Dev Call Apr 22, 2024

CraigElder · April 22, 2024, 11:16pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

solved the logical error in grouping of escs into 4

ArduPilot:master ← adityaomar3:ap-esc

opened 07:34PM - 30 Sep 23 UTC

adityaomar3

+5 -2

ESC_Telemetry will not send MAVLink MSG_ESC_TELEMETRY_1_TO_4 if ESC_TELEM_MAX_ES…CS (PWM/SERVO) count is <=3 as logic was to keep idx = ESC_TELEM_MAX_ESCS/4 It gives rise to 3 big issues that are :- 1.It will leave some values if ESC_TELEM_MAX_ESCS which are not completely divisible by 4 e.g. 1,2,3,5,6,7,9.... 2. (next_idx + idx) % num_idx it will give error if escs are less than 4 3. for loop will never start if escs count is less than 4 i.e the message inside loop will be skipped even if escs are present. Also if escs are not in multiple of 4 then it will skip 1 iteration Solution in commit: This is rectified by logic to add 1 to num_idx if ESC_TELEM_MAX_ESCS is not multiple of 4.

github.com/ArduPilot/ardupilot

Plane: Quadplane: rework assistance check

ArduPilot:master ← IamPete1:qp_assist_rework

opened 01:06AM - 25 Feb 24 UTC

IamPete1

+300 -169

This reworks the assistance check into a new sub class. There are also a number …of functional changes: - This more carefully resets the assistance state if not in a mode that checks assistance. Currently if you trigger alt assist and enter a VTOL mode and then re-enter FW at a later point while still under the set alt you will get no delay and no second warning message because the `in_alt_assist` and `alt_error_start_ms` are not cleared. - Force flare no longer changes the assist state, instead assist checks for force flare. This means that the state is still where the user left it after the flare is done. - All types of assist are checked at once. Currently we stop checking when the assistance should be triggered. This means in speed assist altitude is not checked. We have a delay for altitude assist and angle, so it is possible to come out of speed assist briefly before starting alt assist. - This adds a clear delay of double the set trigger delay (angle and alt only). This prevents a momentary clearing of the threshold from stopping assistance. We currently have a trigger delay and no clear delay, so if oscillating around the threshold we favor not assisting this change means we favor assisting. This will need a fair bit of testing, so far it has had none. I have opened the PR so we can get consensus on the desired behavior. We might also want to re-work the messages, currently you can get a alt assisting message while still in speed assistance, we might want the messages to behave as before, so as soon as the speed is reached the alt assistance message is given. However it is quite nice to get the message early, it saves attempting the transition only to reach your set speed and find your too low. We might also want to re-issue the angle and alt assistance warnings periodically. A followup PR could move all these functions into a new file, `quadplane.cpp` it is getting big....

github.com/ArduPilot/ardupilot

SITL: add ELRS simulator

ArduPilot:master ← IamPete1:SIM_Radio

opened 02:31AM - 01 Apr 24 UTC

IamPete1

+314 -16

This adds a simulator for a ELRS radio running the mavlink-rc branch. Nothing cl…ever, just a data rate limit and some buffers with reporting via the RADIO_STATUS mavlink message. ~~It creates its own HAL SITL UART driver so all the usual commands for addresses and ports should still work. I have been testing with: `-A --serial2=sim:ELRS:tcp:3` which allows you to connect tcp to 5763 (the same as normal for serial 2).~~ You also have to set the serial baud to 460. Now runs its own little TCP server. The goal is to have a limited data link for testing both AP and GCS. EG (https://github.com/ArduPilot/ardupilot/pull/26098) A real ELRS setup: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/e2aee61c-b889-4201-af25-6e538d0e4d17) This PR: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/3d5fb3c6-95c3-48a4-a106-1dd8a3fe98d4) This also improves the UART data rate limiting by tracking the fractional number of bytes remainder on each call.

github.com/ArduPilot/ardupilot

AP_NavEKF3: don't look at compass learning with GPS yaw

ArduPilot:master ← tridge:pr-ekf3-compass-fallback

opened 05:48AM - 11 Apr 24 UTC

tridge

+48 -42

if using GPS yaw we don't want to do a yaw reset on completion of GPS yaw, so ju…st don't detect compass learning this avoids an issue where COMPASS_LEARN=3 is set in flight with EK3_SRC1_YAW=3 for GPS with compass fallback. That leads to a yaw alignment reset on completion of compass learning which leads the EKK to diverge we really need to better understand the divergence as well Some clues: - when the bug happens we end up with huge compass offsets. The compass_learn=3 system uses GSF, which should be unaffected, so this doesn't make sense UPDATE: reworked by @priseborough

github.com/ArduPilot/ardupilot

AP_Baro: Do not cache EAS2TAS conversions

ArduPilot:master ← WickedShell:wickedshell/recalculate-tecs

opened 01:33AM - 12 Apr 24 UTC

WickedShell

+1 -12

Caching this introduces discontinuities in TECS, as the step change modifies the… target speed demand. The graph of speed demand steps are from EAS2TAS recalculating every 25 meters in the climb, these changes then ripple into the throttle feed forward for throttle as a throttle spike, that makes it all the way out to the motor. ![2024-04-11T18:21:15,050500232-07:00](https://github.com/ArduPilot/ardupilot/assets/567688/b9a4a205-e57c-4a72-8ece-b3601a63e304) My understanding of the reason for this cache is this was very expensive for us back in the APM2 days, but the world has moved on since then and has a lot more processing power available then we used to. We could try to limit this to faster boards, but I think we can probably afford this on all our currently supported boards. (Side benefit, saves memory :) ) Will be test flying this on a backport to 4.4 tomorrow.

github.com/ArduPilot/ardupilot

Plane: Limit possible climb/sink rate in FBWB/CRUISE to TECS limits

ArduPilot:master ← pieniacy:kp/constrain-fbwb-cruise-alt-to-tecs

opened 12:27PM - 20 Apr 24 UTC

pieniacy

+4 -1

A simple constrain to never change target altitude more than configured TECS lim…its, even if `FBWB_CLIMB_RATE` is more than `TECS_SINK_MAX` or `TECS_CLMB_MAX`. Should not change anything for properly configured `FBWB_CLIMB_RATE`. This constrain is asymetrical, meaning climb or sink constrain may happen at different stick deflections if `TECS_SINK_MAX` is different than `TECS_CLMB_MAX`. Tested with SITL with: ``` TECS_SINK_MAX 4 TECS_CLMB_MAX 6 FBWB_CLIMB_RATE 8 ``` Before: ![image](https://github.com/ArduPilot/ardupilot/assets/7950377/2a9fe6b4-76e4-4af1-bfb6-33bcd6d18fa8) After: ![image](https://github.com/ArduPilot/ardupilot/assets/7950377/8f721230-8a74-4a9e-9f33-ad7cc0c3afb7)

github.com/ArduPilot/ardupilot

Copter: fix unconstrained avoidance backup speed

ArduPilot:master ← IamPete1:unconstrained_backup

opened 08:18PM - 20 Apr 24 UTC

IamPete1

+107 -36

This fix is the result of a log where home changed altitude resulting in a huge …breach of the max altitude fence. There was no fence action configured, however avoidance was enabled resulting in the vehicle trying to back away from the max altitude fence at 15 m/s. The configured climb rate limits were +-2.5 m/s. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/a044929a-98fe-4b94-b393-c23dde79de3a) Firstly this fixes the avoidance to constrain the velocity to `AVOID_BACKUP_SPD` parameter. Secondly this constrains Z backup to half the set pos controller speeds. This helps keep the speeds in balance since the the avoid backup speed is probably set with XY speed in mind and could be too large for Z. I have not tested this yet. We might want a minimal fix to just apply the backup speed in avoid for a backport.

github.com/ArduPilot/ardupilot

Copter: guided mode fix for landing detector internal error

ArduPilot:master ← rmackay9:copter-guided-att-interr-fix

opened 05:40AM - 22 Apr 24 UTC

rmackay9

+2 -3

This resolves an Internal Error (see issue https://github.com/ArduPilot/ardupilo…t/issues/26865) which is caused by **Guided** mode neglecting its responsibility to call set_land_complete(false) when it believes the vehicle has taken off. This only occurs when the caller is providing [SET_ATTITUDE_CONTROL messages](https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#set-attitude-target) where the "thrust" field is really interpreted as a thrust (as opposed to being interpreted as a climb rate). This has been tested in SITL to confirm that before this fix the issue occurs and afterwards it does not. The GuideMostThrust autotest (see PR https://github.com/ArduPilot/ardupilot/pull/26782) has also been enabled

github.com/ArduPilot/ardupilot

Move AP_Baro parameters and call-handling to AP_Vehicle

ArduPilot:master ← peterbarker:pr/AP_Baro-up

opened 07:24AM - 22 Apr 24 UTC

peterbarker

+139 -128

Tested the param upgrade code for all the normal 6 vehicles using something like… this: ``` ./Tools/autotest/test_param_upgrade.py --vehicle=arducopter --param "BARO_GND_TEMP=13" --param "BARO1_WCF_ENABLE=17" --param "BARO2_WCF_BCK=19.34" ``` Also tried upgrading from 4.5 using new patches to that script. The calibrate should really go next to the init call (actually, within it!), but if the calibration doesn't succeed and we throw a config error then the vehicle segfaults (this was shown up by the autotest `ConfigErrorLoop` test). So I've left it past the point where we initialise the vehicle hard enough to not segfault. More detail on that segfault: - error-loop allows the user to use mavlink to fix their parameter problems, so it calls update_send (and update_receive) - we've initialised the streams from parameters and files and whatnot, so we're trying to send normal message streams - we try to send nav controller output, but that eventually calls methods on the "wpnav" object (via `mode_auto`) - we have not yet actually allocated the `wpnav` object as that's done in `init_ardupilot` in Copter - recreation on top of this PR is trivial; move the `calibrate` call to be just underneath the `init` call. Possible solutions - don't initialise message streams until later - protect against nullptr in the calls (note there are a lot of things allocated in Copter's `init_ardupilot`, 'though!) - de-initialise message streams in the error loop - create some form of early-init setup function (I don't think this is going to work!) - move baro calibration into a separate thread or be part of normal update (fixes only this specific case)

github.com/ROS-Aerial/community

META - Ecosystem terrain standardization

opened 05:06PM - 21 Apr 24 UTC

Ryanf55

# Design Goals * Use the same terrain data across all devices in the ecosyste…m * Autopilot (PX4, ArduPilot, Etc) * Companion Computer (grid_map_geo) * Ground Station (QGC, MAVProxy, Mission Planner) * Simulator (Gazebo) * Developer visualization tool (RVIZ, Foxglove) * Support loading terrain from an online terrain server * ArduPilot SRTM * AirMap * Reduce network usage by maintaining a local cache of terrain data * Only download tiles once from online terrain server to devices in field * Cache terrain on the companion computer and/or autopilot to reduce GCS-Vehicle network congestion * Reduce the time, complexity, and difficulty to set up terrain data for terrain navigation * Example: given no terrain data is installed on any devices, and the system is started without GPS signal, when the GPS is enabled, then the autopilot, companion computer and GCS retrieve terrain and the simulator displays the terrain and the local origin of the simulation is to the home location. * Enable using drones at large latitudes beyond SRTM's 60 degree limit # Current Issues ## Visualization/Sim ### Gazebo * Gazebo can't consume data from online terrain servers - the [Gazebo Classic tutorial](https://classic.gazebosim.org/tutorials?tut=dem&cat=build_world) involves a lengthy process to manually generate terrain meshes * Gazebo can't visualize SRTM terrain tiles without decimation due to performance issues * Gazebo assumes the user wants to load the entire dataset supplied, which breaks down with large VRT's (it currently segfaults) ### QGC * QGC uses Airmap terrain which is tied to Auterion's hosting and vulnerable to outages * Ticket which includes my GDAL proposal: https://github.com/mavlink/qgroundcontrol/issues/7774 * Only 2D * Unlear support for terrain in Norway: https://github.com/mavlink/qgroundcontrol/issues/9280 * Unclear support for terrain in Finland: https://github.com/mavlink/qgroundcontrol/issues/7405 ### MAVProxy * Only 2D ### Mission Planner * Unclear support for terrain in Norway: https://github.com/ArduPilot/MissionPlanner/issues/2527 ## Companion Computer * If the companion computer doesn't have SIM card, it can't fetch terrain data from online, even if the GCS has terrain data ## Autopilot * Autopilot's GPS sensors may use different datums * ArduPilot's Location (in 4.5) [does not specify altitude datums](https://github.com/ArduPilot/ardupilot/blob/60369b893a10a57204af61314c60426aa51a26f8/libraries/AP_Common/Location.h#L23) * Instead, you should use `get_undulation()` as recommended [here by Tridge](https://github.com/ArduPilot/ardupilot/pull/21075#issuecomment-1208825466) # What's working well ## Terrain transmission between autopilot and GCS * Based on MAVLink terrain protocol # Current Terrain Data Transmission Approaches These are the standards or techniques to share terrain data between devices over networks, both IP and serial, wired and wireless: * [MAVLink terrain protocol](https://mavlink.io/en/services/terrain.html) * [GDAL virtual network drivers](https://gdal.org/user/virtual_file_systems.html) * Airmap protocol - TODO find link * https://cesium.com/platform/cesium-ion/content/cesium-world-terrain/ # Current Terrain Sources * [ArduPilot TerrainGen](https://terrain.ardupilot.org/) - [source code](https://github.com/ArduPilot/terraingen)

**Copter & Rover

github.com/ArduPilot/ardupilot

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.5 testing. The [is…sues list for Copter/Rover-4.4 is here](https://github.com/ArduPilot/ardupilot/issues/23192). [Backport PRs](https://github.com/orgs/ArduPilot/projects/8/views/1). Reports requiring investigation: - [ ] Pixhawk6C mini compass disappearing in flight issue ([4.4 issue](https://github.com/ArduPilot/ardupilot/issues/25946), [4.5 discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/3)) - [ ] Lua rangefinder broken ([discussion](https://discuss.ardupilot.org/t/send-sensor-distance-by-using-serial-in-script/116238), [PR](https://github.com/ArduPilot/ardupilot/pull/26829)) -- Rishabh - [ ] Gremsy can't be used as 2nd mount ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-does-not-work-if-set-to-mount-2/116127)) -- Randy can't reproduce - [ ] 3 of 12 Pixhawk6X display IOMCU error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/3)) -- AndyP - [ ] DShot 600 jerky movement without being armed ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/21)) -- configuration error (MOT_PWM_TYPE = 0 but SERVO_BLH_MASK non-zero) -- AndyP - [ ] Lua mount:set-angle-target binding doesn't work on Matek H743 mini V3 ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/3)) -- Randy - [ ] RPLidarS1 erratic distances on Rover ([discussion](https://discuss.ardupilot.org/t/rplidar-s1-erratic-distances/115561), [possible fix](https://github.com/rmackay9/rmackay9-ardupilot/commits/rover-rplidar-update-rate/), [PR](https://github.com/ArduPilot/ardupilot/pull/26835)) -- Randy, Mirkix - [ ] CAM messages with Img field "0" appearing in logs without pictures being taken (reported by Randy) -- Randy - [ ] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) Confirmed issues: - [ ] Guide mode using thrust causes internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/26865), [PR](https://github.com/ArduPilot/ardupilot/pull/26866)) - [ ] Stabilize mode Internal Error in Land Detector ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/75), [issue](https://github.com/ArduPilot/ardupilot/issues/26864), [code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/land_detector.cpp#L59)) -- Leonard - [ ] CubeOrange with Siyi A8 failing to boot 1 in 20 times ([issue](https://github.com/ArduPilot/ardupilot/issues/26852)) - [ ] Avoidance backup for Z-axis is unconstrained ([PR](https://github.com/ArduPilot/ardupilot/pull/26858)) - [ ] SmartRTL flow of control error ([pre-existing issue](https://github.com/ArduPilot/ardupilot/issues/17416)) - [ ] Pixhawk 6C SBUS out not working with Tarot gimbal ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/12), [issue1](https://github.com/ArduPilot/ardupilot/issues/26815), [PR](https://github.com/ArduPilot/ardupilot/pull/26825), [issue 2](https://github.com/ArduPilot/ardupilot/issues/26851)) -- AndyP - [ ] Jump message missing from telementry? ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/25), [issue](https://github.com/ArduPilot/ardupilot/issues/26802)) -- PeterB - [ ] EKF loses attitude estimate if COMPASS_LEARN set to 3 (inflight) and GPS-for-yaw used ([PR](https://github.com/ArduPilot/ardupilot/pull/26762)) -- Tridge / PaulR - [ ] EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650)) - [ ] APM_Config can't be used to include/exclude features ([issue](https://github.com/ArduPilot/ardupilot/issues/26654)) - [ ] Neopixels broken ([discussion](https://discuss.ardupilot.org/t/multiple-neopixels-dont-flash-in-sync/113620), [issue](https://github.com/ArduPilot/ardupilot/issues/26295), [PR-to-blame](https://github.com/ArduPilot/ardupilot/pull/23974)) Enhancements or Issues that may not be resolved before the stable release: - [ ] GPS consistency checks Alt when GPS can't provide alt ([discussion](https://discuss.ardupilot.org/t/incorrect-calculation-of-gps-positions-diffs-during-arming-checks/116033), [issue](https://github.com/ArduPilot/ardupilot/issues/26749)) - [ ] Custom Build server support for CUAV Pixhack v3x with 3 IMUs ([discussion](https://discuss.ardupilot.org/t/ardupilot-custom-firmware-builder-fmuv3-missing-necessary-for-cuav-pixhack-v3x/115823), [product page](https://www.cuav.net/en/pixhack-v3-autopilot/)) - [ ] AP_OSD: Add CRSF link stats display fields ([PR](https://github.com/ArduPilot/ardupilot/pull/25844)) - [ ] Network params not visible for Pixhawk5x ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/13), [issue](https://github.com/ArduPilot/ardupilot/issues/26397)) - [ ] ViewPro does not track GPS location well ([discussion](https://discuss.ardupilot.org/t/viewpro-gimbal-point-camera-here-function/98279/33), known limitation of ViewPro API) Wiki issues/enhancement requests: - [ ] Dynamic Notch filter instructions need consolidation ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5878)) - [x] Auto mode LOITER_TURNS does not support CCW? ([discussion](https://discuss.ardupilot.org/t/ccw-loiter-turns/114282)) - [ ] Add vertical position controller tuning instructions ([discussion](https://discuss.ardupilot.org/t/z-oscillation-in-position-hold/113149/4)) - [x] Add warning for AutoTune ESC desync ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5760)) Mission planner issues/enhancement requests: - [ ] fixup camera gimbal page ([discussion](https://discuss.ardupilot.org/t/question-about-camera-gimbal/101063/7)) - [ ] Loiter turns radius incorrect ([issue](https://github.com/ArduPilot/MissionPlanner/issues/3305)) QGC issues/enhancement requests: - [x] QGC sending invalid roll, pitch, yaw angles ([discussion](https://discuss.ardupilot.org/t/mount-invalid-angle-targets-problem/113885), [QGC issue](https://github.com/mavlink/qgroundcontrol/issues/11215)) Resolved issues: - [x] [MTF-01 Optical flow sensor](https://robofusion.net/products/mtf-01-integrated-laser-rangefinder-optical-flow-module-for-unmanned-aerial-vehicles-uavs?variant=47234517664063) not working ([discussion](https://discuss.ardupilot.org/t/4-5-0-has-issue-with-connection-to-mtf-01-optical-flow-sensor/116470)) -- set config on sensor to different component id. -- resolved for 4.5.2-beta1 - [x] DAL bug affecting VisualOdometry delay ([issue](https://github.com/ArduPilot/ardupilot/issues/26800), [PR](https://github.com/ArduPilot/ardupilot/pull/26813)) -- resolved for 4.5.2-beta1 - [x] Hereflow requires BRD_BOOTDELAY ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/47), [PR](https://github.com/ArduPilot/ardupilot/pull/26753)) -- resolved for 4.5.2-beta1 - [x] RTL engaged below Home alt and using Terrain alt returning too high? (reported by Tridge and PeterB) -- RTL seems to be acting as expected. It was engaged at 121m above terrain and so that's the altitude it maintained until it returned home. - [x] AP_Mount's default mode being overwritten by RC input ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/69), [PR](https://github.com/ArduPilot/ardupilot/pull/26738)) -- resolved for 4.5.2-beta1 - [x] T265 not working ([discussion](https://discuss.ardupilot.org/t/vision-positioning-using-t265-does-not-work/115679), [related PR](https://github.com/ArduPilot/ardupilot/pull/23240)) -- user was using same sysid/compid as autopilot - [x] Developer issues integrating CAN RangeFinder ([discussion1](https://discuss.ardupilot.org/t/issues-with-interegrating-can-sensor-using-lua/115585/5), [discussion2](https://discuss.ardupilot.org/t/help-related-to-dronecan/115874), [issue](https://github.com/ArduPilot/ardupilot/issues/26704)) -- worked at 1Mbps - [x] GPS_TYPE parameter descriptions in MP using 4.4 ([issue](https://github.com/ArduPilot/ardupilot/issues/26681#issuecomment-2034416514), [PR](https://github.com/ArduPilot/ardupilot/pull/26740)) -- resolved for 4.5.2-beta1 - [x] #26811 - [x] Near Fly-away with 4.4.4 (EKF failsafe was disabled, [discussion](https://discuss.ardupilot.org/t/internal-errors-0x400-l-856-cnstring-nan-uncontrollable-behavior-in-rtl-and-loiter/115598)) -- no further communication, likely bad compass cal - [x] KakuteH7 fails to initialise ([discussion](https://discuss.ardupilot.org/t/kakute-h7-gps-and-radio-problem/115931)) -- also failed on 4.4.4 so Randy has concluded that it is a hardware issue - [x] Siyi mount stalls occasionally and bouncing near pitch and yaw limits ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta4-available-for-beta-testing/115149/11)) -- Siyi firmware / hardware mismatch - [x] do-condition-yaw bug (also in 4.4, [PR](https://github.com/ArduPilot/ardupilot/pull/24719)) -- resolved for beta5 (assuming there is a beta5) - [x] Copters turns North in Guided_NoGPS ([issue](https://github.com/ArduPilot/ardupilot/issues/26357), [discussion](https://discuss.ardupilot.org/t/set-attitude-target-with-guided-no-gps-lack-of-documentation/111845/24), [PR](https://github.com/ArduPilot/ardupilot/pull/26407)) -- fixed for beta5 (assuming there is a -beta5) - [x] ViewPro not holding level during hard maneuvers ([PR](https://github.com/ArduPilot/ardupilot/pull/26556)) -- resolved in beta4 (although no confirmation from user) -- fixed for beta5 (assuming there is a -beta5) - [x] altitude jump when GPS/Non-GPS transitions switching altitude source of ExtNav to Baro (reported by Randy) -- should jump when moving from camera->baro, cannot reproduce otherwise. - [x] MP's MAVFtp can't download SYS files ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3309)) -- SITL only issue - [x] Logging removed on some boards? ([issue](https://github.com/ArduPilot/CustomBuild/issues/70), [PR](https://github.com/ArduPilot/ardupilot/pull/26421)) -- needs backport? - [x] Sending unknown message ([issue](https://github.com/ArduPilot/ardupilot/issues/26358), [PR](https://github.com/ArduPilot/ardupilot/pull/26361)) -- resolved for -beta3 - [x] increasing k_format_version does not reset parameters (dev question, [issue](https://github.com/ArduPilot/ardupilot/issues/26336)) -- cannot reproduce, responses stopped - [x] MAV_CMD_DO_SEND_SCRIPT_MESSAGE not working? ([discussion](https://discuss.ardupilot.org/t/is-mav-cmd-do-send-script-message-unsupported-on-copter-4-5/113787)) -- only supported as Mission command - [x] TKOFF_RPM_MIN working? ([4.3.x discussion](https://discuss.ardupilot.org/t/takeoff-blocked-waiting-for-esc-rpm/113256)) -- fixed in 4.4 - [x] Record video while armed broken ([PR](https://github.com/ArduPilot/ardupilot/pull/26217)) -- resolved for -beta3 - [x] Parachute conversion issue ([issue](https://github.com/ArduPilot/ardupilot/issues/26132), [PR](https://github.com/ArduPilot/ardupilot/pull/26151)) -- resolved for beta2 - [x] Siyi running old camera fw message ([discussion](https://discuss.ardupilot.org/t/siyi-a8-camera-fw-version-reporting-issue/112870), [original discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/673), [PR](https://github.com/ArduPilot/ardupilot/pull/26168)) -- resolved for beta2 - [x] Matek H743 watchdog ([discussion](https://discuss.ardupilot.org/t/locally-compiled-arducopter-4-5-0-beta1-fails-on-matekh743-due-to-watchdog/113029)) -- development environment issue - [x] Stuck thread ([discussion](https://discuss.ardupilot.org/t/stuck-thread-and-failed-data-logging-error/112711/2)) -- exists in 4.4.4 as well, two devs say it's fine so concluded it is a hardware failure on the user's autopilot. - [x] AutoTune crash -- ESC de-sync ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta1-available-for-beta-testing/112504/11)) - [x] Here4 does not support GPS-for-yaw (aka Moving baseline) ([discussion](https://discuss.ardupilot.org/t/gps-yaw-moving-baseline-with-dual-dronecan-here4/112357))

Plane

github.com/ArduPilot/ardupilot

Plane 4.5.x issue tracking

opened 03:03AM - 13 Feb 24 UTC

tridge

Plane DevCallTopic ReleaseAdmin

Pending: - [ ] centre throttle options not working: https://discuss.ardupilot.…org/t/plane-4-5-0-beta-release/112518/14 - fix in mission planner https://github.com/ArduPilot/MissionPlanner/pull/3291 - [ ] ramping of motors on tilt quadplanes not working on back transition - fix https://github.com/ArduPilot/ardupilot/pull/26249 - [ ] POSITION_TARGET_GLOBAL_INT alt is wrong for terrain following - [ ] ALT_ASSIST not working while completing fwd transition? - [ ] terrain following not working from long distances in QRTL - [ ] re-test flightgear and JSBSim recent versions https://discuss.ardupilot.org/t/aircraft-appears-underground-on-ardupilot-flightgear - [ ] should auto-set HAL_USE_ADC=False if no ADC lines in hwdef.dat - [ ] ftp fence upload not working - [ ] exfat with 64G sandisk can't create APM/scripts directory - [x] lua/log corruption on 6x: fix: https://github.com/ArduPilot/ardupilot/pull/26538 - [ ] unplugging CAN battery mon leaves voltage unchanged - should it go to zero? - [ ] should a dead rangefinder report zero distance? - [ ] pitch stick mixing on landing needs to handle changed height - [ ] add AP_STATISTICS_ENABLE for dma.txt and --enable-status in custom build - [ ] is terrain offset handling correct? see angel log7 - [ ] https://github.com/ArduPilot/ardupilot/pull/26808 - [ ] https://github.com/ArduPilot/ardupilot/issues/26815 - [ ] https://github.com/ArduPilot/ardupilot/pull/26762 - [ ] GPS disable/re-enable, EK2 and EK3 did not re-init. Log 32.BIN lift AdNav test - [ ] EK3 switch to source set with no GPS did not disable GPS fusion, log 31.BIN, AdNav tests - [ ] motor test in quad-can not showing RPM on CAN Resolved - [x] https://github.com/ArduPilot/ardupilot/pull/26133 Longer term - [ ] https://github.com/ArduPilot/ardupilot/pull/25442 - [ ] rebuild newlib and remove all possible abort() calls

GSOC

Conference