Dev Call Apr 29, 2024

CraigElder · April 29, 2024, 10:50pm

Issues & Pull Requests

github.com/ArduPilot/pymavlink

mavschema - 1E2 for scaled unitless values

ArduPilot:master ← hamishwillee:patch-8

opened 05:33AM - 21 Dec 23 UTC

hamishwillee

+10 -1

This falls out of the discussion in https://github.com/mavlink/mavlink/issues/20…62#top [GPS_RAW_INT.eph](https://mavlink.io/en/messages/common.html#GPS_RAW_INT) and `.evp` and same property names in [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS) are unitless values, so correctly don't have units added. However they are scaled by 100 and there is no way to know that programmatically. IN order to allow programmatic comparisons and conversions it is useful to supply this information. This creates a unit `1E2` that indicates a unitless value scaled by 100. FYI @shancock884

github.com/ArduPilot/ardupilot

Copter: support `DO_RETURN_PATH_START` in AUTO RTL mode

ArduPilot:master ← IamPete1:mission_rejoin

opened 07:21PM - 03 Mar 24 UTC

IamPete1

+394 -40

This adds support for a new mission item (https://github.com/ArduPilot/mavlink/p…ull/212, https://github.com/mavlink/mavlink/pull/2088) that acts as a marker to the autopilot that it can rejoin a mission at any point after this marker and before a landing or MAV_CMD_DO_LAND_START. Demo: https://youtu.be/SoHXRTD0vEs?si=pHTvRDMcOsStv4l6 This was originally done on 4.1.0 where it has a lots of testing on real vehicles this rebase has not had the same level of testing. Along with the new mission item this also adds support for passing in a location to the various `DO_LAND_...` AP mission functions. Copter then uses this to pass in the stopping point rather than the current location. Helpers are added to so the current method without location still works for plane. Passing in the stopping point prevents copter going back on itself when a rejoin is commanded as it is about to pass a way point at speed. Where the next waypoint is still in front of the vehicles current location but it can't stop in time to hit it and has to go back. Both `DO_LAND_START` and `DO_RETURN_PATH_START` can be sent as commands to trigger there respective behavior and enter Auto RTL mode. Entering Auto RTL mode manually will first look for a `DO_RETURN_PATH_START` and if it cannot find one it will look for a `DO_LAND_START`. We might want to add a parameter like plane's `RTL_AUTOLAND` to control which we do when switching to Auto RTL mode. I have added a auto test, but some manual testing is probably also a good idea.

github.com/ArduPilot/ardupilot

RPM: Send on Periph and receive on vehicle

ArduPilot:master ← IamPete1:Periph_rpm

opened 02:59AM - 14 Mar 24 UTC

IamPete1

+295 -3

This adds support for a new DroneCAN rpm message, https://github.com/dronecan/DS…DL/pull/53 It is sent on periph by setting a message rate with `RPM_MSG_RATE` and alocating a sensor ID with `RPMx_DC_SEND_ID`. Set `HAL_PERIPH_ENABLE_RPM_STREAM` to enable in the build. On the vehicle side set `RPMx_TYPE` to 7 and `RPMx_DC_ID` to match the send ID you want to receive. Its a bit upsetting having two params for this in RPM, really we need per-instance params so you would only see the `RPMx_DC_ID` on the DroneCAN backend. This updates the DroneCAN DSDL to point at my branch, we will need to do the shuffle to merge the DSDL PR first.

github.com/ArduPilot/ardupilot

AP_ExternalAHRS: Add pre-arm for misconfigured EAHRS_SENSORS and GPS_TYPE

ArduPilot:master ← Ryanf55:eahrs-prearm-for-gps-configuration

opened 02:47AM - 25 Mar 24 UTC

Ryanf55

+107 -7

# Purpose * This catches when there's a mismatch of GPSx_TYPE and EAHRS_SENSO…RS when GPS is enabled * Before this pre-arm, failure to set GPS_TYPE2 to 21 (ExternalAHRS) resulted in silent rejection of the data in AP_GPS because the default is off * The wiki did not say to set GPS_TYPE on anything but the VN300 * For now, until we support 3+ GPS instances, this only checks if you have at least on GPSx_TYPE set to EAHRS. Drive by fix - logging problem in Microstrain7 with format strings. # Tests Tested in SITL with MicroStrain7 hardware. And, a new CI test: ```bash ./Tools/autotest/autotest.py build.Plane test.Plane.GpsSensorPreArmEAHRS ``` # Why? The default behavior is to disable the 2nd GPS, so MicroStrain7 was dropping the data on the floor in the call to `AP::gps().handle_external(gps, instance);` # Futher improvements The same behavior is possible with other external sensors?

github.com/ArduPilot/ardupilot

AP_Volz_Protocol: use own thread for output

ArduPilot:master ← IamPete1:volz_update

opened 04:37PM - 04 Apr 24 UTC

IamPete1

+158 -112

Note that I have been testing with half duplex servos (with 3 in the part number…). The current driver is probably better for full duplex (with 5 in the part number) because it remains in lock step with the servo outputs. However, there are a few issues with the existing driver, and I don't have any full duplex servos to test it with. This method will still work with full duplex actuators just there will be slightly more delay in some cases. This tidies up the library a little and moves the output to its own thread, this means each command is sent and then we wait enough time for the reply (which we don't read) to be sent before sending the next command. The current driver just sends all the commands in a big block which steps on the reply. For four servos set in the bitmask it looks like this: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/80231598-829c-4461-9810-b6a2abd168e7) You will notice slightly random timing and we only occasionally get the reply, highlighted in blue on the RS485 line (my transceiver is in transmit mode all the time so we don't get the reply on the UART). This results in the servos having quite a bad time, quite steppy sounding (unmute recommended): [media_20240403_211229_2494658397588330632.webm](https://github.com/ArduPilot/ardupilot/assets/33176108/8d9b5385-f053-4d35-a2fe-5e7d0610a3c7) This PR send the commands one at a time which looks like this: ![Volz Thread](https://github.com/ArduPilot/ardupilot/assets/33176108/0cd80b5c-49a1-47b2-9981-1abfe2d0c479) I only have one servo connected, but it's sending commands for four servos, so we only see the reply on every fourth command. Nice even spacing and we don't step on the reply. Scrolling through the trace this is the closest it came: ![Volz Thread close](https://github.com/ArduPilot/ardupilot/assets/33176108/223c9658-8f10-4f3e-b853-29164ec3525a) We could leave a longer gap with a bit more head room, but this does seem to work, it depends on how quick the servo is to reply. That results in a much happier servo: [media_20240404_161546_1469986467495218372.webm](https://github.com/ArduPilot/ardupilot/assets/33176108/abd4a304-e2c4-4324-ac2a-0c6baf593f42) This also adds a new range parameter. This defaults to the current max range of 200 deg (+- 100). Using the full range of 200 deg means you get a 0.2 deg per PWM US. In most cases you need a much smaller range, so end up having to set servo min/max very close to trim. 1400 to 1600 would be +- 20 deg for example. The range param allow you to set 40 deg range and then use 1000 to 2000 PWM for that range. 40 deg means you can get 0.04 deg per PWM US which is slightly lower than the limit of the protocol. This also changes the behavior of 0 PWM in safe. Currently it would go to -100 deg. This PR changes it to move to the servo trim position. Unfortunately there is no way to power down the servo with the protocol.

github.com/ArduPilot/ardupilot

Copter: fix unconstrained avoidance backup speed

ArduPilot:master ← IamPete1:unconstrained_backup

opened 08:18PM - 20 Apr 24 UTC

IamPete1

+74 -1

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

Accel limit for big copters while precison-land

ArduPilot:master ← rahulOCR:pr-copter-acel-limit

opened 01:22PM - 25 Apr 24 UTC

rahulOCR

+29 -6

Hey I am submitting this PR to merge into master: I observed that due to accele…ration limits in land mode of copter, copter oscillates a lots while doing precision landing. I have created new user parameter whose values can be adjusted to adjust acceleration limits: I have achieved good results when I drops acceleration limit from defaults to 10 cm/s/s. Note: I am using vision based landing target send over landing_target mavlink message.

github.com/ArduPilot/ardupilot

AP_HAL: make NeoPixel high-low proportions match for 0 and 1

ArduPilot:master ← andyp1per:pr-neopixel-fix

opened 09:57AM - 27 Apr 24 UTC

andyp1per

+1 -1

Fixes https://github.com/ArduPilot/ardupilot/issues/26295 @rmackay9 's LED is… not compliant with the LED spec. The original 4.4 timing gives an output of 833Khz which is incorrect - it should be 800Khz which has been corrected in 4.5. With this output rate Randy's LED is unable to parse the pulse widths even though they too are in-spec (widths should be 850ns +- 150ns and 400us +- 150ns. The current 4.5 widths are: 464/776 and 930/310. Randy's LED will work with the following timings: 308/932 and 930/310. So it is the T0 timing that is the problem *even though* the current timing is closer to spec. That said, the timing that Randy's LED wants is still in spec and means that T0 and T1 are symmetrical - so I think this is an ok change, even though its a hardware problem. A final note - Randy's LED also has incorrect signal leveling on a CubeOrange - even with a pull-up the high level is 3.0v which is not the 0.7VDD (3.5v) that these devices actually require. A Matek LED in contrast can be pulled up to 3.6v which is in spec.

github.com/ArduPilot/ardupilot

Add test for EK3_ORGN_HGT_MASK

ArduPilot:master ← peterbarker:pr/ogn-hgt-mask-test

opened 04:56AM - 29 Apr 24 UTC

peterbarker

+63 -8

- accumulate simulated barometer drift rather than setting based on vehicle upti…me - add description for SIM_BARO_DRIFT - bugfixes for hook removal in exception handling ... and, of course, add a test that we adjust the barometer altitude over time.If the EKF parameter is not set then the test doesn't pass. In fact, it fails with a flow-of-control error in the landing detector.... This work sponsored by Harris Aerial

github.com/ArduPilot/ardupilot

Make blended backend a real backend

ArduPilot:master ← peterbarker:pr/blended-backend

opened 07:40AM - 29 Apr 24 UTC

peterbarker

+289 -160

Tested in SITL. ``` Board AP_Periph blimp bootloader copter… heli iofirmware plane rover sub Durandal 352 * 184 304 328 352 360 Hitec-Airspeed * KakuteH7-bdshot 480 * 496 472 656 472 472 MatekF405 56 * 128 128 -96 80 104 Pixhawk1-1M-bdshot 96 120 104 64 104 104 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 64 * -96 8 16 0 104 skyviper-v2450 * ```

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 - [ ] fix places not using ahrs EAS2TAS - [ ] consider changing all instance indexes to match params, eg. ESC[1] for SERVO1, not ESC[0] (baro, gps, imu etc) - [ ] add logging of ESC StatusExtended DroneCAN msg 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

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: - [ ] NoopLoop TOFSense-P noise ([discussion](https://discuss.ardupilot.org/t/rangefiner-on-fast-speed-low-altitude-quadcopter/116591/14)) - [ ] DJI RS2 lock/follow not working? ([discussion](https://discuss.ardupilot.org/t/ap-support-for-dji-rs2-rsc2-rs3-gimbals-maybe/91830/39)) - [ ] 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 - [ ] 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 Confirmed issues: - [ ] Copter-4.6 filter issue ([discussion](https://discuss.ardupilot.org/t/notch-filters-turn-on-with-a-delay/116276/14)) -- PeterH - [ ] 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), [PR](https://github.com/ArduPilot/ardupilot/pull/26873)) -- 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), [PR](https://github.com/ArduPilot/ardupilot/pull/26898)) -- 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 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: - [ ] https://github.com/ArduPilot/ardupilot/issues/26892 - [ ] Rover multiple inclusion fence support ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690/8), [WIP PR](https://github.com/ArduPilot/ardupilot/pull/15550)) - [ ] 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: - [ ] add DO_FENCE_ENABLE to Rover (and Copter?) mission command list ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690)) - [ ] 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] 3 of 12 Pixhawk6X display IOMCU error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/3)) -- AndyP, CUAV -- wrong IOMCU bootloader installed on the board (at factor?) - [x] 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, assumed ZIO issue, [added warning to wiki](https://github.com/ArduPilot/ardupilot_wiki/pull/5897) - [x] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) -- motor desync probably - [x] 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 -- resolved for 4.5.2-beta1 - [x] Guide mode using thrust causes internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/26865), [PR](https://github.com/ArduPilot/ardupilot/pull/26866)) -- resolved for 4.5.2-beta1 - [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)) -

GSOC
Conference

CraigElder · April 30, 2024, 3:00am

Attendee count (max): 15

UTC1100 - mavschema - 1E2 for scaled unitless values by hamishwillee · Pull Request #894 · ArduPilot/pymavlink · GitHub

UTC1103 - Copter: support `DO_RETURN_PATH_START` in AUTO RTL mode by IamPete1 · Pull Request #26383 · ArduPilot/ardupilot · GitHub

UTC1105 - RPM: Send on Periph and receive on vehicle by IamPete1 · Pull Request #26508 · ArduPilot/ardupilot · GitHub

UTC1106 - Add RPM message: 1045.RPM.uavcan by IamPete1 · Pull Request #53 · dronecan/DSDL · GitHub

UTC1110 - AP_ExternalAHRS: Add pre-arm for misconfigured EAHRS_SENSORS and GPS_TYPE by Ryanf55 · Pull Request #26611 · ArduPilot/ardupilot · GitHub

UTC1118 - Support per-motor throttle-based harmonic notch by andyp1per · Pull Request #26674 · ArduPilot/ardupilot · GitHub

UTC1140 - AP_Volz_Protocol: use own thread for output by IamPete1 · Pull Request #26691 · ArduPilot/ardupilot · GitHub

Own thread for Volz output
No device to test which matches
To be Merged soon.

UTC1141 - iFlight BLITZ H743 Pro by andyp1per · Pull Request #26763 · ArduPilot/ardupilot · GitHub

iFlight BLITZ H743 Pro
Henry to OK

UTC1152 - AP_Bootloader: ID reserve for JHEMCUF405WING by jhemcu · Pull Request #26773 · ArduPilot/ardupilot · GitHub

Reserve JEEMCU board id
Merged!

UTC1154 - Copter: fix unconstrained avoidance backup speed by IamPete1 · Pull Request #26858 · ArduPilot/ardupilot · GitHub

Fix unconstrained avoidance backup
Pass pos control into avoidance
- To get limits

UTC0011 - Accel limit for big copters while precison-land by rahulOCR · Pull Request #26885 · ArduPilot/ardupilot · GitHub

Accel limits for big copters while in precision land
Bypasses existing control limits from the AHRS
New AVOID_BACKZ_SPD

UTC0029 - Copter update

Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub
Randy thinks 4.5 is pretty stable
nooploop tof sensor not working / dropping out
Some LUA-based mount problems
LUA rangefinder broken
- There’s a PR
DShot-600 jerky issue to be looked at
16 channels of servo data via the IOMCU
RPLidarS1 erratic distances
- There’s a new PR
Landing detector in stab mode
- Detecting a landing when we shouldn’t
- Modes are misbehaving, they should be handling the land/takeoff stuff
Siyi A8 stopping autopilot bored
- 0xFE spat out on bootup

UTC0053 - Conference update

25,000yen/day at hotel
Conference rooms are cheap
B&B stuff in train
4 flight spaces
One has been booked
4.5.2 Beta1 out soon

UTC0056 - configurator

Amilcar’s added more and more stuff to the tool

UTC0055 - AP_Logger: Add support to W25N02KV nand flash by tangpipi · Pull Request #26897 · ArduPilot/ardupilot · GitHub

Add support to W25N02KV
Merged!

UTC0058 - AP_HAL: make NeoPixel high-low proportions match for 0 and 1 by andyp1per · Pull Request #26899 · ArduPilot/ardupilot · GitHub

Fix timings for NeoPixel

UTC0101 - SITL: added Glider simulator by tridge · Pull Request #26907 · ArduPilot/ardupilot · GitHub

Add glider simulator
- With balloon release
Can be merged once it passes CI

UTC0103 - Baro: improved atmospheric model for high altitude flight by tridge · Pull Request #26915 · ArduPilot/ardupilot · GitHub

Zero pressure during init failure needs fixing
Use 1976 standard atmospheric model

UTC0017 - Add test for EK3_ORGN_HGT_MASK by peterbarker · Pull Request #26916 · ArduPilot/ardupilot · GitHub

Accumulates baro drift error rather than setting it proportional to your uptime
Mergeoncipass

UTC0023 - Make blended backend a real backend by peterbarker · Pull Request #26919 · ArduPilot/ardupilot · GitHub

Have a GPS start to report a bad velocity and make sure that the blended solution
- Needs to self-report a bad velocity
Will flight-test on weekend

Dev Call Apr 29, 2024

Attendee count (max): 15

UTC1100 - mavschema - 1E2 for scaled unitless values by hamishwillee · Pull Request #894 · ArduPilot/pymavlink · GitHub

UTC1103 - Copter: support `DO_RETURN_PATH_START` in AUTO RTL mode by IamPete1 · Pull Request #26383 · ArduPilot/ardupilot · GitHub

UTC1105 - RPM: Send on Periph and receive on vehicle by IamPete1 · Pull Request #26508 · ArduPilot/ardupilot · GitHub

UTC1106 - Add RPM message: 1045.RPM.uavcan by IamPete1 · Pull Request #53 · dronecan/DSDL · GitHub

UTC1110 - AP_ExternalAHRS: Add pre-arm for misconfigured EAHRS_SENSORS and GPS_TYPE by Ryanf55 · Pull Request #26611 · ArduPilot/ardupilot · GitHub

UTC1118 - Support per-motor throttle-based harmonic notch by andyp1per · Pull Request #26674 · ArduPilot/ardupilot · GitHub

UTC1140 - AP_Volz_Protocol: use own thread for output by IamPete1 · Pull Request #26691 · ArduPilot/ardupilot · GitHub

UTC1141 - iFlight BLITZ H743 Pro by andyp1per · Pull Request #26763 · ArduPilot/ardupilot · GitHub

UTC1152 - AP_Bootloader: ID reserve for JHEMCUF405WING by jhemcu · Pull Request #26773 · ArduPilot/ardupilot · GitHub

UTC1154 - Copter: fix unconstrained avoidance backup speed by IamPete1 · Pull Request #26858 · ArduPilot/ardupilot · GitHub

UTC0011 - Accel limit for big copters while precison-land by rahulOCR · Pull Request #26885 · ArduPilot/ardupilot · GitHub

UTC0029 - Copter update

UTC0053 - Conference update

UTC0056 - configurator

UTC0055 - AP_Logger: Add support to W25N02KV nand flash by tangpipi · Pull Request #26897 · ArduPilot/ardupilot · GitHub

UTC0058 - AP_HAL: make NeoPixel high-low proportions match for 0 and 1 by andyp1per · Pull Request #26899 · ArduPilot/ardupilot · GitHub

UTC0101 - SITL: added Glider simulator by tridge · Pull Request #26907 · ArduPilot/ardupilot · GitHub

UTC0103 - Baro: improved atmospheric model for high altitude flight by tridge · Pull Request #26915 · ArduPilot/ardupilot · GitHub

UTC0017 - Add test for EK3_ORGN_HGT_MASK by peterbarker · Pull Request #26916 · ArduPilot/ardupilot · GitHub

UTC0023 - Make blended backend a real backend by peterbarker · Pull Request #26919 · ArduPilot/ardupilot · GitHub

UTC0049 - Plane 4.5.x

UTC0050 - off the floor

UTC0153 - close