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          Uplink Cooperative NOMA for Cellular-Connected UAV. (arXiv:1809.03657v1 [cs.IT])      Cache   Translate Page      

Authors: Weidong Mei, Rui Zhang

Aerial-ground interference mitigation is a challenging issue in the cellular-connected unmanned aerial vehicle (UAV) communications. Due to the strong line-of-sight (LoS) air-to-ground (A2G) channels, the UAV may impose/suffer more severe uplink/downlink interference to/from the cellular base stations (BSs) than the ground users. To tackle this challenge, we propose to apply the non-orthogonal multiple access (NOMA) technique to the uplink communication from a UAV to cellular BSs, under spectrum sharing with the existing ground users. However, for our considered system, traditional NOMA with local interference cancellation (IC), termed non-cooperative NOMA, may provide very limited gain compared to the OMA. This is because there are many co-channel BSs due to the LoS A2G channels and thus the UAV's rate performance is severely limited by the BS with the worst channel condition with the UAV. To improve the UAV's achievable rate, a new cooperative NOMA scheme is proposed by exploiting the backhaul links among BSs. Specifically, some BSs with better channel conditions are selected to decode the UAV's signals first, and then forward the decoded signals to their backhaul-connected BSs for IC. To investigate the optimal design of cooperative NOMA, we maximize the weighted sum-rate of the UAV and ground users by jointly optimizing the UAV's rate and power allocations over multiple resource blocks. However, this problem is hard to be solved optimally. To obtain useful insights, we first consider two special cases with egoistic and altruistic transmission strategies of the UAV, respectively, and solve their corresponding problems optimally. Next, we consider the general case and propose an efficient suboptimal solution via the alternating optimization. Numerical results show that the proposed cooperative NOMA yields significant throughput gains than the OMA and the non-cooperative NOMA benchmark.


          Robust Resource Allocation for UAV Systems with UAV Jittering and User Location Uncertainty. (arXiv:1809.03706v1 [cs.IT])      Cache   Translate Page      

Authors: Dongfang Xu, Yan Sun, Derrick Wing Kwan Ng, Robert Schober

In this paper, we investigate resource allocation algorithm design for multiuser unmanned aerial vehicle (UAV) communication systems in the presence of UAV jittering and user location uncertainty. In particular, we jointly optimize the two-dimensional position and the downlink beamformer of a fixed-altitude UAV for minimization of the total UAV transmit power. The problem formulation takes into account the quality-of-service requirements of the users, the imperfect knowledge of the antenna array response (AAR) caused by UAV jittering, and the user location uncertainty. Despite the non-convexity of the resulting problem, we solve the problem optimally employing a series of transformations and semidefinite programming relaxation. Our simulation results reveal the dramatic power savings enabled by the proposed robust scheme compared to two baseline schemes. Besides, the robustness of the proposed scheme with respect to imperfect AAR knowledge and user location uncertainty at the UAV is also confirmed.


          Geometric Surface-Based Tracking Control of a Quadrotor UAV under Actuator Constraints. (arXiv:1809.03898v1 [math.OC])      Cache   Translate Page      

Authors: Michalis Ramp, Evangelos Papadopoulos

This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the nonlinear configuration manifold thus inherently including in the control design the nonlinear characteristics of the SE(3) configuration space. In particular geometric surface-based controllers are developed, and through rigorous stability proofs they are shown to have desirable closed loop properties that are almost global. A region of attraction, independent of the position error, is produced and its effects are analyzed. A strategy allowing the quadrotor to achieve precise attitude tracking while simultaneously following a desired position command and complying to actuator constraints in a computationally inexpensive manner is derived. This important contribution differentiates this work from existing Geometric Nonlinear Control System solutions (GNCSs) since the commanded thrusts can be realized by the majority of quadrotors produced by the industry. The new features of the proposed GNCSs are illustrated by numerical simulations of aggressive maneuvers and a comparison with a GNCSs from the bibliography.


          Gli Usa vogliono vendere più droni Cambiano le regole (a rischio di tutti)      Cache   Translate Page      

Il governo degli Stati Uniti sta lavorando ad alcune modifiche da applicare agli accordi internazionali sulle armi per cambiare la “classificazione” dei droni militari e per facilitarne la vendita all’estero. Ma la spinta potrebbe rivelarsi insidiosa. Classificare differentemente un sistema d’arma sofisticato e richiesto come gli Uav – Unmanned Aerial Vehicle – nel conteso dell’accordo internazionale […]

L'articolo Gli Usa vogliono vendere più droni
Cambiano le regole (a rischio di tutti)
proviene da Gli occhi della guerra.


          UAV Navigation Integrates FCS in Record Time      Cache   Translate Page      

UAV Navigation has just released a case study demonstrating its ability to is able to deliver a cutting-edge Flight Control Solution (FCS) in the shortest period of time. Elytron Aeronautica, one of the company’s most recent customers, purchased a full FCS and has experienced the quality of UAV Navigation’s integration and adaptation process on its […]

The post UAV Navigation Integrates FCS in Record Time appeared first on UAS VISION.


          Graphics and Sensor Software Engineer      Cache   Translate Page      
TX-Arlington, Acara Solutions is looking for Graphics and Sensor Software Engineer for our client located Arlington, TX The primary responsibility of this position is supporting the SimuView™ image generator product. Job duties include product deployment, integration and support into a multitude of fast jet, helicopter, and UAV applications. The position is focused on new product feature design and development
          Οι πρώτες εικόνες από το σημείο της πτώσης του UAV του Στρατού Ξηράς      Cache   Translate Page      

Συναγερμός σήμανε νωρίς το πρωί στο Γενικό Επιτελείο Στρατού, καθώς κατέπεσε Μη Επανδρωμένο Αερόχημα (UAV) τύπου Sagem Sperwer στην περιοχή της Κομοτηνής και συγκεκριμένα σε αγροτική έκταση λίγο πριν τον οικισμό των Ασωμάτων. Από την πρώτη στιγμή υπήρξε κινητοποίηση από στρατό, πυροσβεστική και αστυνομία υπό τον συντονισμό του στρατού. Σύμφωνα με πληροφορίες του OnAlert.gr, το […]

The post Οι πρώτες εικόνες από το σημείο της πτώσης του UAV του Στρατού Ξηράς appeared first on Paraskhnio.gr.


          ARCHITECTURE EXHIBITION: PLACE, CULTURE, TIME - DESIGN IN DRASTICALLY CHANGING CHINA, thru Oct 21      Cache   Translate Page      
ON VIEW

August 29-October 21

Free and open to all!

LECTURE

Wednesday, August 29 at 6:30pm in the Wurster Auditorium
The talk will also be live streamed in 106 Wurster.


FORUM & PANEL DISCUSSION

Thursday, August 30 from 9:00am-12:00pm and 2:00-5:00pm in the Great Hall at the Bancroft Hotel (2680 Bancroft Way, across the street from Wurster Hall)

OPENING CEREMONY

Thursday, August 30 from 1:00-1:30pm on the Wurster Plaza

EXHIBITION TOUR

Thursday, August 30 from 1:30-2:00pm in the Environmental Design Library

LOCATION & HOURS

Environmental Design Library (210 Wurster Hall) campus map
Mondays-Thursdays 9am-10pm, Fridays 9am-5pm, Saturdays 11am-5pm, Sundays 11am-10pm
Closed September 3 (Labor Day)

PLACE, CULTURE, TIME—DESIGN IN DRASTICALLY CHANGING CHINA

Architecture is a microcosm of the times. In the past three decades when China experienced massive urbanization, the architectural market also developed from scratch, then grew and expanded explosively. He Jingtang, who has been leading his team practicing the architectural design in the market from the very beginning of the urbanization movement, witnessed the drastic changes in China over the past three decades, and every architecture they create reflects profound thoughts on place, culture and time. This exhibition presents his architectural philosophy and works in the past decades, which, despite of the variation of places and custom, keeps abreast with the time and provokes thoughts on future urban development.

Since its inauguration in IUAV University Venice in October 2016, the exhibition has toured around China and been on display at some of the most prestigious Chinese universities, including Tongji University, Peking University, Harbin Institute of Technology and Southwest Jiaotong University. Now at the invitation of UC Berkeley, the exhibition aims to bridge over the east and west and promote dialogue and communication between the two countries.

The exhibition presents the enriched contents of different architectural typologies including museum, memorial hall, university campus and old town renewal, as well as the remarkable professional practices of He Jingtangand his team on the vast land of China. With models, images, videos and texts, the exhibition elaborates the creative thinking of He Jingtang and his team on different geographical contexts, cultural features and historical background. It also showcases, from the perspectives of theory, team building and educational concept, lessons and experiences drawn from the team’s years of practice, research and education on specific design projects.

ABOUT HE JINGTANG

Professor He Jingtang has put forward the “2 Views” (the whole view and the sustainable development view) and “3 characters” (local character, cultural character and epochal character) on architecture philosophy and innovative thought, which are represented in many architectural works. He has been in charge of more than 100 important projects of architecture engineering design which earned him more than 40 excellent design awards from the state, department and province, including 1 golden medal, 2 silver medals, 2 copper medals, 13 first prizes, and 14 second prizes. His masterpieces include Mausoleum of the Nanyue King of the Western Han Dynasty, Metropolitan Square, China Mayors Plaza, SCUT Shaw Building of Humanities, the Sea Battle Museum of the Opium War Museum, Shenzhen Building of Science, Foshan Electric Power Mansion, the main building of the new campus of Zhejiang University, Nanhai College of South China Normal University, Chongqing University, Jiangnan University, Guangzhou Higher Education Mega Center, Beijing Olympic Badminton and Wrestling Gymnasium, 9.18 Memorial, and more.


Academicians of Chinese Academy of Engineering
Dean of College of Architecture, South China University of Technology
President of Architectural Design & Research Institute South China University of Technology
National Engineering Survey and Design Master of China
Vice President of the Architectural Society of China
Co-Chair of the CTBUH
Chief Architect of the China Pavilion, 2010 Shanghai Expo


THIS EXHIBITION IS SPONSORED BY CHOI KINCHUNG.

SPECIAL THANKS TO PROFESSOR HUANG AND HOU XIAO FOR THE EXHIBITION DESIGN, AS WELL AS ENVIRONMENTAL DESIGN LIBRARY AND ARCHIVES HOSTS DAVID EIFLER AND CHRIS MARINO. THANKS ALSO TO ARCHITECTURE FACULTY HOSTS MARK ANDERSON, PETER BOSSELMANN, TOM BURESH, MARCO CENZATTI, RENEE CHOW AND MARGARET CRAWFORD.



IMAGE: DA CHANG MUSLIM CULTURAL CENTER | DACHANG COUNTY, HEBEI PROVINCE, CHINA





IMAGE: THREE ANCESTORS CULTURAL MUSEUM | Huangdi City, Zhuolu County, Hebei Province, CHINA





IMAGE: HE JINGTANG STUDIO | Guangzhou, Guangdong Province, CHINA





IMAGE: MEMORIAL HALL OF THE VICTIMS IN NANJING MASSACRE | NANJING, JIANGSU PROVINCE, CHINA





IMAGE: CHINA PAVILION, EXPO 2010 | SHANGHAI, CHINA


          Συναγερμός στο ΓΕΣ: 'Επεσε μη επανδρωμένο αερόχημα (UAV) στην Κομοτηνή      Cache   Translate Page      
Συναγερμός σήμανε πριν από λίγο στο Γενικό Επιτελείο Στρατού, καθώς κατέπεσε Μη Επανδρωμένο Αερόχημα (UAV) τύπου Sagem Sperwer στην περιοχή της Κομοτηνής. Οι πρώτες πληροφορίες από αξιόπιστες στρατιωτικές πηγές αναφέρουν ότι το UAV έπεσε μακριά από κατοικημένες περιοχές. Οι ίδιες πηγές κάνουν λόγο πως η πτώ...
          Έπεσε μη επανδρωμένο αεροσκάφος του Στρατού στην Κομοτηνή – Αποκλείστηκε η περιοχή      Cache   Translate Page      

Οι πρώτες πληροφορίες από αξιόπιστες στρατιωτικές πηγές αναφέρουν ότι το UAV έπεσε μακριά από κατοικημένες περιοχές. Οι ίδιες πηγές κάνουν λόγο πως η πτώση του UAV οφείλεται πιθανότατα σε μηχανική βλάβη. Σύμφωνα με πληροφορίες του OnAlert.gr, το UAV Sagem Sperwer απογειώθηκε νωρίς το πρωί από την βάση της Κομοτηνής προκειμένου να πραγματοποιήσει εκπαιδευτική πτήση και […]

The post Έπεσε μη επανδρωμένο αεροσκάφος του Στρατού στην Κομοτηνή – Αποκλείστηκε η περιοχή appeared first on FNews.


          Μη επανδρωμένο αεροσκάφος του στρατού συνετρίβη στην Κομοτηνή      Cache   Translate Page      

Η πτώση του αποδίδεται σε μηχανική βλάβη

Περίπου στις 9 το πρωί συνετρίβη ένα μη επανδρωμένο αεροσκάφος του στρατού.

Το UAV που ανήκε στο τάγμα επιτήρησης Κομοτηνής είχε απογειωθεί στις 08:55.

Περίπου πέντε λεπτά αργότερα κατέπεσε και συνετρίβη σε μη κατοικημένη περιοχή στην πεδιάδα της Κομοτηνής.

Η πτώση του στρατιωτικού UAV αποδίδεται σε μηχανική βλάβη.
protothema.gr / xronos.gr
          UAV Technology Conference      Cache   Translate Page      
Following last years' successes, our third annual UAV Technology conference returns to Prague this September. Download Conference Agenda | Register to attend this Conference UAVs now more than ever play a pivotal role as a tactical and operational tool for the Armed Forces. Our UAV Technology conference will aim to examine and bring solutions to this specific piece of equipment and how to better utilise it during missions. Moreover, we will bring together a community of experts, friends
          A Mechanism for Recognizing and Suppressing the Emergent Behavior of UAV Swarm      Cache   Translate Page      
Similar to social animals in nature, UAV swarm is also a complex system that can produce emergent behavior. The emergent behavior of UAV swarm in specific airspace is undoubtedly the act that the defense side does not expect to see; therefore, recognition and suppression of the emergent behavior of UAVs swarm are needed. Based on the analysis of the UAV swarm emergent behavior mechanism, by adopting -divergence method, UAV swarm emergent behavior was quantified, and a rapid recognition mechanism of emergent behavior has been established, thus, making preparation for the suppression of the emergent behavior. In the academic circle, for the first time, in accordance with heuristic rules governing the algorithms of UAV swarm suppression, principle of emergent behavior suppression has been proposed, failure judgment model of UAV swarm control under interference conditions has been constructed, the stability of UAV swarm has been analyzed, and the combat command process of UAV swarm based on OODA loop has been put forward. Through the simulation, the comparison of information entropy and -divergence based emergence measurement method has been made, and -divergence based method has some advantages for measuring the emergence of UAV swarm. From the analysis and discussion of the inhibitory effect on swarm flocking behavior under different interference intensity and timing, conclusion has been drawn that comprehensive suppression on the premise of correct recognition of flocking behavior is the best strategy fighting against UAV swarm emergent behavior.
          Greek Military Drone Crashes Near Northern City of Komotini - Army      Cache   Translate Page      
A SAGEM Sperwer reconnaissance UAV crashed on Thursday not far from the airport in the city of Komotini in the north-eastern part of Greece, the Hellenic Army's General Headquarters said.
          Microdrones propose une inscription GRATUITE aux ateliers du salon Commercial UAV Expo of America, d'une valeur initiale de 150 $      Cache   Translate Page      
Cette année, Microdrones sera un intervenant principal du salon Commercial UAV Expo of America, et proposera une série d'ateliers sur les drones lors du salon ainsi qu'un symposium technique approfondi après celui-ci. Le Dr Mohamed Mostafa, directeur...
          Η ανακοίνωση του ΓΕΣ για την πτώση του μη επανδρωμένου αεροσκάφους στη Ροδόπη      Cache   Translate Page      
Το ΓΕΣ σε ανακοίνωσή του για το uav Sperwer κάνει λόγο για “βαριά προσγείωση”. Οι πυροσβέστες που έφθασαν πρώτοι στην περιοχή μιλούν για πτώση. Ότι κι αν έχει συμβεί το σίγουρο είναι πως τα συγκεκριμένα uav’s έχουν προ πολλού ξεπεραστεί. Από το Γενικό Επιτελείο Στρατού ανακοινώνεται ότι, την Πέμπτη 13 Σεπτεμβρίου 2018 και περί ώρα […]
          ΓΕΣ: Τι συνέβη με το UAV SPERWER που έπεσε στην Κομοτηνή      Cache   Translate Page      
Διενεργείται έρευνα για το περιστατικό.
          Συναγερμός στο ΓΕΣ: Οι πρώτες εικόνες από το σημείο της συντριβής του UAV του ΣΞ      Cache   Translate Page      
Δείτε τις πρώτες εικόνες από την περιοχή του συμβάντος.
          Συναγερμός στο ΓΕΣ: Πτώση UAV του Στρατού Ξηράς στην Κομοτηνή      Cache   Translate Page      
Τι λένε οι πρώτες πληροφορίες.
          Μη επανδρωμένο αεροσκάφος του στρατού συνετρίβη στην Κομοτηνή      Cache   Translate Page      

Περίπου στις 9 το πρωί συνετρίβη ένα μη επανδρωμένο αεροσκάφος του στρατού. Το UAV που ανήκε στο τάγμα επιτήρησης Κομοτηνής είχε απογειωθεί στις 08:55. Περίπου πέντε λεπτά αργότερα κατέπεσε και συνετρίβη σε μη κατοικημένη περιοχή στην πεδιάδα της Κομοτηνής. Η πτώση του στρατιωτικού UAV αποδίδεται σε μηχανική βλάβη. protothema.gr

The post Μη επανδρωμένο αεροσκάφος του στρατού συνετρίβη στην Κομοτηνή appeared first on fonien.gr.


          15W UAV Operator      Cache   Translate Page      
GA-SAVANNAH, 15W UAV Operator Job Description Unmanned Aerial Vehicle (UAV) Operators give the Army National Guard the bird’s eye view necessary to maintain our tactical superiority in the field. And to think, you’ve probably been training for it since you were a kid! UAV Operators use unmanned remote-control observation aircraft outfitted with the equipment needed to observe the enemy. In this role, you will
          15W UAV Operator      Cache   Translate Page      
IA-JOHNSTON, 15W UAV Operator Job Description Unmanned Aerial Vehicle (UAV) Operators give the Army National Guard the bird’s eye view necessary to maintain our tactical superiority in the field. And to think, you’ve probably been training for it since you were a kid! UAV Operators use unmanned remote-control observation aircraft outfitted with the equipment needed to observe the enemy. In this role, you will
          15W UAV Operator      Cache   Translate Page      
GA-SAVANNAH, 15W UAV Operator Job Description Unmanned Aerial Vehicle (UAV) Operators give the Army National Guard the bird’s eye view necessary to maintain our tactical superiority in the field. And to think, you’ve probably been training for it since you were a kid! UAV Operators use unmanned remote-control observation aircraft outfitted with the equipment needed to observe the enemy. In this role, you will
          Multi range Real-time depth inference from a monocular stabilized footage using a Fully Convolutional Neural Network. (arXiv:1809.04467v1 [cs.CV])      Cache   Translate Page      

Authors: Clément Pinard, Laure Chevalley, Antoine Manzanera, David Filliat

Using a neural network architecture for depth map inference from monocular stabilized videos with application to UAV videos in rigid scenes, we propose a multi-range architecture for unconstrained UAV flight, leveraging flight data from sensors to make accurate depth maps for uncluttered outdoor environment. We try our algorithm on both synthetic scenes and real UAV flight data. Quantitative results are given for synthetic scenes with a slightly noisy orientation, and show that our multi-range architecture improves depth inference. Along with this article is a video that present our results more thoroughly.


          Learning structure-from-motionfrom motion. (arXiv:1809.04471v1 [cs.CV])      Cache   Translate Page      

Authors: Clément Pinard, Laure Chevalley, Antoine Manzanera, David Filliat

This work is based on a questioning of the quality metrics used by deep neural networks performing depth prediction from a single image, and then of the usability of recently published works on unsupervised learning of depth from videos. To overcome their limitations, we propose to learn in the same unsupervised manner a depth map inference system from monocular videos that takes a pair of images as input. This algorithm actually learns structure-from-motion from motion, and not only structure from context appearance. The scale factor issue is explicitly treated, and the absolute depth map can be estimated from camera displacement magnitude, which can be easily measured from cheap external sensors. Our solution is also much more robust with respect to domain variation and adaptation via fine tuning, because it does not rely entirely in depth from context. Two use cases are considered, unstabilized moving camera videos, and stabilized ones. This choice is motivated by the UAV (for Unmanned Aerial Vehicle) use case that generally provides reliable orientation measurement. We provide a set of experiments showing that, used in real conditions where only speed can be known, our network outperforms competitors for most depth quality measures. Results are given on the well known KITTI dataset, which provides robust stabilization for our second use case, but also contains moving scenes which are very typical of the in-car road context. We then present results on a synthetic dataset that we believe to be more representative of typical UAV scenes. Lastly, we present two domain adaptation use cases showing superior robustness of our method compared to single view depth algorithms, which indicates that it is better suited for highly variable visual contexts.


          15W UAV Operator      Cache   Translate Page      
MD-LEXINGTON PARK, 15W UAV Operator Job Description Unmanned Aerial Vehicle (UAV) Operators give the Army National Guard the bird’s eye view necessary to maintain our tactical superiority in the field. And to think, you’ve probably been training for it since you were a kid! UAV Operators use unmanned remote-control observation aircraft outfitted with the equipment needed to observe the enemy. In this role, you will
          Dev Call Sept 10, 2018 2300 UTC      Cache   Translate Page      

Attendee count (max): 21

UTC2300 - https://github.com/ArduPilot/ardupilot/pull/9339

  • Merged
  • We will no longer knock back consts on pass-by-value
    • Despite extra syntactic noise
  • We do not require consts - but they’re not discouraged

UTC2303 - add cruise-trim-throttle

UTC2307 - https://github.com/ArduPilot/ardupilot/pull/8814

  • Vesca protocol
  • Some previous discussion on how this should be done
  • Developer not on call
  • Tridge added comment

UTC2311 - interdone

  • Very good attendance around booth
  • After-hours wasn’t well attended
    • Not sure what the problem was
    • Overlap?
    • We get a big room because it’s usually packed…
    • Was someone else offering free food?
    • Maybe next year we offer free pizza?
  • Jeff also attended ID and astm meetings and utm meetings
    • Tom and Jeff spent Thursday running through all of these meetings
    • Lots of protocol details
    • Bouncing back and forwards between technical and high-level items
    • Intel, amazon, google whitefox ardupilot, faa, research orgs, …
    • Specific formatting of data items
      • Uncorrected pressure or density altitude etc etc
      • Faa guys want integration with TCAS (uncorrected alt)
    • Long, brutal days
    • Intel’s POC implementation seems to be doing its job highlighting issues
      • Bluetooth was 400m, bluetooth 5 should be >1km
      • Spec is in flux
      • Protocol should be medium-agnostic
      • Trying to future-proof it
    • Signing support
      • public/private key setup?
      • Can-o-worms
      • If you do this badly people will go out of their way to break your system
        • Better off not doing it if you’re not doing it properly/securely
      • ADSB isn’t signed
        • The penalties for faking it would be extreme
      • “License plates” for drones
        • It already has an ID field
      • Where does the private key go?
      • Key-per-vehicle?
      • Use unique-id on processor?
      • Bolt-on-support?
      • Not much concern about hobby/diy crowd
        • Or thinking they’d get a module from an approved vendor
      • Some sort of booking system for people to say where they’ll be flying if they don’t have a device?!

UTC2325 - Plane update with tridge

  • 3.9.2 betas starting soon
    • Fix to dead reckoning in case of loss of GPS
      • Tested on real aircraft, working very well
    • Quadplane takeoff
      • Bug in Copter’s attitude controller
      • Caused CanberraUAV some grief
        • Battery fade
        • High fuel level
        • Yaw issues
          • MdB - Looking at Leonard’s patches?
            • Including a transition issue
          • We are looking at others of Leonard’s patches
          • https://github.com/ArduPilot/ardupilot/pull/7493/files
            • Probably should base it on the spin status of the props
              • E.g. shutdown and spin-armed
            • “Wing twist and oscillation”
            • “inverting”
      • Probably affects ordinary multicopters
        • I.e. Copter 3.6
        • But only affects underpowered vehicles
      • If aircraft doesn’t make progress on takeoff then it may start drifting horizontally, and if it drifts for 15 seconds it will go crazy and roll/pitch corrections get applied too fast
    • Tracking issue related to crash detection code
      • Want Tom’s input on this one

UTC2336 - Randy and Copter

  • 3.6rc9 went out on Saturday
  • Probably an rc10 before release
  • Rob: Failsafe events / parsing the data?
    • entering/exitting s.bus frsky receiver s.bus outputs 874 bug
    • Debouncing stuff has gone in
    • On rob’s 3.5 branch where Rob’s fix wasn’t inplemented
    • Channel-8 motor interlock
    • Nate also saw this yesterday
    • One-off glitches are hanled with debouncing (one or two bad frames)
      • Have to debounce all switch activities
        • Including interlock
        • Should be fixed in 3.6
    • When frsky receivers go out of range and they’re set to no-pulses they usually send no pulses
      • Sometimes they send some garbage instead
      • Nate saw most channels go out of range
        • Except channel 5
      • The NuttX implementation doesn’t check parity bits on s.bus
        • Signature byte helps
        • Every byte has a parity bit
          • NuttX doesn’t check this
        • NuttX doesn’t understand parity bits on uarts
      • ChibiOS does check parity bits on the aux ports
        • But not on the IO firmware
        • Sid’s IO firmware will add checking for parity-checking serial streams
    • https://github.com/ardupilot/ardupilot/blob/master/ArduCopter/heli.cpp#L143
    • Set-range, set-angle - maybe a set-switch?
      • Which adds debouncing
      • Would like to handle flaps as part of same thing
  • 3.6 needs to fix the 874 bug
    • Not all channels exit this failsafe state at same time
    • increase debounce time?
    • 8 data log messages
    • 2 or 4 frames make sense to tridge - but 8?
    • Spektrum send higher channels less frequently
      • To fit more stuff into bandwidth
  • https://drive.google.com/file/d/0BzWH4Q7IAU5YeVN0SG1xVEdlVWs/view
  • Need to get this sorted
  • S.bus decoder gets magic values for 874?
    • This probably translates to an in-air value of 0xff or something
      • There’s multipliers/shifts/additions to translate on-air to ranges
  • Exact value could be dependant on s.bus decoder implementation
  • Test it rapidly by turning internal transmission circuit on/off rapidly in transmitter
  • https://github.com/R-Lefebvre/ardupilot/commit/edb6ef1c9aa3bf28526c186afc950d900a47a272 (Rob’s patch)
  • Tridge is on the OBC prep ATM
  • Started to push some things back for point releases
  • [10:10 AM] (Channel) AndrewTridgell: 874 == SBUS 0
  • [10:11 AM] To Weekly devcall: Nice!
  • Rob to raise an issue

UTC0006 - Randy and Rover

  • Planning on getting sailboat support in before 3.5 betas
  • https://www.youtube.com/watch?v=NCUF66rQXFg
  • non-GPS navigation is coming along
    • Working on Cartographer
    • Passing 360-Lidar through ROS down into AP
  • Simple mode has been merged



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