Dev Call Sept 27, 2021

Issues & Pull Requests




Attendee count (max): 19

UTC2301 - Plane update

  • 4.1.0 plane update coming today
  • Over 9000 patches
  • MatekH743 alternative IMU coming
  • Wind estimation init bug squashed
  • Test flown on multiple planes
  • 4.1.1 will probably be not-too-far-behind
    • For the tailsitter changes

UTC2303 - OSD Sidebars by squilter · Pull Request #16441 · ArduPilot/ardupilot · GitHub

  • OSD sidebars
  • Henry has a companion PR to put it on the build server
  • On by default if not minimising features
  • Merged!
  • Should we eliminate HAL_MINIMIZE_FEATURES?
    • For 4.2?
    • Can we do a

UTC2306 - Add OSD sidebars option by Hwurzburg · Pull Request #16 · ArduPilot/CustomBuild · GitHub

  • CustomBuild server fixes for above
  • Merged!

UTC2307 - AP_GPS: correct GPS switching when GPS blending disabled by peterbarker · Pull Request #18233 · ArduPilot/ardupilot · GitHub

  • Fix changing receivers when not using blending
  • Merged!

UTC2309 - Tools: Enable Unit Testing for SITL by hendjoshsr71 · Pull Request #18404 · ArduPilot/ardupilot · GitHub

  • Enable unit testing for SITL
  • Could potentially disable FPE stuff instead
  • Merged!

UTC2312 - spelling fixes on previous PR

  • Speeling is hard :slight_smile:

UTC2314 - SITL: Add build sitl32 option for SITL, autotests, & unit tests by hendjoshsr71 · Pull Request #18601 · ArduPilot/ardupilot · GitHub

  • 32-bit SITL builds
  • Merged!

UTC2315 - Plane: remove TRIM_AUTO and trim_radio pre-flight calibration by IamPete1 · Pull Request #18670 · ArduPilot/ardupilot · GitHub

  • Remove trim_auto
  • Report from user that the trim feature is important to them
    • Often skilled pilots have a particular approach to bringing up a new plane
    • We’re still allowing for it with the new RC option
  • merged!

UTC2316 -

  • New mode: Fly down and then do vtol mode
  • What if we want the same thing for qrtl?
  • New option, “if landing then loiter down to this alt first”
  • Alti used a Lua script to do it
  • Decide which to do based on battery remaining?
  • For use in battery failsafe
    • So you don’t hover-down really, really slowly
    • Uses fixed-wing loiter
  • Separate mode advantage
    • transmitter-based-GCS can change to this easily
  • Scripting mode1?
    • Guided underneath
  • Merged
  • We’ll potentially back this out depending on feedback
    • Maybe do the threshold thing instead

UTC2332 -

  • Sub controller initialisation
  • Why’s this different to Copter?
  • Need Leonard to look at this?
  • Looks right to us on the call
  • MergeOnCIPass added

UTC2339 -

  • Digital outputs on IOMCU
  • Needs a Wiki update as what you can do on IO processor is now more complicated
  • Everyone’s using d-shot now-adays and that can only be done on the aux ports
    • This allows using iomcu outputs for other things
    • No input (level shifters)
  • Some boards say, “main” and some “aux” when they don’t actually have an IOMCU
    • CUAV NORA has 8 main + 6 aux but all on FMU
  • Maybe we can fix the pin numbers b accepting a comma-separated list?

UTC2344 -

  • Parameter for throttle in tailsitter transition
  • Bugfix for scaling throttle twice
  • Thrust-expo stuff in motors has had to change
  • Leonard needed!

UTC2346 -

  • Constrain to 127 to avoid wrap in mavlink
  • Merged!

UTC2355 -

  • Move enums into private sections
  • Need to fix up hack used to make enums compatible

UTC0000 -

  • provide map for esc telemetry

  • Merged!

UTC0001 -

  • Validation of pins
  • Bool for set_pin
  • Needs testing on real hardware
    • Can be merged after that
  • Test with correct and incorrect pins

UTC0004 -

  • Conflicting
  • A few minor things to fix up

UTC0009 -

  • GPIO altconfigs
  • Allows using telem1 CTS/RTS pins as GPIO on CubeBlack
  • Needstesting to ensure no other boards have been broken
    • Configure-all and dirdiff
  • Can we just gpio-tag a CTS/RTC pin instead?
    • You’d have to disable cts/rts on the serial port

UTC0016 - redux

  • Why reverse out the thrust?
    • Inverting the function
  • Need unit tests for the reversing?
    • Would be nice

UTC0031 -

  • Doing fp maths on the IOMCU?
  • Change ADC scaling to 3.3V
  • One vendor looking at moving to a different IOMCU processor
  • Per-pin scaling in ADC defines saves us for IOMCU/FMU pins
  • Needs lots of testing

UTC0041 -

  • move SBP structures around in GPS
  • Merged!

UTC0046 -

  • Fixed stuck logging
  • Merged!
  • Never gives up on logging

UTC0048 -

  • Should we just eliminate the driver?
  • Agreement to remove the MTK drivers entirely

UTC0050 -

  • Remove un-needed I reset
  • Fixes body-frame-roll-control issue on tailsitters
  • Need a better tailsitter simulation
  • Quaternion?
    • Division to get angular delta required?
      • Not that simple as on a quadcopter your yaw axis is weak so you don’t want that to become part of your path

UTC0053 -

  • Save some flash
  • Merged

UTC0100 -

  • Add APM_BUILD_Heli
  • Create APM_Build_ which covers both?
  • APM_BUILD_COPTERHELI which covers both
  • Pretty neat solution

UTC0110 - CustomBuild server fixed!

UTC0111 - close

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