Release update
Issues & Pull Requests
Attendee count (max): 16
UTC1100 - vehicle updates
- Several Plane PRs have gone in
- Pitch level-off at take-off PR is under review
- Needs to target master
- Pitch level-off at take-off PR is under review
- Report that secure bootloader doesn’t work?
- Leonard followed instructions on the Wiki and it worked well
- 4.5.x ‘though
- First set of instructions didn’t work
- Perhaps monocypher version?
- Randy will continue
- Probably an individual user issue
- M10 issue
- Maybe make a LUA script to do the cold reset
- No blockers for another beta release?
- Reports of extreme servo movements on soft reboot
- Cut pulses?
- Peter also sees it on vehicle startup, before ArduPilot is running
- Possibly need to pin pins in the bootloader too?
- Several important fixes have gone in the last week which would be good to get out in a new beta
- New beta tomorrow maybe?
UTC1120 - Remove Python2 support; inline typing markup into templates by peterbarker · Pull Request #1025 · ArduPilot/pymavlink · GitHub
- Inline typing markup into templates
- Drop support for Python2
- A little more testing but can then be merged
UTC1130 - pymavlink: update to master by peterbarker · Pull Request #394 · ArduPilot/mavlink · GitHub
- Update to master pymavlink / 22.04 in github workflows
- merged
UTC1132 - AP_Follow: change to using position-from-origin internally by peterbarker · Pull Request #27250 · ArduPilot/ardupilot · GitHub
- Move to using position-from-origin in follow
- Needs another little test in quadplane
- Use tofloat and todouble
- Can be merged after this little stuff has been done
UTC1146 - DroneCAN: support sending/receiving DroneCAN messages in lua by tridge · Pull Request #29310 · ArduPilot/ardupilot · GitHub
- Support sending/receiving DroneCAN messages
- Needs a libcanard PR to go in
- Want Thomas to have a look at the libcanard
- PH is happy with this
- A few little things PH found
- Actually saves some flash in libcanard
- Need Thomas or SId to review…
- Some discussion around proper cleanup of userdata objects
- Tridge will ping PH for another review
UTC1148 - AP_NavEKF3: Use the correct extnav variances for posvel fusion by rishabsingh3003 · Pull Request #29420 · ArduPilot/ardupilot · GitHub
- Use correct extnav variances for posvel fusion
- PR approved and tested by user in Japan
- Split out a contentious part
- This should be fairly well-tested
- Merged!
UTC1159 - AP_Baro: Add support for AUAV airspeed sensor absolute channel by IamPete1 · Pull Request #29535 · ArduPilot/ardupilot · GitHub
- Support for AUAV airspeed’s absolute pressure
- Shared backend class
- Talk-to-sensor class
- baro inheriting from airspeed is a bit strange
- Tridge actually stripped the absolute stuff out before merging AUAV
- Why not a completely separate baro driver?
- Code is almost identical
- We could have an AP_AirPressureSensor library
- We decided the slightly weird structure was fine
UTC0011 - AP_NavEKF3: Manual Lane switching by rishabsingh3003 · Pull Request #29623 · ArduPilot/ardupilot · GitHub
- Manual lane switching in EKF3
- A switch gives you the different lanes
- Able to check your tune on each of your three lanes!
- Eg. different vibration
- We need better feedback on what the cores are doing
- Autoswitch still works…
- Some naming comments from Randy
- Lane or core?
- lane
UTC0013 - AP_LandingGear: stop dup retract messages, clean up code by Hwurzburg · Pull Request #29676 · ArduPilot/ardupilot · GitHub
- Stop dup retract messages
- Merged!
UTC0019 - ArduPlane: fix quadplane stopping speed equation by eppravitra · Pull Request #29712 · ArduPilot/ardupilot · GitHub
- Fix quadplane stopping speed equation
- Mismatch between the comment and the code
- This will result in a higher stopping speed
- This may cause things to over-shoot?
- Position1 controller only exists because the normal controller doesn’t work well at 100km/h
- Used to slow down until the normal velocity controller can take over
- This will try to stop faster than it can in this phase
- This should cause the vehicle to slow down sooner
- Slower all the way in
- Should no longer have a glitch at cross-over either
- Q_TRANS_DECEL is flawed
- It’s saying decel is constant
- momentum-drag/fuse-drag / whatever
- Your decel really varies over time
- Check the x-axis accel!
- Should have checked with Leonard or Paul or Pete before doing Q_TRANS_DECEL
- Building on top of a rubbish assumption
- Don’t want to stop too short or you can end up with throttle surging
- Test in RealFLight then on real vehicle
- Double-the-waypoint code?
- There’s also some awful couple between waypoint speed and this code
- 2 times waypoint speed used as an envelope
- Tridge would like some help on “target_speed = MIN(MAX(poscontrol.pos1_speed_limit, 2*wp_speed), target_speed);”
- …. It’s silly, makes things speed up sometimes
- Would be nice to just use normal position controller
- So get rid of position1
- Normal velocity controller doesn’t like using very fast things
- Asymmetric speed control
- More forward than backwards required in Plane
- Maybe things have moved forward?
- PH might have a PR
- Q_PSC_BIAS?
- 1 for symmetric
- 2 for twice front/back as left/right
- Elliptical control
- But an offset ellipsis as you do not want to go backwards very much at all
- Needs frame rotation for this
- Characterisation of drag would be nice
UTC0036 - Add rc 2 sub by Hwurzburg · Pull Request #29742 · ArduPilot/ardupilot · GitHub
- RC for sub
- Some issues with hard-coded stuff in Sub
- Maybe default the RC channel 0 for sub
- Groupinfo_frame used?
- copy/paste stuff has been vexing on FRAME
UTC0049 - AP_NavEKF: Allow EK3 cores to run different sources by rishabsingh3003 · Pull Request #29750 · ArduPilot/ardupilot · GitHub
- Allow EK3 cores to run different sources
- An option bit to treat the source sets as the sources for the different lanes
- Some more testing requested
UTC0057 - AP_HAL_ChibiOS: Fix using the incorrect pin after checking the correct pin is defined by joshanne · Pull Request #29789 · ArduPilot/ardupilot · GitHub
- Fix brick2 servo rail check
- Merged!
UTC0106 - Plane: correct checking of mask for changing altitude by peterbarker · Pull Request #29799 · ArduPilot/ardupilot · GitHub
- Correct checking of mask for changing altitude
- Merged!
UTC0107 - AP_Proximity: Add more proximity backends by rishabsingh3003 · Pull Request #29802 · ArduPilot/ardupilot · GitHub
- Add support for more proximity sensors
- Merged
UTC0110 - SITL: Support JSON aero coefficients by Ryanf55 · Pull Request #29809 · ArduPilot/ardupilot · GitHub
- JSON aero coefficients via JSON
- Similar to Copter’s frame types
- Mission feasibility testing
- Few people have used the existing stuff
- Now we can have parameter trees in models maybe we should just make things normal parameters?
- SIM_MC_
- SIM_PLN_
- We can do thrust-per-motor / vector stuff
- Now we can have parameter trees in models maybe we should just make things normal parameters?
- MergeOnCIPass
UTC0118 - hwdef: add flash-from-SD support for MatekH743 by ntamas · Pull Request #29810 · ArduPilot/ardupilot · GitHub
- flash-from-SD support for MatekH743
- Merged!
- We should allow flashing bootloader without embedding it
UTC0131 - Fix and move get_fwd_pitch_is_limited() by lthall · Pull Request #29826 · ArduPilot/ardupilot · GitHub
- Fix and move get_fwd_pitch_limited
- The fwd-pithc-limited-not-unset thing may explain something tridge was chasing…
- MergeOnCIPass
UTC0138 - AP_NavEKF3: check if using GPS before scaling observation noise based… by rishabsingh3003 · Pull Request #29847 · ArduPilot/ardupilot · GitHub
- Check if using GPS before scaling observation noise
- Stop applying the scaler when not using GPS for nav
UTC0142 - Add axis and units to AC_PosControl by lthall · Pull Request #29848 · ArduPilot/ardupilot · GitHub
- Add axis and units to AC_PosControl
- Facilitate moving to metres and other SI units
- “u” vs “up”
- We resolved on NEU and U
- Upper-case
- People are happy with the renames!
- With no compiler output change this is good to go in
UTC0153 - AP_Mount: XFRobot enabled on 2mb boards by rmackay9 · Pull Request #29811 · ArduPilot/ardupilot · GitHub
- Enable XFRobot on 2MB boards
- Merged!
UTC0058 - Tools: XFRobot image and video download script by rmackay9 · Pull Request #29813 · ArduPilot/ardupilot · GitHub
- XFRobot image and video download script
- Thanks to ChatGPT
- Merged!
UTC0059 - AP_Logger: Enable LOG_FILE_DSMROT by default by Ryanf55 · Pull Request #29814 · ArduPilot/ardupilot · GitHub
- Enable LOG_FILE_DSRMROT by default
- Would break people currently running Replay
- Tridge currently likes getting everything in the one log, too
- Using rate-max can also really help leaving log-disarmed set
- You still end up with small logs
- A web tool to split things?
- Should we set LOG_DISARMED when LOG_REPLAY is set
- It’s not completely useless without LOG_DISARMED
- Replay isn’t as useful but you do get all of the raw IMU data etc
UTC0105 - Add airspeed control to AP_DDS for plane in GUIDED by Ryanf55 · Pull Request #29829 · ArduPilot/ardupilot · GitHub
- Airspeed control in AP_DDS
- Peter raised objections to copy/paste of code, would prefer to see function factored
- Will be back!
UTC0115 - Tools: ros2: Add airspeed test with new fixtures for testing plane in ROS 2 CI by Ryanf55 · Pull Request #29832 · ArduPilot/ardupilot · GitHub
- Add test with new fixtures for testing Plane
- Merged!
UTC0118 - Make ArmingChecks enum class AP_Arming::Check by peterbarker · Pull Request #29830 · ArduPilot/ardupilot · GitHub
- Make arming checks enum-class
- Merged!
UTC0119 - Prevent rotation pitch calculations from running post-rotation by Georacer · Pull Request #29834 · ArduPilot/ardupilot · GitHub
- Prevent rotation pitch calculations
- Need to discuss with George
UTC0120 - All vehicles: Fix non fatal rc failsafe bug by Hwurzburg · Pull Request #29846 · ArduPilot/ardupilot · GitHub
- Fix non-fatal RC failsafe bugs
- Second Plane patch is strange