QuadPlane: Precision Landing(v2)

[lukedempsey]

This is a carry-on from @jonathan84clark's original PR (#10378) - adding the precision landing functionality to quadplanes.

I have got it landing consistently in SITL - I'm yet to do a hardware test.

I haven't squashed commits etc yet, as I still have a couple of questions about the code, I'll add them as comments below.

[tridge]

thanks for this work! It does need a rebase, can you do that or do you want me to do that for you?

[lukedempsey]

thanks for this work! It does need a rebase, can you do that or do you want me to do that for you?

No problem, I'll do this tomorrow

[lukedempsey]

thanks for this work! It does need a rebase, can you do that or do you want me to do that for you?

No problem, I'll do this tomorrow

@tridge this branch has previously been kept up to date but merging master into it. Not sure how to squash/rebase this easily. Any advice on what to do? I don't have much experience rebasing.

I'll work through the rest of your notes in the meantime

[jo-m]

@lukedempsey is this going to be merged soon?

[davidbuzz]

I poked tridge during the dev call, and he said it needs a rebase, and he might have a try....

[CBMUniversal]

Is this still being worked on? Is there a timeline for this being merged?

[jonathan84clark]

Hello, I have halted my work on this feature due to feature creep. The changes I made successfully implemented precision landing in quad plane however when I attempted a pull request the ArduPilot team had numerous refactors, optimizations and other improvements they wanted to add before they would allow it to be merged. I was not comfortable implementing the myriad of changes as I no longer have a platform I can test my changes on. Thanks, Jonathan L Clark

On Monday, October 28, 2019, 11:50:40 AM PDT, CBMUniversal <[email protected]> wrote:  

Is this still being worked on? Is there a timeline for this being merged?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

[rmackay9]

I'm not responsible for the plane code but in general a good way to escalate a PR (give it a push towards getting merged) is to add the "DevCallTopic" label (or ask someone like me, tridge, amilcarlucas, etc to add it) and then attend the weekly dev call. I know the timing of the weekly call can be difficult for some locations... but just trying to give some help on the process.

mumble server used for weekly dev call: http://ardupilot.org/dev/docs/ardupilot-mumble-server.html

[jonathan84clark]

Thanks for the info but I am currently out of the UAV space. I was working for a UAV company when I worked on precision landing but I have moved on and I am now in a different industry. Thanks, Jonathan L Clark

On Tuesday, October 29, 2019, 06:32:10 PM PDT, Randy Mackay <[email protected]> wrote:  

I'm not responsible for the plane code but in general a good way to escalate a PR (give it a push towards getting merged) is to add the "DevCallTopic" label (or ask someone like me, tridge, amilcarlucas, etc to add it) and then attend the weekly dev call. I know the timing of the weekly call can be difficult for some locations... but just trying to give some help on the process.

mumble server used for weekly dev call: http://ardupilot.org/dev/docs/ardupilot-mumble-server.html

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

[jonathan84clark]

I should be clear; I have no intention of completing all of the requested changes and features that were recommended when I submitted this pull request. I personally feel that those requests are outside the scope of my task; implementing precision landing in quadplane and represent scope creep. Additionally it would be extremely high-risk for me to make any additional changes as I no longer have a platform to test on. I stand by my original code change; it worked on the day I submitted my pull request. I have documented video evidence of its functionality. However without access to test platforms I cannot confirm it will work today (I can't deny it either).

[tridge]

I have rebased this on master

[ohitstarik]

Any updates on this? I'm trying to build tree precLand, i've also tried c131054c1a5959233a078725691ddad2070cb016 and as it sits and it falls apart when it gets to uavcan on both ends

i'd love to get this running and help out if possible

edit: turns out it was just a problem with the way i was cloning the git. i was doing git download and doing git submodule udpate --recursive after, just doing git clone --recursive fixed this.

coming across this in the precland tree next

edit2: again a problem with how i was setting up my build environment (didnt update submodules after changing trees, a folder name had a space in it and make didnt like that, etc etc)

got it to compile and put it onto a cubeBlack board. Accidentally compiled and uploaded arducopter first, worked great, compiled arduplane after and missionplanner wont pick up any heartbeats now.

[peterbarker]

I've rebased this on master, having already merged some of the patches (which needed @rmackay9 's approval)

I've also fixed several things I spotted - the update rate we pass into AC_PrecLand on construction must be the same as that in the scheduler table; the library itself takes the minimum of that and the scheduler loop rate to determine its buffer sizes.

There are still several more issues to cross here.

[ddomit]

I've rebased this on master, having already merged some of the patches (which needed @rmackay9 's approval)

I've also fixed several things I spotted - the update rate we pass into AC_PrecLand on construction must be the same as that in the scheduler table; the library itself takes the minimum of that and the scheduler loop rate to determine its buffer sizes.

There are still several more issues to cross here.

@peterbarker Hi peter! Just wondering if there is anything i can help with to have this feature implemented into quadplane

[davidbuzz]

i think if @tridge and @peterbarker have both massaged the code thru forced-pushes AND tridge has written 'looks good' , then this is simply a merge-on-ci-pass now.

[peterbarker]

I'm removing MergeOnCIPass. At the very least the scope of rebasing required would mean this would need another thorough review.

[markcfong561]

Is this going to be merge to master anytime soon?

[ddomit]

Is this going to be merge to master anytime soon?

+1

[markcfong561]

Are there at least any updates on whether this will be added to the next release of arduplane?

[julled]

+1 i would be also very interested in getting this into mainline

[tridge]

i've decided to do this with lua scripts for flexibility: https://github.com/ArduPilot/ardupilot/pull/26380