Georacer
March 12, 2025, 8:50am
1
Attendees (max) : 10
ArduPilot:master ← peterbarker:pr/ramtron-no-ownptr
opened 07:54AM - 11 Mar 25 UTC
```
Board,plane
CubeOrange,-144
```
... parameters are still persisted on … CubeOrange
Merged!
ArduPilot:master ← tridge:pr-quadplane-inverted-recovery
opened 05:32AM - 11 Mar 25 UTC
This is a rework of #28320 which uses the fixed wing attitude controller for rec… overy instead of modifying the VTOL controller. This gives much faster attitude recovery and also avoids an issue with the way the quaternion controller may try to pitch down while inverted, leading to a large amount of altitude loss
This approach builds on the way we already use the fixed wing controller during forward transitions, so it is very little code change, and testing shows it produces a very small amount of altitude loss (eg. in the autotest the alt loss is usually around 2m from fully inverted)
Andrew : It’s better to always keep the nose high and not allow pitch to go low. VTOL will sometimes think it’s faster to go through a pitch down trajectory.Matt : There was a case where it was stuck in an FW spin; the VTOL controller would be helpful there.A : You still can! What we do is use the FW angle controller with the VTOL rate controller.Peter : There are still some open comments.
ArduPilot:master ← Libra-Foxtech:patch-1
opened 01:27AM - 11 Mar 25 UTC
There is a problem in the checksum, change it to 8 bytes and 0
A : The PR looks like a different algorithm. But it’s possible that I hadn’t tested the outgoing direction.P : There seem some syntax errors in the checksum algorithm.A : MergedOnCIPass
ArduPilot:master ← IamPete1:motor_test_fixups
opened 08:26PM - 10 Mar 25 UTC
Currently motor test by passes E-Stop. Copter will refuse to start a test if E-S… top is high but changing E-Stop state during a test will have no affect. Plane just ignores E-Stop.
Motors does stop outputting the test sequence once E-Stop goes high, but because it did not then output 0 throttle the last values were still getting sent to the motors. The fix is to output min if motors are not armed or the interlock is not set (this comes from E-Stop). That change means that the motor do stop if E-Stop is hit during a test.
Now motors do stop it is possible to have a ongoing motor test without noticing, so the `output_test_seq` method now returns false if it could not output that ends the motor test and sends "Motor Test: cancelled" message.
Plane currently will not accept any motor test commands if the motors are armed, which they are during a motor test. This means that the "test all" and excitingly the "stop all" buttons in mission planner don't work. The fix is to allow new command if a existing motor test is ongoing, this is inline with copter.
Copter has lots of checks it runs before allowing motor test, it would be nice to bring those over to plane at some point.
M : On Plane “Test all motors” doesn’t work. The first motor spins and the rest don’t.A : But I tested that a few days ago.M : What doesn’t work, is testing all motors simultaneously. Mission Planner doesn’t issue a command for all motors. It sends 4 sequential commands of 1 motor, which gets rejected. But also we can’t issue a “stop motors” command while the test is ongoing.A : Merged!
ArduPilot:master ← IamPete1:virtual_UART_dataRates
opened 10:08AM - 10 Mar 25 UTC
Builds on https://github.com/ArduPilot/ardupilot/pull/29473 to allow logging of … the data rates of virtual serial ports. https://github.com/ArduPilot/WebTools/pull/238 Adds support to the HardwareReport WebTool. That results in plots like this:
A : Merged!
ArduPilot:master ← peterbarker:pr/PCA9685-ownptr
opened 04:47AM - 08 Mar 25 UTC
Tested on navigator
also moved the frequency initial value into the header
A : Merged!
ArduPilot:master ← peterbarker:pr/location-construction-fix
opened 05:10AM - 06 Mar 25 UTC
gets us closer to making alt private
A : Merged!
ArduPilot:master ← peterbarker:pr/tridge-nullptr
opened 07:49AM - 05 Mar 25 UTC
gives a crash dump for easier analysis. Don't enable on production aircraft
c… herry-picked from https://github.com/ArduPilot/ardupilot/pull/29409
A : Looks good, but needs to be tested in other boards (F4, F7, etc).
ArduPilot:master ← tridge:pr-ekf3-health-vel-innovation
opened 12:47AM - 05 Mar 25 UTC
if using GPS and our horizontal velocity innovation is high then mark the filter… as unhealthy, which causes an arming failure
this helps with #29384
A : Needs Randy’s review.
ArduPilot:master ← peterbarker:pr/tridge-nullptr
opened 07:49AM - 05 Mar 25 UTC
gives a crash dump for easier analysis. Don't enable on production aircraft
c… herry-picked from https://github.com/ArduPilot/ardupilot/pull/29409
Merged!
ArduPilot:master ← andyp1per:pr-baro-mot-comp
opened 08:31PM - 01 Jan 25 UTC
This allows a user to apply a linear pressure compensation to a baro based on th… rust output. On a small whoop there is a very causal relationship between pressure and throttle:
By applying this offset the effect can be normalized:
Set by using ```BAROx_THST_SCALE"
Merged!
ArduPilot:master ← cvetaevvitaliy:stellar-h7v2
opened 05:26PM - 21 Dec 24 UTC
Merged!
ArduPilot:master ← andyp1per:pr-fence-warn-margin
opened 09:43AM - 11 Dec 24 UTC
This PR allows you to get a repeated warning when flying outside FENCE_MARGIN bu… t inside the fence itself. Can be enabled by setting FENCE_OPTIONS=4. Multiple people have requested this because they are required to have a hard fence with failsafe action for regulatory reasons but want to know when they are close so they can avoid the action (typically when flying manually)
Some changes requested and questions raised.
ArduPilot:master ← bugobliterator:pr-sched-rate-prearm-check
opened 12:22AM - 19 Nov 24 UTC
This PR adds a prearm check that ensures that we are reading gyro data atleast a… s fast as we are running our main loop, where all controllers run at. We do this for all the INS sensors that are enabled.
This avoids a situation where user might have set SCHED LOOP RATE faster than gyro poll rate or primary gyro with appropriate backend rate but forgot to do so for the rest.
Tested on a Pixhawk1 live.