Dev Call Apr 7, 2024

CraigElder · April 8, 2024, 10:57pm

Methodic Configurator

Issues & Pull Requests

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

AP_SCripting: update VTOL QuickTune to allow YAW FLTE = 0

ArduPilot:master ← Hwurzburg:quicktune_yaw

opened 04:06PM - 02 Apr 24 UTC

Hwurzburg

+3 -1

although the change merged yesterday was an improvement, it does not allow Leona…rds recommended yaw flte to be used (0) for vectored yaw quadplanes...this allows that and recommends it in the script setup instructions...matching wiki recommendations already updated. currently, the default of 2.5 would be unchanged by the script which can result in yaw wobble in the outer angle loop if the user changes to 0, it would reset to 8hz by the script which may or may not wobble...this allows it to be set to 0 and remain at that value when the script is run

github.com/ArduPilot/ardupilot

Make GCS_MAVLink base class handle DO_SET_HOME

ArduPilot:master ← peterbarker:pr/gcs-mavlink-set-home-up

opened 10:48AM - 03 Apr 24 UTC

peterbarker

+54 -79

This takes advantage of all our vehicles inheriting from AP_Vehicle, which they …didn't when the pure-virtual methods on GCS_MAVLink were first created. I'm not sure this is the correct shape for handling home generally, but given all but one of our vehicles had the relevant methods already on the vehicle class it seems a reasonable improvement. There's the basic question of whether home is an AHRS thing or an AP_Vehicle thing. While AHRS has been a good place for home, notionally you don't need AHRS to have a home (Tracker kinda-sorta shows that....) A first step in further unifying home-position behaviour across vehicle types, anyway.

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

Correct off-by-one problem in EKF IMU ringbuffer

ArduPilot:master ← peterbarker:pr/rinbuffer-tests

opened 02:43AM - 05 Apr 24 UTC

peterbarker

+63 -4

This is an alternate solution to a bug @luweiagi found in the EKF buffer code. … His PR is here: https://github.com/ArduPilot/ardupilot/issues/25316 My formulation here switches the determination of whether the buffer has ever been full to looking for us wrapping the new offset, rather than looking at the old offset. I think all of these approaches are bogus; if we advance the oldest pointer then we may never actually be "full". I think the current behaviour only works because the EKF doesn't consume until the buffers have been full at least once. The supplied tests fail before this PR, pass after (the buffer says it is full on the third element, not the fourth, as @luweiagi pointed out in the issue). Closes #25316

github.com/ArduPilot/ardupilot

ChibiOS, SITL: add 1Hz logging of UART data rates

ArduPilot:master ← IamPete1:uart_logging

opened 04:47PM - 06 Apr 24 UTC

IamPete1

+178 -14

This is a generalized version of https://github.com/ArduPilot/ardupilot/pull/265…32 for all serial ports rather than only MAVLink. It does not have all the extra logging fields that https://github.com/ArduPilot/ardupilot/pull/17360 does, but they could be added in the future. From SITL: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/d339edab-10ee-4ca1-a8d4-ca7e8e743f46) CubeOrangePlus: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/b8534bce-1abf-4c8f-a777-f6b774c5ebc7) Which matches more or less mission planners stats: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/a464ac41-1b04-44d8-a205-ff93dbcb735f) Note that we do get log for every port except 4. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/2aefe460-a25f-49de-9d8f-44185924f612) 0 I was connected to on USB. 1 and 2 are set to MAVlink, there is no rx, but we see tx data going out (both ports are the same). ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/bfb53168-7c02-4d91-8cbe-3e02afbb7864) 3 is set to GPS, so it was trying to do something. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/73b122ed-f5e7-4636-8b5b-4739642e7de3) 4 is the second GPS which is disabled, so not in the log. 5 is the internal ADSB over MAVLink: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/d17aa665-fd67-4399-9060-0392222887fc) 6 is the second USB end point which is set to SLCAN. Interestingly this is in the log, so there must have been some data at some-point. But we see only 0 rate for both tx and rx. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/7d976ecc-8929-4246-865b-e3dbc83c60c1) 100 is the magic value for the IOMCU UART: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/29263f9d-2158-4ac8-89a1-00630ef50b87) That we get so many in the log for a flight controller with nothing plugged in makes me wonder if we should only log if we get RX data back rather than if RX or TX. On the other hand it probably is best practice to disable the protocol for a serial port if it has nothing plugged in.

github.com/ArduPilot/ardupilot

Add prearm check surrounding presence of crashdump data

ArduPilot:master ← peterbarker:pr/crashdump-prearm-ack

opened 01:18AM - 07 Apr 24 UTC

peterbarker

+77 -1

Under certain circumstances ArduPilot writes "CrashDump" data to flash memory, p…ast where the ArduPilot code resides. It is cleared when the flash is zeroed (e.g. when flashing a new firmware). When a log file is opened, we log this data into that log file and warn the user that we've had to do that. At boot time we attempt to save the dump to the SD card, and warn the user we've done that. Those two things were insufficient to make users aware that the firmware present on the board had crashed at some point in the past. This PR makes the presence of crashdump data impossible to miss by adding a pre-arm check which fails if the crashdump data is present. It is possible to set a new parameter `BRD_CRSHDMP_ACK` to 1 to avoid the pre-arm failure. In that case we still emit a warning as part of the prearm logic. This parameter is set to zero any time the board boots and no crash dump data is present, so the user must acknowledge the presence of any new crashdump data which gets written. In the following screenshot the "acknowledgement" parameter was written, allowing the vehicle to then arm: ![image](https://github.com/ArduPilot/ardupilot/assets/7077857/f5f646ea-249d-4af7-a6cc-1fb79f2270d9) I have checked that re-flashing the firmware clears the ack flag, forcing re-ack of further crashes.

github.com/ArduPilot/ardupilot

Tools, CI: use same-bdshotness boards for ccache test

ArduPilot:master ← mbuzdalov:ccache-bdshot

opened 10:54AM - 07 Apr 24 UTC

mbuzdalov

+3 -3

Currently, the ccache test uses two pairs of boards: `Matek-F405` vs `Matek-F405…-bdshot`, and `Pixhawk6X` vs `Durandal`. With more code coming that depends on bidirectional DShot, these boards will increasingly diverge, causing the test to fail. My work-in-progress PR #26321 is one of such changes. In light of this, the choice of boards different by being or not being bdshot-enabled seems imperfect. This PR updates the configuration of the ccache test, so that both pairs of boards have bdshot code enabled. I tried to change as little as possible, so the first pair becomes `Matek-F405-bdshot` vs `Matek-F405-TE-bdshot`, and the second pair becomes `Pixhawk6X` vs `Durandal-bdshot`. Note that `Pixhawk6X`, just like `Pixhawk6X-bdshot`, is bdshot-enabled in terms of code compilation, because it has to support possible bidirectional DShot coming from IOMCUs. I updated the default arguments in the Python script as well to reduce possible confusion (if left unchanged, the default arguments will eventually stop producing a positive result).

github.com/ArduPilot/ardupilot

FoxeerF405V2 hwdef issues

opened 01:20PM - 07 Apr 24 UTC

Hwurzburg

DevCallTopic

The recently merged board has several issues relating to its shown application/w…iring diagram not being consistent with its hwdef: 1. ~~GPS is shown as UART5 which will not work without changing UART3 AND UART4 default(GPS) and setting UART5 to GPS. This should be fixed.~~ 2. UART3 is shown as TRAMP but that protocol is not set as default in hwdef 3. ~~UART1 is shown as ESC telem but default protocol not set~~ 4. UART4 is shown as DJI connection, but default protocol not set to DJI or, preferably, Displayport. also alternate SBUS input on RX6 needs to be noted in readme for this connector 6. LED will not work unless appropriate params set and then output5 must be noted in readme not to be useable except as LED output also. 7. in Readme FRsky telem setup will not work...those params are for H7 only, not F4. F4 needs external bidir inverter and different params 8. Foxeer site implies PPM input on SBUS pin which would require RX2 to be a TIM9 int input with alt config to normal UART...I don't think PPM is required, just noting BF migratotrs could be surprised 9. The board has switchable camera inputs which are not included in the hwdef **Platform** [ x ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

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 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

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: - [ ] KakuteH7 fails to initialise ([discussion](https://discuss.ardupilot.org/t/kakute-h7-gps-and-radio-problem/115931)) - [ ] SmartRTL flow of control error ([pre-existing issue](https://github.com/ArduPilot/ardupilot/issues/17416)) - [ ] 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)) - [ ] 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) - [ ] ROS2 / DDS install issues ([discussion1](https://discuss.ardupilot.org/t/compiling-arducopter-4-5-0-with-enable-dds-failed/115632), [discussion2](https://discuss.ardupilot.org/t/colcon-build-packages-up-to-ardupilot-dds-tests-failed/115720)) - [ ] T265 not working ([discussion](https://discuss.ardupilot.org/t/vision-positioning-using-t265-does-not-work/115679)) - [ ] 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)) - [ ] Pixhawk 6C SBUS out not working with Tarot gimbal ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/12)) - [ ] GPS_TYPE parameter descriptions in MP using 4.4 ([issue](https://github.com/ArduPilot/ardupilot/issues/26681#issuecomment-2034416514)) - [ ] 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)) - [ ] 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/)) - [ ] CAM messages with Img field "0" appearing in logs without pictures being taken (reported by Randy) - [ ] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) Confirmed issues: - [ ] 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: - [ ] 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: - [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] 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] Pixhawk6C compass 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)) -- no feedback - [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 9, 2024, 5:55am

Attendee count (max): 17

UTC1100 - GitHub - ArduPilot/MethodicConfigurator: A clear ArduPilot configuration sequence

Amilcar’s tool for stepping people through configuring their vehicle
Tkinter Python application
Can be used to configure ArduPilot by connecting to the flight controller
Applies 43 different parameter files in sequence
Clear and defined sequence of parameters you apply to the flight controller in order to get things set
User manual saying how to use it
Tool-tips on all elements
All the steps required to get to the point of doing an autotune
Most users on forums do initial parameter tuning, then try autotune
- But no filtering
- There are 23 things you need to set before starting your autottune!
There are 10 parameters before you can do the parameter tuning
- E.g. battery settings
- E.g. rc failsafes
Currently users have to run setup.py but it will soon be available to “pip install”
You need a github account to get to artifacts….

UTC1106 - AP_Parachute: Optional (CHUTE_OPTIONS:1) disarm before parachute release by python36 · Pull Request #26129 · ArduPilot/ardupilot · GitHub

Current we force-disarm vehicles before releasing parachutes
This makes it optional
Allows you to keep flying if the parachute deploy fails
Could have gone into the Henry’s throttle suppression thing

UTC1115 - AP_HAL_SITL: remove deprecated --uartX options by tpwrules · Pull Request #26156 · ArduPilot/ardupilot · GitHub

Bring in for 4.6?
Sub guys are worried about –uartX etc etc
- BlueOS
Disco?
Bebop?
The shell scripts will need to be updated
Can do this for SITL but not for Linux right now

UTC1123 - Copter: support `DO_RETURN_PATH_START` in AUTO RTL mode by IamPete1 · Pull Request #26383 · ArduPilot/ardupilot · GitHub

DO_RETURN_PATH_START in AUTO_RTL mode
Copter only
Plane in the future
Double-shuffle needed for mavlink
Randy says it should be OK after double-shuffle

UTC1125 - CB Unmanned Stamp H743 by andyp1per · Pull Request #26197 · ArduPilot/ardupilot · GitHub

CB unmanned stamp H743
Tiny H7 with ethernet
merged!

UTC0026 - Plane: fix units metadata for PTCH_LIM_MIN_DEG by kd0aij · Pull Request #26634 · ArduPilot/ardupilot · GitHub

Documentation fix for PTCH_LIM_MIN_DEF
Merged!

UTC0031 - AP_SCripting: update VTOL QuickTune to allow YAW FLTE = 0 by Hwurzburg · Pull Request #26673 · ArduPilot/ardupilot · GitHub

Update VTOL QuitckTune to allow YAW_FLTE=0
Merged!

UTC0031 - hwdef: remove redundant defines from hwdefs by peterbarker · Pull Request #26682 · ArduPilot/ardupilot · GitHub

Remove stuff from hwdefs
Merged!

UTC0032 - Make GCS_MAVLink base class handle DO_SET_HOME by peterbarker · Pull Request #26683 · ArduPilot/ardupilot · GitHub

Move do_set_home handling over to AP_Vehicle
Does home really belong in AHRS?
- Probably still the best spot
Merged!

UTC0035 - AP_Volz_Protocol: use own thread for output by IamPete1 · Pull Request #26691 · ArduPilot/ardupilot · GitHub

Use thread to output volz servos
Make stack bigger
Would be nice to do bidir
Tridge will test

UTC0044 - EKF_Buffer: there is a bug in ekf_imu_buffer::push_youngest_element(const void *element) · Issue #25316 · ArduPilot/ardupilot · GitHub

Fix _filled problem in EKF buffer
Can merge once the little things are fixed

UTC0051 - AP_Airspeed:add option to report cal offset to GCS by Hwurzburg · Pull Request #26707 · ArduPilot/ardupilot · GitHub

Add option to report cal offset to GCS
Allow Henry to run without his custom patches
A few little options like this might allow more DevTeam members/testers to run standard code
- E.g. Leonard’s notch-width patches

UTC0054 - ChibiOS, SITL: add 1Hz logging of UART data rates by IamPete1 · Pull Request #26708 · ArduPilot/ardupilot · GitHub

Add 1Hz logging of UART data rates
Merged!

UTC0101 - Add prearm check surrounding presence of crashdump data by peterbarker · Pull Request #26710 · ArduPilot/ardupilot · GitHub

Add prearm check which fails if there is crashdump data present
There’s a parameter to allow arming, it becomes a warning
- That parameter is cleared when there’s no crashdump data on the vehicle
Force-arm works past this prearm check, so mid-air restarts are still possible
Really need better simulation of watchdog resets
Randy will provide some better words
Want to be able to write crashdump to SD card as there’s no space left on CubeOrange
- Pre-allocate region on SD card

UTC0124 - AP_GPS: protect detection structures with GPS backend defines by peterbarker · Pull Request #26711 · ArduPilot/ardupilot · GitHub

Remove detection code when GPSs not compiled in
Merged!

UTC0125 - Require switch transition for arming options by peterbarker · Pull Request #26712 · ArduPilot/ardupilot · GitHub

Require a transition for arming switches before executing them
Peter to make some monito changes, Henry to test then can merge

UTC0136 - Move landing detector action into Mode object by peterbarker · Pull Request #26713 · ArduPilot/ardupilot · GitHub

Move land detection handling into mode
Rework in place instead

UTC0143 - Tools, CI: use same-bdshotness boards for ccache test by mbuzdalov · Pull Request #26714 · ArduPilot/ardupilot · GitHub

Use same bdshotness boards for ccache test
The original intent was to stop these diverging…
- But they have
- So deal with it
Merged!

UTC0145 - FoxeerF405V2 hwdef issues · Issue #26715 · ArduPilot/ardupilot · GitHub

Fix FoxeerF405v2 hwdef issues
Henry is still working with Andy on this one

UTC0146 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

Plane 4.5.1 is out, important fix vs 4.5.0
4.5.2 beta will be coming soon
Precland fixes….

UTC0146 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

Copter update
The .0 is the new beta
Many, many new issues coming in
“This worked on 4.4.4 but not in 4.5.0”
- E.g. pixhawk with hereflow
- In 4.5.0 the sensor is not initialised
- Delay the boot and it works….
- Might be a power control issue
Smartrtl issue
- Peter’s fix is probably good…
D-shot 600 motors twitch when vehicle is disarmed…
DDS compile errors
- Tool-set has moved forward, users have to do likewise…
T265 is not working?
Nasty fly-away with 4.4.4
- User disabled EKF failsafe
- Did a compass cal just before the flight
- Don’t do that
S.BUS-out not working above 9
Sbus out on IOMCU or on a serial port?
- Needs documenting; only 1 will work
GPS_TYPE
- Parameter metadata
- Peter will copy across the parameters from 4.5 GPS parameter comments and paste them somewhere into the master code
Wind estimates don’t work when using gps-for-yaw

UTC0217 - no conference update

UTC0217 - GSoC update

29 submissions
Applications for all of the different projects
- And one for projects not suggested
Until the 24th to work out which ones we’ll try to go forward with

UTC0218 - filter review update

Lots of cool updates
New log finder option which will list things in a directory
- Sorted by hardware ID of flight controller
- can just download parameters directly from the listing
- Can open in tool of your choice
- Has flight time in it!
Could we point this at a google driver folder?
Data rate in logs

UTC0229 - log/video correlation with tridge

Move video timeline, copter in map moves
Move copter in map, video moves
Click in timeline, both video and copter in map moves
Displays data gleaned from the logs on map
Willian’s going to help out