Dev Call Sept 5, 2022
September 5, 2022, 11:01pm
Issues & Pull Requests
Copter & Rover
September 6, 2022, 2:28am
Attendee count (max): 17
UTC1100 - Pre-agenda
Amilcar and co are going to be working towards a PR for system-identification stuff
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
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…
BMI270 performance optimizations by andyp1per · Pull Request #21531 · ArduPilot/ardupilot · GitHub
BMI270 performance optimisations
Runs faster on KakuteH7v2 and MambeaH743v4
Add GPIO support to PCA9685 for Navigator boards by Williangalvani · Pull Request #21571 · ArduPilot/ardupilot · GitHub
GPIO support to PCA9685 for Navigator
CI: Build with all/no options enabled by peterbarker · Pull Request #21591 · ArduPilot/ardupilot · GitHub
Build with all/no options enabled in CI
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
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
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.
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
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
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
Tools: add generate_features_txt_files.py by peterbarker · Pull Request #21617 · ArduPilot/ardupilot · GitHub
Create features.txt files next to elf files
Correct metadata mistake in PR #21347 by Hwurzburg · Pull Request #21629 · ArduPilot/ardupilot · GitHub
Fix some parameter metadata
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…
Colon is same as . but also passes self - this checks for self being passed when it shouldn’t be
Tools: fix build option for MSP Optical Flow sensor and cleanup by Hwurzburg · Pull Request #21619 · ArduPilot/ardupilot · GitHub
Fix build option
Fixed from using --ubsan in autotest by tridge · Pull Request #21633 · ArduPilot/ardupilot · GitHub
Fixes from using –usbsan in autotest
Ubsan in CI would be nice
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
EFI Scripting Driver Backend by hendjoshsr71 · Pull Request #21643 · ArduPilot/ardupilot · GitHub
AP_EFI scripting backend driver
Lots of flash
We need to fix the bindings
Tridge has something but has trouble with bitfields
AP_Scripting: new user data approach - WIP MEGACOMMIT by tridge · Pull Request #21645 · ArduPilot/ardupilot · GitHub
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
UTC0109 - RemoteID update
Secure boot stuff
Ability to update the public keys which allows hand-over between vendors and potentially recovery
Stuck because of some key muck-up then could potentially be fixed remotely
Filing the sharp edges off remoteid
Craig Elder on LinkedIn: IFT Remote ID Test Flight | 11 comments
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
Late this week?
UTC0117 - GSoC update
Blog posts, merging etc etc
UTC0117 - close