Skip to content

20220413 Dev Meeting

Jump to bottom Edit New page
Hamish Willee edited this page Apr 14, 2022 · 5 revisions

Agenda

General:

Notes

  • Figure eight MAV_CMD

    • No particular concern about this being in the standard - it is broadly useful (though is a software fix for a hardware problem)
    • Why radians for orbit - degrees are more user friendly and conversion needs to be done by someone. Quick straw poll indicates that there are many instances of both - more deg and degE7, mostly because degrees used for GPS position.
    • JamesP added question issue

  • add COMPONENT_METADATA, deprecate COMPONENT_INFORMATION #1823

    • General discussion about how it works. All OK to merge.
    • Will not be able to enter standard (WIP removal) until the dymamic messages are added.
    • DONE: AO Hamish to merge

  • GLOBAL_POSITION_INT Altitude MSL reference #1829 - common altitude reference for swarms - is it MSL?

    • As a data point: PX4 with Ublox dumps WGS84 ellipsoid into GPS_RAW alt and the "MSL" value into GLOBAL_POSITION_INT alt. The GLOBAL_POSITION_INT value of alt is then fused with other alt sources.
    • We are not sure this is a "real" problem. The issue is that we need a common altitude reference for swarms and multi-vehicle network control. In most swarms you use the same vehicle/GPS so you have a common MSL value.
    • A single consistent ellipsoid reference is needed to meet this use case generically. Pretty much all systems provide WGS84 ellipsoid so that could be used
    • GCS could convert that to whatever geoid it liked or consistent MSL
    • The existing alt is documented as MSL. This is a different value for different modules. We could standardize it as WGS84 but this would likely cause a lot of churn.
    • If we're going to do this the proposal is to add a new extension field wgs84_ellipsoid_alt that categorically dumps that value. This can be used as absolutely consistent reference if supplied and required. That would be up to the flight stack, but would be recommended to make things consistent for GPS.
    • To progress this we suggest creating a PR with the field that we will share for broader discussion. Request posted to issue: https://github.com/mavlink/mavlink/issues/1829#issuecomment-1097685641

  • RFC 0018 - Improved Battery Status Reporting #19 + WIP smart battery messages #7 (dronecan)

    • Just a heads up that this is progressing and will be shared more widely soon.

  • Allow disabling signing for v2.0 C generator #658

    • JulianO suggestion
    • JamesP "yes, we will look at it"

Follow ups

Attendees: JulianO, Hamish, JamesP, ThomasDebrunner

Add a custom footer
Add a custom sidebar
Clone this wiki locally