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20210901 Dev Meeting

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Hamish Willee edited this page Sep 2, 2021 · 13 revisions

Agenda

General:

Notes

  • Add additional axis to Manual control, support additional buttons. #1674 - Seems to have converged on interim solution that has no cost if extra features are not used. Any comments?

    • Looks good. can be merged. There are changes we might suggest if we could go back in time, but not now.
    • In future may be good to have new messages that split out the button presses and handle them as MAV_CMDs from the GCS.
    • DONE: AO HamishW to create an issue so that is recorded/remembered.

  • Integrated Camera/Gimbal Systems Documentation #1678 and #1306 - extend common camera keys.

    • AO Julian to look at this docs. Get back to us in couple of weeks.

  • common.xml: Set/get local position in FRD, FRU frames #1685 - Hamish

    • The set of frames has grown weed-like through improvements/more consistent naming, and replacement by better names. However where the frames were used was not correspondingly updated.
    • The changes were driven primarily by conceptual concerns. No one was proposing to actually start emitting these messages.
    • Julian indicates that he has been bitten already by regressions cause by this. [to add notes to the issue]
    • A GCS for example will report unknown frame if it has not explicitly been updated.
    • Clearly there are observers on the message. A lot more testing would be required before this change was made.

  • Common.xml - WIP message review #1669

    • DONE: AO HamishW: Move MISSION_CHANGED to development.xml (useful message, but should not be present without implementation
    • DONE: AO HamishW: Remove WIP from RAW_RPM - has implementations.
    • DONE: AO HamishW: Move param protocol stuff to development.xml.
    • Camera/Gimbal protocol stuff to be looked at by Julian. Need docs on combined gimbal/camera implementations, and more generally need to be better integrated. Will discuss WIP after that.

  • Docs need to be revisited in terms of structure

    • things like payloads etc. buried in microservices, where they might not be found
    • OK if you know how things work, not so good if you want to know what is available and how to get started.
    • AO hamish to review/discuss.

  • MAV_CMD_PAYLOAD_CONTROL_DEPLOY, MAV_CMD_PAYLOAD_PREPARE_DEPLOY, MAV_CMD_NAV_PAYLOAD_PLACE confirm whether https://github.com/mavlink/mavlink/pull/1648 can go in.

    • Lorenz. Probably created early in protocol development to seed discussion. Can be marked deprecated as not used
    • The use case is worth discussing, but needs involvement of more people with cargo delivery expertise to make sure we get it right.
    • AO HamishW: Deprecate messages.

  • MAV_LANDED_STATE: add state for preparing for take off #1688 - adds state before takeoff while motors are spooling up but before actually leaving ground. Useful as a stable state for doing gimbal calibration etc.

    • This might be done by monitoring for ARMED and not flying flags.
    • Generally flight stacks will have this state internally - certainly ArduPilot and PX4 do.
    • It is good to expose states if possible. Generally we think this would be nice to do.
    • Concern is that this is affecting core API and while we don't expect any second order effects needs testing.
    • Prototype should be provided by interested party - i.e. Ollie.

  • Version control

    • Brief discussion that fundamental changes like MAV_LANDED_STATE need better way to inform community. The obvious way is to have version control, but that has been stumped at various points. General agreement that this is worth revisiting. Probably use the existing mechanisms and a low release cadence.
    • Add to agenda for next week?

Did not address

Attendees: JamesP, Seb, HamishW, Julian, Lorenz

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