Dev call Sept 9, 2024

Development Team
1

Issues & Pull Requests

Plane

Copter

2

Attendee count (max): 11

UTC2301 - ardupilotmega: MAV_CMD_GUIDED_CHANGE_ALTITUDE: correct alt rate-of-change unit by IamPete1 · Pull Request #371 · ArduPilot/mavlink · GitHub

  • Units incorrect in mavlink message
    • Change altitude target at given rate field
    • m/s/s rather than m/s
  • merged!

UTC2301 - ardupilotmega.xml: add EKF_GPS_GLITCHING status flag by peterbarker · Pull Request #370 · ArduPilot/mavlink · GitHub

  • Give an ENKF status flag a name in mavlink
  • Merged!

UTC2302 - Tools: ros2: Add geopose test by Ryanf55 · Pull Request #25642 · ArduPilot/ardupilot · GitHub

  • Add a test for geoposing in DDS
  • Discussions around mismatch in yaw between dds and SITL
  • Mergedoncipass

UTC2307 - AP_Scripting: only open the scripts directory on filesystems that support it by andyp1per · Pull Request #27404 · ArduPilot/ardupilot · GitHub

  • Fix warnings around loading files from a directory when only ROMFS is available
  • Merging altnerative

UTC2308 - AP_Scripting: no warning if no ./scripts and no real filesystem by peterbarker · Pull Request #28012 · ArduPilot/ardupilot · GitHub

  • Fix warnings around loading files from a directory when only ROMFS is available

  • Merged!

UTC2312 - APM_Control: add AP_FW_Controller as common base class to roll and pitch controlers by IamPete1 · Pull Request #27747 · ArduPilot/ardupilot · GitHub

  • Create a common base class for roll/pitch in APM controller
  • Some interesting oddities around default airspeed!
  • No functional change
  • Can possibly clean up some of the integrator stuff in here
    • There’s some strange things going on
  • Need to do a bunch of testing…
  • Bunch of testing needed!

UTC2314 - AHRS: added common origin between backends by tridge · Pull Request #27851 · ArduPilot/ardupilot · GitHub

  • Common origin between all EKFs
  • Problems with height resets
    • Is this something we want to merge as we are trying to stabilize for 4.6?
    • This only affects you if you are running multiple EKFs and/or external AHRS and EKFs
  • Why do the altitudes always seem to jump on EKF changes?
  • Merged!
  • EKFs can change origin?
    • They think so, but the rest of the system is not so sure it’s great
  • merged

UTC2330 - AP_Camera/AP_Mount/GCS_MAVLink: Siyi implements camera-thermal-range by rmackay9 · Pull Request #27915 · ArduPilot/ardupilot · GitHub

  • Camera thermal range
  • x/y as floats?
  • How does GCS know resolution of image?
    • Other mavlink message
  • Ryan spotted somewhere we should populate with NaNs
    • Almost impossible to hit the status
    • Check for == 0
  • Taking _rsem
  • Mergeable after the little reviews and double-shuffle

UTC2344 - ArduPlane: use Location::AltFrame for guided_state.target_alt_frame by timtuxworth · Pull Request #27921 · ArduPilot/ardupilot · GitHub

  • LUA script to change altitude stuff for terrain-relative alt
  • Logging in internal or external?
    • Both!
  • Bugs where you receive an alt in abs or global
    • Won’t take a negative altitude
  • Adds ability to send a mavlink command-guided-change-altitude-with absolute, home-relative and terrain-relative frames coming in
  • Add a test for death valley
  • A test which gets close to terrain
  • Test climb rate limit
  • PH is somewhat nervous
  • Rate of change was one of the most important things about this, so it should be tested
  • Will be tested on a real plane

UTC0012 - Plane: added glider pullup support by tridge · Pull Request #27985 · ArduPilot/ardupilot · GitHub

  • Glider pull-up support
  • Merged!

UTC0016 - Move RATE logging to attitude controller and log sample time by andyp1per · Pull Request #27996 · ArduPilot/ardupilot · GitHub

  • Move rate logging to attitude controller and log sample time
  • In preparation for moving to rate-thread
  • Moves call to rate logging into library
  • Also can make time to move backwards
    • Why compromise logging because tools suck?
    • Put a sample_us in?
  • General agreement that this is good
    • Including using sample-time rather than TimeUS

UTC0024 - Use sample time in Attitude logging by andyp1per · Pull Request #28005 · ArduPilot/ardupilot · GitHub

  • Use sample time in attitude logging
  • LH thinks ATT is for debugging the attitude controller
  • Tridge states that ATT is the canonical vehicle attitude, like POS is the canonical vehicle position
  • Create a new ATC message
    • Still need ATT!
    • LH is not so sure
  • Need to see a proposal for the ATC message
  • Could make it different for each message
  • ATTC rather than ATC
    • ie . not Air Traffic Controller
    • Or “ANG” to match “RATE”

UTC0049 - Log attitude information at full resolution by andyp1per · Pull Request #28008 · ArduPilot/ardupilot · GitHub

  • Move to logging floats in ATT message
    • Rather than centidegrees
  • Merged!

UTC0055 - Copter: remove throttle check for arming in guided by peterbarker · Pull Request #28009 · ArduPilot/ardupilot · GitHub

  • Add throttle check for arming in guided
  • How does this compare against the auto options?
    • There’s no equivalent ATM
  • Does neutral check in auto
  • Never want the vehicle jumping into the air

UTC0112 - Plane update

  • Release is going well
  • May end up reverting some of the TECS changes
    • Its a lot more tangled than what we were expecting
    • Tim has some interesting logs he can share
    • Takeoff / TECS

UTC0113 - Copter update

  • Probably a 4.6 beta in the next 4 weeks
  • A few issues we never resolved on the issues list for 4.5

UTC0118 - Plane: allow for different orientations for landing rangefinder by tridge · Pull Request #28014 · ArduPilot/ardupilot · GitHub

  • Allow for different orientations for landing rangefinder
  • Can use custom orientation
  • PH has has a good look at it
  • Will be merged once we have an ifdef around the simulated rangefinder code

UTC0132 - AP_DroneCAN: Set protocol in tunnel.Targetted message by olliw42 · Pull Request #28018 · ArduPilot/ardupilot · GitHub

  • Set protocol tunnel tunnel.Targetted
  • Positive port numbers and negative numbers different?
  • Where’s the balance between protocol-specific messages and tunnelling?
    • Two uBloxes on different CAN buses you can share RTCM data
    • More compact using native messages
    • Inspectibility
  • uCentre is really useful across this stuff
  • This is all the enumeration values

UTC0142 - GCS_MAVLink: reject SET_MESSAGE_INTERVAL commands with p3 set by peterbarker · Pull Request #28019 · ArduPilot/ardupilot · GitHub

  • Reject set-message-interval with instance number of 0
  • Merged!

UTC0144 - AP_Scripting: tweak conditions for scripting-requires-filesystem by peterbarker · Pull Request #28027 · ArduPilot/ardupilot · GitHub

  • Tweak conditions for scripting-requires-filesystem
  • Merged!

UTC0147 - Avoid nullptr dereference on bad rcmap value entry by peterbarker · Pull Request #28033 · ArduPilot/ardupilot · GitHub

  • Avoid nullptr deref on bad parameter value
  • Create a dummy RC channel
    • Zeroes are OK in the RC_Channel object
    • Maybe not in norm_input
  • Merged!

UTC0158 - Tools: Use apt for pexpect and allow system packages in the virtual environment by Ryanf55 · Pull Request #28035 · ArduPilot/ardupilot · GitHub

  • Use apt for pexpect
  • Use apt wherever possible for packages
  • Wxpython is problematic

UTC0203 - Networking: added CAN multicast UDP network gateway by tridge · Pull Request #28038 · ArduPilot/ardupilot · GitHub

  • Can to ethernet bridging
  • We’ve had can over network in SITL for ages
    • And indronecan gui tool
  • Haven’t had it on real flight controllers
  • Nowe we do
  • Companion computer on ethernet could log all can packets
  • Adds many callbacks
  • 450 bytes on Pixhawk1-1M-bdshot
    • We’ll pay that price
  • Sid to review

UTC0213 - waf: allow any custom build option to be specified in waf configure by tridge · Pull Request #28039 · ArduPilot/ardupilot · GitHub

  • Allow any custom build option to be specified in waf configure
  • We’ll remove the compatibility options

UTC0218 - AC_AttitudeControl: Fix dt update order by lthall · Pull Request #28040 · ArduPilot/ardupilot · GitHub

  • Fix dt update order
  • Bug fix
  • Attitude controller can fall behind
  • Leonard’s very interested in little code wins in the attitude controller
  • Variable rename follow-up PR coming in

UTC0228 - hwdef: remove non-ublox GPSes from MatekL431-Periph by tpwrules · Pull Request #28043 · ArduPilot/ardupilot · GitHub

  • Remove most GPSs from MatekL431
  • Merged!

UTC0228 - AP_Periph: reject allocation of broadcast node ID by tpwrules · Pull Request #28045 · ArduPilot/ardupilot · GitHub

  • Reject allocation of zero CAN node ID
  • Merged

UTC0231 - waf: fixed app signature in elf files by tridge · Pull Request #28048 · ArduPilot/ardupilot · GitHub

  • Fixed app signature in elf files
  • Allows them to be loaded in gdb

UTC0233 - AP_DroneCAN: DNAServer: don't "allocate" broadcast ID by tpwrules · Pull Request #28049 · ArduPilot/ardupilot · GitHub

  • Don’t allocate the broadcast ID
  • Merged!

UTC0236 - AP_Periph: clean up node ID parameter handling by tpwrules · Pull Request #28050 · ArduPilot/ardupilot · GitHub

  • Clean up node id handling
  • Merged!
  • We don’t honour a “renew” thing at the moment

UTC0037 - close