Dev Call Sept 5, 2022

Development Team
1

Issues & Pull Requests

Remote ID

Plane

Copter & Rover

GSOC

2

Attendee count (max): 17

UTC1100 - Pre-agenda

  • Amilcar and co are going to be working towards a PR for system-identification stuff

UTC1100 - https://github.com/ArduPilot/ardupilot/pull/21294

  • Add parameter for runaway missions
  • This could break remote delivery missions if enabled
    • So don’t enable it, or don’t stuff up….
  • Takeoff and nothing else will be fine
  • Just need PH’s question answered
  • Need 1km default for Plane

UTC1106 - Copter: takeoff check that motors are spinning at TKOFF_RPM_MIN by andyp1per · Pull Request #21499 · ArduPilot/ardupilot · GitHub

  • Make sure motors are spinning at TKOFF_RPM_MIN before allowing takeoff
    • PH wants this in AP_Motors instead
    • Less flexible maybe?
  • Too much stuff in AP_Motors?
  • Worry about this when we go to reuse it elsewhere?
  • Move it to AP_Vehicle or AP_Spoolup?
    • Spooling is a motors thing, ‘though?
  • Leonard thinks motors should only really be doing mixes
  • Some of this is just RSC, really?
    • So should be next to AP_Motors_RSC?
  • Where it interrupts to spool it should remove to move from ground idle?
  • 9:14 AM]Jeff Wurzbach: if you do them at all at once you can miss a motor not spinning when you have a another motor that’s locked up
  • [9:15 AM]Jeff Wurzbach: if you have access to shaft RPM, then you can it all at once.
  • This doesn’t work for Heli….
  • PH might have a bit of a play with this
    • Don’t allow move from ground idle to spool up until you reach a threshold RPM
      • Ground idle was for piston-powered vehicles that need to warm up
  • PH might try to move this to Motors later…

UTC1130 - BMI270 performance optimizations by andyp1per · Pull Request #21531 · ArduPilot/ardupilot · GitHub

  • BMI270 performance optimisations
  • Runs faster on KakuteH7v2 and MambeaH743v4
  • merged

UTC1131 - Add GPIO support to PCA9685 for Navigator boards by Williangalvani · Pull Request #21571 · ArduPilot/ardupilot · GitHub

  • GPIO support to PCA9685 for Navigator
  • Merged!

UTC1136 - CI: Build with all/no options enabled by peterbarker · Pull Request #21591 · ArduPilot/ardupilot · GitHub

  • Build with all/no options enabled in CI
  • Merged

UTC1137 - AP_Mount: split servo driver, parameters to degrees by rmackay9 · Pull Request #21602 · ArduPilot/ardupilot · GitHub

  • Split servo driver, parameters to degrees from centidegrees
  • Reduces number of parameters
    • Removes MNT_RC_ROLL, TILT and PAN
  • Multiple mount support more likely now
  • Removes “this axis is stabllised” methods
  • More RC channel options for secondary mounts
  • A switch to change the meaning of your sticks to move from controlling your vehicle to controlling one of the mounts
  • Does this belong in 4.3?
    • Or should it be a 4.4 thing?
    • We don’t want to delay 4.3 with this.
    • Tested with Storm, Solo, AlexMOS, all of them…
      • Need to turn off the private channels to get Solo working
  • Randy’s not enthusiastic about drivers in LUA
    • Maybe not if there’s not a lot of users
    • Vendors want stable and their new thing to work…
  • [9:38 AM]Peter Hall: Wooo!
  • [9:38 AM]Peter Hall: This one closes a few issues too.
  • [9:41 AM]Peter Hall: Enums are basicaly free.
  • [9:46 AM]Peter Hall: Yeah, its not a crashy bit of the code.
  • [9:49 AM]Leonard: I say go for it.
  • Can no longer turn stab on or off?
    • Retracted mode stops stabilisation
    • Earth vs body frame confusion might have required this
  • How can this only cost 4 bytes?
    • Removal of stab of yaw
    • 10 or 12 lines removes
    • Parameter conversion should cost stuff?
    • Half as many parameters
    • To-andle etc etc
  • Will be merged after a few small fixes

UTC1137 - AP_Mount: add second instance of mount by rmackay9 · Pull Request #21614 · ArduPilot/ardupilot · GitHub

  • Add second instance of mount
  • 0 or 1 are first gimbal, 2 is second gimbal
  • Rename mount to gimbal everywhere?
    • MNT_ → GIM_* or GMB_*
    • [10:08 AM]Peter Hall: Changing names now stops people flashing old params that would be wrong.
    • [10:09 AM]rmackay9: @Peter Hall that will happen anyway 'cuz of the MNT to MNT1
    • Parameters will be renamed
      • Do the classes too?
    • Rename the RC options to gimbal

UTC0014 - Copter: fix do-mount-control yaw scaling by rmackay9 · Pull Request #21639 · ArduPilot/ardupilot · GitHub

  • Fix do-mount-control yaw scaling
  • Changing the meaning of the yaw control
    • Put a check in to constrain the yaw rate
      • Lower levels do this
  • Merged!

UTC0014 - Copter: add weathervaneing by IamPete1 · Pull Request #21609 · ArduPilot/ardupilot · GitHub

  • Add weathervaning for asymmetric vehicles (e.g. helicopters) this will save power by making the vehicle weather-vane
  • Should this be in autoyaw object instead?
  • An update method on autoyaw now?
    • Split getter from update

UTC0032 - Tools: add generate_features_txt_files.py by peterbarker · Pull Request #21617 · ArduPilot/ardupilot · GitHub

  • Create features.txt files next to elf files
  • Merged

UTC0033 - Correct metadata mistake in PR #21347 by Hwurzburg · Pull Request #21629 · ArduPilot/ardupilot · GitHub

  • Fix some parameter metadata
  • merged

UTC0033 - AP_Scripting: allow : access to manual bindings by IamPete1 · Pull Request #21630 · ArduPilot/ardupilot · GitHub

  • Allow a colon or a dot for manual bindings in scripting
  • We didn’t really understand how manual bindings worked…
  • Any ambiguity?
  • Colon is same as . but also passes self - this checks for self being passed when it shouldn’t be
  • Merged!

UTC0033 - Tools: fix build option for MSP Optical Flow sensor and cleanup by Hwurzburg · Pull Request #21619 · ArduPilot/ardupilot · GitHub

  • Fix build option
  • Merged!

UTC0043 - Fixed from using --ubsan in autotest by tridge · Pull Request #21633 · ArduPilot/ardupilot · GitHub

  • Fixes from using –usbsan in autotest
  • Out-of-range-float-to-integer conversion
  • Ubsan in CI would be nice
    • Future work
  • Merged!

UTC0043 - AP_Motors: add pre-arm by IamPete1 · Pull Request #21635 · ArduPilot/ardupilot · GitHub

  • Add a motors prearm method
    • Moves checks from Copter to common between Copter/Plane
  • Tilt-tri quadplanes still working?
  • External rate controller with a frame-none?
  • Might be some stuff in sub that could be cleaned up

UTC0059 - EFI Scripting Driver Backend by hendjoshsr71 · Pull Request #21643 · ArduPilot/ardupilot · GitHub

UTC0107 - Tools: Add ROS and Ardupilot-ros environment install script by rmackay9 · Pull Request #21644 · ArduPilot/ardupilot · GitHub

  • ROS and ardupilot-ros env install script by Randy
  • So you can fire sitl/mavros etc etc on your laptop
  • Doesn’t start Gazebo
  • Will MergeOnCIPass

UTC0109 - RemoteID update

  • Secure boot stuff
  • Ability to update the public keys which allows hand-over between vendors and potentially recovery
  • Parameters to set uas id in module permanently
    • One firmware and parameters rather than build options
  • Working with BetaFlight to help them along with their support
    • and maybe get the ESC-based thing moving along
      • Start off with locked-down AP_Periph firmware
      • Tridge would like a guinea-pig for this
        • Jeff might know someone….
  • Interpretation of “tamper resistance” is still unknown
  • Secure boot has lots of down-sides
    • Sell vehicle to University then the Uni can’t update the firmware?
      • Would be very unattractive
      • Police, MAAA etc etc too

UTC0115 - Plane update

  • Release notes are coming for the 4.3 beta
  • Need the mount change notes….

UTC0115 - Copter update

  • 4.2.3 went out
  • No 4.3 beta yet
    • Soon
    • Late this week?

UTC0117 - GSoC update

  • Last week!
  • Blog posts, merging etc etc

UTC0117 - close