Dev Call Sept 26, 2022

CraigElder · September 26, 2022, 10:54pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Initialize jump-tracking in AP_Mission::init()

ArduPilot:master ← robertlong13:mission_jump_init_fix

opened 08:58PM - 21 Sep 22 UTC

robertlong13

+3 -0

The jump tracking array in AP_Mission only initializes when the mission is resta…rted, for example when disarming or when the waypoint is set to zero. This means it is possible for that array to never initialize, e.g. if you use Set WP to set the waypoint to anything other than zero after boot but before switching to Auto mode the first time. It seems like AP_Mission::init() is an appropriate place to call init_jump_tracking. I encountered this on a quadplane that uses RTL_AUTOLAND. It usually takes more than 30s after boot for me to connect, so it switches to auto mode and sets the waypoint to the landing sequence. Before takeoff, I set the waypoint to 1. In flight, my DO_JUMP commands were not working. It's really easy to work around: I just set waypoint to 0 now instead of 1, but this should still be fixed.

github.com/ArduPilot/ardupilot

AP_HAL_Linux: Support "non-standard" baudrates on UART

ArduPilot:master ← nbertram:linux_uart_custom_baud

opened 09:59AM - 22 Sep 22 UTC

nbertram

+58 -17

The current glibc-based UART code using `termios.h` and `cfsetspeed()` isn't (us…ually) capable of setting baudrates outside the standard set. I discovered this on a Beaglebone Blue trying to use a ELRS (CRSF) RX which wants 416666 baud. The existing call to `cfsetspeed()` was failing silently in this case (I observed with `stty` that the port was remaining at 115200 throughout the RC protocol search). Using the Linux-specific ioctl to set custom bauds using `CBAUDEX` fixed the issue. I also added some rudimentary error logging which wasn't present originally. I note that the SITL `UART_utils.cpp` already uses this ioctl, though is using a different option to set a custom baud (`tc.c_cflag |= BOTHER`). I'm not sure if it's worth attempting a consolidation of Linux serial handling code across these contexts, open to suggestions.

github.com/ArduPilot/ardupilot

AP_Mount: add Siyi gimbal driver

ArduPilot:master ← rmackay9:mount-siyi

opened 04:44AM - 23 Sep 22 UTC

rmackay9

+806 -2

This adds support for the Siyi ZR10 using its custom [serial protocol which is d…ocumented here](https://drive.google.com/drive/folders/1YvAqu_x5xzQy8xma4VKsoB0FDmXLbHhy). For reference there is a long [user discussion re this gimbal here](https://discuss.ardupilot.org/t/zr10-2k-qhd-30x-hybrid-zoom-gimbal-camera-siyis-first-industry-gimbal-camera-and-it-wont-be-the-last/86069/77). The hardware connection is shown below: ![siyi-gimbal-autopilot](https://user-images.githubusercontent.com/1498098/191892526-1c86240f-e15b-41ed-ab9c-f5e5211f5eb7.png) ArduPilot configuration is: - SERIALx_PROTOCOL = 8 (SToRM32) (where "x" is the serial port number connected to the gimbal) - SERIALx_BAUD = 115 - MNT1_TYPE = 8 (Siyi) - MNT1_PITCH_MIN = -90 - MNT1_PITCH_MAX = 25 - MNT1_YAW_MIN = -80 - MNT1_YAW_MAX = 80 - MNT1_RC_RATE = 90 (deg/s) to control speed of gimbal curing RC targeting - RCx_OPTION = 163 (Mount Lock) to switch between "lock" and "follow" during RC targeting - RCx_OPTION = 213 (Mount Pitch) to control pitch angle with channel "x" during RC targeting - RCx_OPTION = 214 (Mount Yaw) to control yaw angle with channel "x" during RC targeting - reboot the autopilot This has been bench tested including: 1. Retracted and Neutral modes work. E.g. the gimbal points at the body-frame angles held in MNT1_RETRACT_XYZ and MNT1_NEUTRAL_XYZ 2. ROI pointed at the correct target 3. RC Targeting worked for both angle control and rate control 4. Mount Lock / Follow (e.g. RCx_OPTION = 163) worked allowing RC targetting to work in earth-frame or body-frame 5. "Mount: unhealthy" is printed on the GCS HUD if the gimbal is powered off 6. Mount version is correctly displayed via SendText upon connection Some know limitations of the gimbal: - Gimbal does not support angle targets. This meant I needed to implement a simple P controller to correct angle error using rates controls. The manufacturer says they will add this in a future release - Gimbal does not accept roll targets Some know issues we should clear-up before merging - [x] Custom build server needs an item to build this gimbal - [x] Some debug is printed every 10 seconds displaying how many bytes have been processed, number of packets successfully parsed and the error count. These are there to help with support because a number of users and partners are keen to test this driver - [x] The firmware version output should be compressed to a single line - [ ] Camera controls are included in the driver but are not used (yet). I plan a follow-up PR for an AP_Camera backend to communicate with this gimbal. I'm happy to remove these methods if people prefer. One final note is that this driver re-uses SERIALx_PROTOCOL = SToRM32 Serial (8). I hope to re-name this to something more generic in a future PR. Similar to how we have a single "Rangefinder" protocol, we should have a single "Mount" protocol and re-use this for all mounts/gimbals with a serial protocol (Alexmos, SToRM32, Siyi) If anyone wishes to help with testing here are some pre-built binaries: - [copter-430dev-cuavx7-siyi-gimbal-23Sep2022](https://www.dropbox.com/s/kis5pgso6reuasi/copter-430dev-cuavx7-siyi-gimbal-23Sep2022.zip?dl=0) - [copter-430dev-cubeorange-siyi-gimbal-23Sep2022](https://www.dropbox.com/s/6qs7pple7554fu5/copter-430dev-cubeorange-siyi-gimbal-23Sep2022.zip?dl=0) - [copter-430dev-duandal-siyi-gimbal-23Sep2022](https://www.dropbox.com/s/bo3xpnz5g5a5dff/copter-430dev-duandal-siyi-gimbal-23Sep2022.zip?dl=0) - [copter-430dev-matekh743-siyi-gimbal-23Sep2022](https://www.dropbox.com/s/9wtn8019n5rra5l/copter-430dev-matekh743-siyi-gimbal-23Sep2022.zip?dl=0) - [plane-430dev-cuavx7-siyi-gimbal-23Sep2022](https://www.dropbox.com/s/djfnctipbqvv5bm/plane-430dev-cuavx7-siyi-gimbal-23Sep2022.zip?dl=0) - [tradheli-430dev-cubeorange-siyi-gimbal-23Sep2022](https://www.dropbox.com/s/64rjc0fkfl729nb/tradheli-430dev-cubeorange-siyi-gimbal-23Sep2022.zip?dl=0)

github.com/ArduPilot/ardupilot

AP_NMEA_Output.cpp: Fix conversion precision issue:

ArduPilot:master ← Davidsastresas:PR/NMEA-precision-fix

opened 12:00PM - 23 Sep 22 UTC

Davidsastresas

+2 -2

We were casting the location in integer 32 bits to float, and making fabsf in f…loat as well, so we were losing precision translated in about 40 cm minimum variation in position for the NMEA output. This commits uses double in the conversion so we no longer loose this precision. @tridge as per our discord conversation, let me know if it looks good or should I change something about this. Thanks!

github.com/ArduPilot/ardupilot

AP_Scripting: gimbal/mount POI example

ArduPilot:master ← rmackay9:lua-mount-poi

opened 05:36AM - 26 Sep 22 UTC

rmackay9

+243 -4

This Lua script example allows the user to more accurately determine the lat, lo…n and alt (above sea level) of the point in the center of the camera's frame. E.g. the pilot can aim the camera at a point (on the ground) and pull an auxiliary switch high and the Location is then displayed on the ground station's messages tab. The location is calculated using the vehicle's position, the gimbal's attitude and the terrain database. I'm hoping to use this at the upcoming [Japan Inovation Challenge](https://japan-innovation-challenge.com/en/) to more easily determine the Lat, Lon, Alt of the mannequin This can be tested in SITL by doing the following - cd ardupilot/ArduCopter - mkdir scripts - cp ../Tools/libraries/AP_Scripting/examples/mount-poi.lua scripts - ../Tools/autotest/sim_vehicle.py --map --console - param set SCR_ENABLE 1 (to enable scripting) - param set MNT1_TYPE 1 (to enable servo gimbal) - param set RC9_OPTION 300 (to setup RC 9 auxiliary function to SCRIPTING_1 which triggers POI calculation) - restart SITL - GUIDED (to switch to Guided mode) - arm throttle - takeoff 20 - module load message - message COMMAND_INT 0 0 11 195 0 0 0 0 0 0 -353632632 1491663846 0 (to aim the gimbal at the given lat, lon and alt-above-terrain, [other example commands are here](https://ardupilot.org/dev/docs/mavlink-gimbal-mount.html#mav-cmd-do-set-roi-location-to-point-at-a-location)) - rc 9 2000 (to trigger POI calculation, POI lat, lon and alt should be displayed. These should be close to the lat, lon provided in the message command above) This has been tested in SITL and seems correct. Below are some screen shots of a test in MP. I used MP's right-mouse-button-menu's "Point camera here" and pointed approximately where the red Xs are. Then I typed the POI lat, lon and alt into the command list (as waypoints) so I could see where the lat, lon, alt were on the map. ![image](https://user-images.githubusercontent.com/1498098/192200626-b527a9a3-760d-40e4-9ce4-75e9c56310c8.png)

Remote ID

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.3.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] dsplay m…essage on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] reduce XY gains when rate gains activate Dmod? - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [ ] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) - [ ] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771)) - [ ] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [ ] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) Copter specific issues (confirmed to be real) - [ ] Copter do-change-speed mission command not working ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) Rover specific (confirmed to be real) - [ ] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) Wiki related requests: - [ ] Rover S-Curve tuning instructions Enhancement Requests (may or may not be done) - none --- Resolved Issues - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · September 27, 2022, 5:21am

Attendee count (max): 15

UTC2305 - Implement MISSION_CHECKSUM by peterbarker · Pull Request #20834 · ArduPilot/ardupilot · GitHub

Mission checksum
Why is this useful?
Why not just use FTP?
- MissionPlanner doesn’t support mission-via-ftp?
Peter will ping Hamish

UTC2323 - AP_OSD: update HD font files to remove blank space artifacts by Hwurzburg · Pull Request #21798 · ArduPilot/ardupilot · GitHub

Remove blank space artifacts from HD font files
Merged

UTC2324 - Create and use GCS_MAVLink/GCS_config.h by peterbarker · Pull Request #21529 · ArduPilot/ardupilot · GitHub

Create and use GCS_config.h
Merged!

UTC2324 - CUAV Nora/Nora+ bdshot target by andyp1per · Pull Request #21597 · ArduPilot/ardupilot · GitHub

Nora/Nora+ bdshot target
Merged!

UTC2326 - Skystars video defaults by andyp1per · Pull Request #21808 · ArduPilot/ardupilot · GitHub

Skystars video update
Merged!

UTC2330 - AP_Filesystem_Param: Better estimation of filesize by fredowski · Pull Request #21744 · ArduPilot/ardupilot · GitHub

Better estimate of filesize in AP_Filesystem_param
Assume 12 bytes per parameter
These sizes are only estimates only
UI progress bar will be better
Progressive unpacking of the file can give a 100% accurate progress bar
Merged!

UTC2330 - Add and use AP_GRIPPER_ENABLED by peterbarker · Pull Request #21754 · ArduPilot/ardupilot · GitHub

Make and use AP_GRIPPER_ENABLED
Need to explain the 300 bytes saving across all vehicles

UTC2345 - Correct compilation when fence/rally compiled out by peterbarker · Pull Request #21766 · ArduPilot/ardupilot · GitHub

Correct compilation with things compiled out
Rally points are rarely used?
- Leonard uses them a bit with safety cases
- Plane uses do_land_start
Needs a short SITL test to make sure it works

UTC2355 - AP_HAL_Linux: Support "non-standard" baudrates on UART by nbertram · Pull Request #21777 · ArduPilot/ardupilot · GitHub

Support non-standard baudrates on Linux
Willian will look at this

UTC2356 - Initialize jump-tracking in AP_Mission::init() by robertlong13 · Pull Request #21769 · ArduPilot/ardupilot · GitHub

Init jump tracking in AP_Mission::init
Merged!

UTC0002 - ArduPlane: fixed roll and pitch for OSD VTOL view by yaapu · Pull Request #21783 · ArduPilot/ardupilot · GitHub

Fix reporting roll/pitch in OSD VTOL view
Simpler
Merged

UTC0004 - AP_Mount: add Siyi gimbal driver by rmackay9 · Pull Request #21787 · ArduPilot/ardupilot · GitHub

Add Siyi gimbal driver
Why not LUA?
- Enough users to justify C++ code
AP_Camera will need a frontend/backend split for more work in here
- Coupling between camera and gimbal is interesting
Sbus output on most boards must be the same board as input
Should this be enabled by default?
- There’s a large amount of interest around it
Maybe add a can peripheral to hold this gimbal code
- Worked well for EFI

UTC030 - AP_NMEA_Output.cpp: Fix conversion precision issue: by Davidsastresas · Pull Request #21790 · ArduPilot/ardupilot · GitHub

Fix conversion precision issues
Still issues, discussed on Discord
Unconditional double-precision is required
- FabsF vs fabs
Probably just need to set double-precision

UTC030 - AP_Scripting: gimbal/mount POI example by rmackay9 · Pull Request #21803 · ArduPilot/ardupilot · GitHub

Script to determine and report lat/lon/alt of a point in a camera frame
terrain/height intercept location is interesting

UTC045 - Copter, Plane, Rover to 4.4.0-DEV by rmackay9 · Pull Request #21801 · ArduPilot/ardupilot · GitHub

Move to 4.4.0-dev on master
Merged

UTC046 - RemoteID update

1.10 release is out there
Japanese remote ID support being worked on
Management GUI required to handle the lock level stuff
- Private key required to then modify parameters
All pieces are in place for a compliant implementation
- But the command-line MAVProxy tool is a level of expertise above what we need to aim for
WiFi beacon mode will be merged in next few days

UTC0050 - Plane update

many patches against master which will need to go back into Plane-4.3.0
New beta release this week, probably
- ICE control arming not working well in 4.2/4.3
- Q-mode-specific

UTC0052 - Copter update

Wheel encoder noise issue still needs fixing
Basic tuning screen needs work in MP
Autobaud detection broken for some GPSs
Need to have the SITL uart do baud rate negotiation nicely
More bdshot board builds coming…
Enhancement requests
- Airmode to stabilize?
- Ability to change altitude during a mission
Gimbal mode defaulting will be fixed in next release

Attendee count (max): 15

UTC2305 - Implement MISSION_CHECKSUM by peterbarker · Pull Request #20834 · ArduPilot/ardupilot · GitHub

UTC2323 - AP_OSD: update HD font files to remove blank space artifacts by Hwurzburg · Pull Request #21798 · ArduPilot/ardupilot · GitHub

UTC2324 - Create and use GCS_MAVLink/GCS_config.h by peterbarker · Pull Request #21529 · ArduPilot/ardupilot · GitHub

UTC2324 - CUAV Nora/Nora+ bdshot target by andyp1per · Pull Request #21597 · ArduPilot/ardupilot · GitHub

UTC2326 - Skystars video defaults by andyp1per · Pull Request #21808 · ArduPilot/ardupilot · GitHub

UTC2330 - AP_Filesystem_Param: Better estimation of filesize by fredowski · Pull Request #21744 · ArduPilot/ardupilot · GitHub

UTC2330 - Add and use AP_GRIPPER_ENABLED by peterbarker · Pull Request #21754 · ArduPilot/ardupilot · GitHub

UTC2345 - Correct compilation when fence/rally compiled out by peterbarker · Pull Request #21766 · ArduPilot/ardupilot · GitHub

UTC2355 - AP_HAL_Linux: Support "non-standard" baudrates on UART by nbertram · Pull Request #21777 · ArduPilot/ardupilot · GitHub

UTC2356 - Initialize jump-tracking in AP_Mission::init() by robertlong13 · Pull Request #21769 · ArduPilot/ardupilot · GitHub

UTC0002 - ArduPlane: fixed roll and pitch for OSD VTOL view by yaapu · Pull Request #21783 · ArduPilot/ardupilot · GitHub

UTC0004 - AP_Mount: add Siyi gimbal driver by rmackay9 · Pull Request #21787 · ArduPilot/ardupilot · GitHub

UTC030 - AP_NMEA_Output.cpp: Fix conversion precision issue: by Davidsastresas · Pull Request #21790 · ArduPilot/ardupilot · GitHub

UTC0050 - Plane update

UTC0052 - Copter update

UTC0059 - close