Dev Call Sept 4, 2023

Issues & Pull Requests


Copter & Rover

Partner call tomorrow

Attendee count (max): 17

UTC2300 -

  • Improve quadplane use of forward throttle in VTOL modes
  • Doesn’t rely on converting from downward-pitch into forward throttle, goes directly to throttle
  • Also puts forward throttle in qhover
    • Tridge doesn’t want this on by default
      • Couldn’t tune
    • It’s a recovery mode
      • Paul thinks this works better as a recovery mode past this
    • This could be bad if your ICE is playing up….
    • Maybe another mode which allows use of the forward throttle
    • Another mode?
    • Maybe just leave the default to 0?
      • Probably will want it in qloiter and qrtl by default
      • This replaces vfwd
        • We’d leave the vfwd behaviour if we defaulted this new thing to off
      • Default it on for position controlled modes only?
      • Auxiliary switch?
  • Need to know how this will work with non-linear and laggy response of ICE engines
    • Old algorithm is available still
    • Probably reduce the gain and soften the throttle response to get stability in correct range
  • You don’t want this on vfwd at same time, so set the vfwd off…
  • We already have an option for directly controlling thrust in e.g. qhover
    • How does this interact with that?
  • Maybe put it in off-by-default
  • We need a good simulation of a horrible-throttle-control IC Engine
  • An RC option to turn it on…
  • Make it tunable with the table of parameters which are tunable
  • Don’t necessarily want the vehicle to stay level
    • May not come down
    • May be able to make this automatic tunable
    • Some sort of integrator which gradually allows more pitch if the thing isn’t coming down
      • At the moment, just choose a good pitch limit such that the vehicle will come down
  • Might be auto-tuneable
  • We need asymmetry on roll/pitch for quadplanes!
  • Is the position controller trying to do too much?
    • Do we need better feedback about hitting limits rather than putting too much code into the position controller?
  • ICE cuts ignition to forward motor when hitting land-final in vertical descent…
    • Don’t want them to lose position control and start drifting….

UTC2338 - AP_Rangefinder: Refactor CAN based drivers. Add TOFSenseP driver & NRA24 by rishabsingh3003 · Pull Request #24097 · ArduPilot/ardupilot · GitHub

  • Refactor CAN, add TofSenseP and NRA24
  • Tridge to test USD1
  • 11-bit CAN devices
    • Would be nice for these to co-exist with DroneCAN
  • Can be merged after Andy has approved and it passes CI

UTC2351 - AP_HAL_ChibiOS: External flash optimizations (H750 etc.) backport to 4.4 by mluessi · Pull Request #24098 · ArduPilot/ardupilot · GitHub

  • Backport external flash optimisations
    • Makes external flash
  • Tridge is changing base to Plane-4.4 to get it to rebuild
  • Need to explain the not-no-change button

UTC2358 - Copter: accept solo buttons as both long and int by peterbarker · Pull Request #24822 · ArduPilot/ardupilot · GitHub

  • More accept-commands-as-int stuff
  • Merged!

UTC2359 - AP_ADSB: remove unused get_transceiver_status method by peterbarker · Pull Request #24824 · ArduPilot/ardupilot · GitHub

  • Remove unused method from AP_ADSB
  • merged!

UTC0001 - SITL: document GPS parameters by antholuo · Pull Request #24831 · ArduPilot/ardupilot · GitHub

  • Document more SITL parameters
  • merged!

UTC0003 - AP_ICEngine: stop engine on parachute release by IamPete1 · Pull Request #24833 · ArduPilot/ardupilot · GitHub

  • Kill ICE engine when parachute released
  • Merged!

UTC0005 - AP_L1_Control: check vehicle yaw (heading) and ground track agree by magate · Pull Request #24834 · ArduPilot/ardupilot · GitHub

  • L1 control
    • Check vehicle yaw and ground track agree
    • If you are not pointed in the direction you are expecting to be going then
    • You still blow away, but at least you will do so consistently
  • Use compass at zero GPS velocity

UTC0007 - hwdef: include defaults.parm files from other identical defaults.parm by peterbarker · Pull Request #24838 · ArduPilot/ardupilot · GitHub

  • Include defaults where there’s an identical other file to include
  • Need to make sure @include works when no new-line present

UTC0013 - AP_Mount: xacti supports set lens and zoom by rmackay9 · Pull Request #24841 · ArduPilot/ardupilot · GitHub

  • Xacti supports lens and zoom
    • And now we do too
  • Dronecan messages can’t be sent in faster than 20ms apart?!
  • Randy likes this because it has both HDMI output and rtsp streams
    • Connect USB and video and you get
  • Merged!

UTC0019 - GCS_MAVLink: add defines for serial control, deviceop and servo_relay by peterbarker · Pull Request #24845 · ArduPilot/ardupilot · GitHub

  • Options for serial control, deviceop and servorelay
  • Merged!

UTC0020 - AP_HAL_ChibiOS: canonicalise AP_PERIPH env define by peterbarker · Pull Request #24849 · ArduPilot/ardupilot · GitHub

  • Canonicalise AP_PERIPH to zero
    • Because some places it is used as truth
  • Make it fatal instead

UTC0027 -

  • Add build options for the himark servos
  • Really want the guys to do DroneCAN so they appear on the bus and can be monitored nicely
  • MergeOnCIPass

UTC0028 - AP_BattMonitor: log external temperature if available by peterbarker · Pull Request #24853 · ArduPilot/ardupilot · GitHub

  • Log external temperature if it is being used
  • Merged!

UTC0031 - Allow more libraries to compile with no HAL_GCS_ENABLED by peterbarker · Pull Request #24860 · ArduPilot/ardupilot · GitHub

  • Use HAL_GCS_ENABLED in more places
  • Peter should get SIM_Gimbval.cpp organised so we can test that
  • MergeOnCIPass

UTC0038 - Allow Precland fast descend by rishabsingh3003 · Pull Request #24867 · ArduPilot/ardupilot · GitHub

  • Precland fast descend
    • To stop the vehicle slowing down too much in final descend
  • Randy’s happy
  • 2m hard-coded slowdown can go away
  • Looks much more like our normal landing in terms of descent-rate profile

UTC0040 - Add support for TSYS03 temperature sensor by peterbarker · Pull Request #24868 · ArduPilot/ardupilot · GitHub

  • Driver for TSYS03 temperature sensor
  • Merged!

UTC0042 - Plane: use dead zone in stick mixing by tridge · Pull Request #24873 · ArduPilot/ardupilot · GitHub

  • Use dead-zone in stick mixing
  • Needs to be split up into two different PRs
    • One for pitch/roll, another for using the deadzone

UTC0045 - Plane: 4.4.1-beta1 preparation by tridge · Pull Request #24870 · ArduPilot/ardupilot · GitHub

  • Plane update
  • 4.4.1beta soon
  • Other things that should go backwards?
  • Need to tell people if stuff isn’t going to go into 4.4.1 if it isn’t going to go in
    • Value judgment on age of PR and amount of testing
    • But need to set expectations

UTC0058 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

  • 4.2 → 4.4 upgrade success story
  • Little different but basically fine

UTC0058 - Random

  • Partner’s call tomorrow
  • PH hardware review tool under way! Add Hardware Review tool. by IamPete1 · Pull Request #36 · ArduPilot/WebTools · GitHub
  • Having tabs to click between tools would be awesome; load log once
  • New feature in MAVExplorer “help atan” “help lowpass”
  • Demo for filter for partners tomorrow
    • But could we have a more elaborate video on how to use it?
  • Thanks to our GSoC students!
    • All over for another year
    • All very productive!

UTC0107 - close

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