by peterbarker · Pull Request #25047 · ArduPilot/ardupilot · GitHub

  • DO_AUTOTUNE_ENABLE as both long and int
  • Merged!

UTC0137 - GCS_MAVLink: handle MAV_CMD_AIRFRAME_CONFIGURATION as both LONG and INT by peterbarker · Pull Request #25048 · ArduPilot/ardupilot · GitHub

  • Airframe configuration as both long and int
  • Merged!

UTC0137 - Sub: accept NAV_LOITER_UNLIM and NAV_LAND as command_int too by peterbarker · Pull Request #25060 · ArduPilot/ardupilot · GitHub

  • Accept nav_loiter_unlim and nav_land as command int and command_long
  • Merged!

UTC0138 - Stop trying to stream MAG_CAL messages if mag cal not compiled in by peterbarker · Pull Request #25050 · ArduPilot/ardupilot · GitHub

  • Stop trying to send messages we can’t

UTC0043 - Add and use AP_AHRS_DCM_ENABLED by peterbarker · Pull Request #25049 · ArduPilot/ardupilot · GitHub

  • Add and use AP_AHRS_DCM_ENABLED
  • MergeOnCiPass

UTC0048 - AP_Mount: improve Xacti picturing taking reliability by rmackay9 · Pull Request #25082 · ArduPilot/ardupilot · GitHub

  • Needs a rebase

UTC0049 - Use AP_GPS_ENABLED to exclude more code by peterbarker · Pull Request #25092 · ArduPilot/ardupilot · GitHub

  • Can be merged after a matrix test shows no changes

UTC0056 - Move serial port configuration into user of serial ports by peterbarker · Pull Request #25097 · ArduPilot/ardupilot · GitHub

  • Serial port initialisation into relevant serial drivers
  • Need to remove the init

UTC0105 - close