Dev Call April 3, 2023

CraigElder · April 3, 2023, 10:45pm

Conference Debrief

Issues & Pull Requests

github.com/ArduPilot/mavlink

common.xml: remove MAV_CMD_ACK

ArduPilot:master ← peterbarker:pr/remove-cmd-ack-result-enum

opened 10:56PM - 22 Mar 23 UTC

peterbarker

+0 -30

This starts off looking very much like MAV_RESULT but then starts to differ B…ased off the name, remove this entirely so implementers are forced to move to MAV_RESULT. For reference, here's MAV_RESULT, which is what CMD_ACK actually uses as an enumeration for its value field: ``` <enum name="MAV_RESULT"> <description>Result from a MAVLink command (MAV_CMD)</description> <entry value="0" name="MAV_RESULT_ACCEPTED"> <description>Command is valid (is supported and has valid parameters), and was executed.</description> </entry> <entry value="1" name="MAV_RESULT_TEMPORARILY_REJECTED"> <description>Command is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.</description> </entry> <entry value="2" name="MAV_RESULT_DENIED"> <description>Command is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.</description> </entry> <entry value="3" name="MAV_RESULT_UNSUPPORTED"> <description>Command is not supported (unknown).</description> </entry> <entry value="4" name="MAV_RESULT_FAILED"> <description>Command is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.</description> </entry> <entry value="5" name="MAV_RESULT_IN_PROGRESS"> <description>Command is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation. There is no need for the sender to retry the command, but if done during execution, the component will return MAV_RESULT_IN_PROGRESS with an updated progress.</description> </entry> </enum> ```

github.com/ArduPilot/ardupilot

AP_Motors: Matrix: mixer simplification

ArduPilot:master ← IamPete1:motors_simplfication

opened 06:36PM - 07 Feb 23 UTC

IamPete1

+238 -105

This is simplification for the main motor mixer, the goal is to make the mixer e…asier to understand while being mathematically identical. This is more of a what it might look like than a tested suggestion. If this seems like a good idea we can test it is functionally the same using the motors example script. - moves the variables declared at the top down to where there used, this means that the handy comment that explains what they do is in the same place the variable is used. This also means a couple can become const. - ~moves to `if (!motor_enabled[i]) { continue; }` pattern. This means code is not a for and a if loop.~ - removes the unused variable `rp_low` and `rp_high` - adds a `boost_ratio` helper to simplify the code. - adds a `const float` intermediate step in the yaw headroom calc - un-nests two if statements in the `thr_adj` calculation. - moves `fabsf` to the denominator in the yaw headroom calc.

github.com/ArduPilot/ardupilot

AP_Camera: add mavlinkv2 camera support (e.g. Gremsy ZIO) WIP

ArduPilot:master ← rmackay9:camera-mavlinkv2-missions-plus-pbarker

opened 10:33AM - 08 Mar 23 UTC

rmackay9

+314 -3

This is a WIP PR to add support for the [MAVLink camera v2 protocol](https://mav…link.io/en/services/camera.html) including the [Gremsy ZIO](https://gremsy.com/zio) Support for the new MAVLink camera messages includes: - MAV_CMD_REQUEST_MESSAGE is sent to the camera asking for MAVLINK_MSG_ID_CAMERA_INFORMATION - MAVLINK_MSG_ID_CAMERA_INFORMATION is consumed and the camera's vendor, model and firmware version are displayed - MAV_CMD_IMAGE_START_CAPTURE to capture an image - MAV_CMD_SET_CAMERA_ZOOM to adjust the camera's zoom - MAV_CMD_SET_CAMERA_FOCUS to adjust the camera's focus - MAV_CMD_VIDEO_START_CAPTURE to start recording video - MAV_CMD_VIDEO_STOP_CAPTURE to stop recording video This as been successfully tested on a Gremsy ZIO. How to test: 1. load a binary created from this PR branch onto an autopilot 2. connect and configure the gimbal as described on the [AP Gremsy gimbal wiki page](https://ardupilot.org/copter/docs/common-gremsy-pixyu-gimbal.html) and confirm the gimbal can be controlled (perhaps using MP's Payload Control page as [described here on the wiki](https://ardupilot.org/copter/docs/common-mount-targeting.html)) 3. set CAM1_TYPE = 6 (MAVLinkCamV2) 4. restart the autopilot and check the GCS's messages screen to confirm the camera is found. A message like, "Camera: Gremsy ZIO fw:1.2.3.0" should be displayed 5. take a picture using the GCS. if using MP, right-mouse-button click on map and select "Trigger Camera NOW". 6. start/stop recording a video using MP's Aux Function tab 7. test zoom using MP's Aux Function tab 8. test manual and auto focus using MP's Aux function tab ![image](https://user-images.githubusercontent.com/1498098/225803766-df877cba-efe0-4de3-89e9-be28b5d326cd.png)

github.com/ArduPilot/ardupilot

Plane:allow airbrakes to be used

ArduPilot:master ← Hwurzburg:airbrakefix

opened 06:28PM - 21 Mar 23 UTC

Hwurzburg

+1 -0

What a tangled web...... A user complained that RC failsafe was activating his …flaps....simple SITL testing showed that indeed flaps went to servo_min during RC failure....reported and Tridge suggested a fix....it did not work....then I realized that the code was forcing manual FLAPS=0 until RC is restored which is indeed supposed to be no flaps, and is the correct behavior ..the user had setup his flaps servo as a manual spoiler AND flap which the FLAP function will not do correctly...so it was operating correctly...taking his input of 1500 and forcing the output to 1100 (should be no flaps)....BUT.... as I was checking every other flap or similar function, I discovered that AIRBRAKE was not being initialized....#20370 supposedly fixed, but did not actually...boot gives a nag message about the function as being not initialized....this PR addresses that...and manual AIRBRAKEs are indeed zero'd correctly during RC loss other than that DSPOILER and FLAPERON operation gives a glitch to full flaps for the first cycle after an RC fail but returns to 0 flaps on the next cycle..I doubt it causes issues... PS...since this has been broken for a very long time...pretty sure no one is using manually controlled airbrakes!

github.com/ArduPilot/ardupilot

AP_OSD:add option to correct direction arrows for BF font set

ArduPilot:master ← Hwurzburg:osd_arrow_direction

opened 03:26PM - 27 Mar 23 UTC

Hwurzburg

+15 -4

direction arrows are inverted and rotate in the opposite direction if BF font se…t is used instead of AP font sets...BF font is used on some DisplayPort goggle systems end user tested successfully in flight awaiting @yaapu opinion if this can be activated instead directly with MSP_OPTIONS bit that sets the use of BF font symbols in DisplayPort....I believe it can and I can drop the new OSD option bits...simple change

github.com/ArduPilot/ardupilot

AP_Motors: Tricopter: rework yaw servo defaulting, remove yaw from mix if no servo is setup

ArduPilot:master ← IamPete1:tricopter_no_yaw_servo

opened 04:33AM - 28 Mar 23 UTC

IamPete1

+34 -19

Moves checking of yaw servo setup to arming check. This also removes the last… user of the default channel variable in the `get_channel_for` function, tricopter was the last user. Adds a `_have_tail_servo` bool plane does not try to use the tail servo if none is setup.

github.com/ArduPilot/ardupilot

Add notify noises to Buzzer

ArduPilot:master ← Hwurzburg:buzzer

opened 02:33PM - 01 Apr 23 UTC

Hwurzburg

+19 -0

More and more autopilots are including the simple buzzer on their USB remotes...….the only useful sounds currently for someone standing next to the plane are armed and disarmed....this adds a noise when the plane must not be moved and when it first becomes arm ready....could be more complex and have it notify if pre-arm checks return before arm, but I don't think that it really needed in 99.9% of the cases where this would be used. flight tested

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.3.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [ ] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] CSRF on Matek h743 slim ([discussion](https://discuss.ardupilot.org/t/copter-4-3-5-released/98158/10)) - [ ] Yaapu telemetry failing somehow related to 2nd battery ([discussion](https://discuss.ardupilot.org/t/copter-4-3-5-rc1-released-for-beta-testing/97674)) - [ ] KDECAN not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22952), [discussion](https://discuss.ardupilot.org/t/kdecan-telemetry-not-working-in-4-3-series-firmware/96730)) - [ ] internal error on takeoff ([discussion](https://discuss.ardupilot.org/t/consistently-getting-internal-error-0x100000-i-57-flow-of-ctrl/95839)) - [ ] waiting for terrain data in stabilize mode with ter_pend = 0 ([discussion](https://discuss.ardupilot.org/t/prearm-waiting-for-terrain-data-i-couldnt-get-rid-of-the-error/95415/19)) - [ ] trajectory discrepancy in Non-GPS ([discussion](https://discuss.ardupilot.org/t/huge-trajectory-tracking-error-when-using-position-velocity-typemask/95483)) - [ ] baro drift before takeoff leads to flip ([discussion](https://discuss.ardupilot.org/t/barometer-drift-before-takeoff/95436)) - [ ] balancebot not protecting backwards? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta5-available-for-beta-testing/93379/7)) Copter specific issues (confirmed to be real) - [ ] RTL_SPEED does not work if WPNAV_SPEED adjusted ([also in 4.4 issues list](https://github.com/ArduPilot/ardupilot/issues/23192), [PR](https://github.com/ArduPilot/ardupilot/pull/23220)) - [ ] NMEA Output GGA message bug ([issue](https://github.com/ArduPilot/ardupilot/issues/23157)) - [ ] Copter do-change-speed mission command not working after takeoff command ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) -- existing issue in 4.2 as well Rover specific (confirmed to be real) - [ ] RoverS-Curves don't track a straight line as well as L1 ([issue](https://github.com/ArduPilot/ardupilot/issues/22183)) - [ ] internal error when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta2-has-been-released/91551/3)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) GCS specific issues (confirmed to be real) - [ ] Mission Planner needs updates for MNT1_ param name changes ([Plane user issue](https://github.com/ArduPilot/ardupilot/issues/21989), [Copter](https://discuss.ardupilot.org/t/gimbal-configuration-is-not-possible/93396/11)) Wiki related requests: - none Enhancement Requests (may or may not be done) - [ ] Servo pitch+yaw gimbal should use pitch servo to correct yaw when vehicle is rolled 90deg ([discussion](https://discuss.ardupilot.org/t/gimbal-poi-feature/92234/7), [enhancement request](https://github.com/ArduPilot/ardupilot/issues/22440)) -- future enhancement --- Resolved Issues - [x] Rover-4.4.0 with RTK UM980 doesn't find GPS ([discussion](https://discuss.ardupilot.org/t/about-rtk-module-supporting/95348)) -- pin out diagram was incorrect - [x] USD1 rangefinder on CAN interferes with DroneCAN GPS ([discussion](https://discuss.ardupilot.org/t/unable-to-use-gps-and-rangefinder-on-can-ports-1-and-2/97535/3)) -- user config error - [x] AHRS_TRIM_XY over 7.5 deg interferes with landing detector -- resolved in Copter-4.3.5-rc1 - [x] duplicate log FMT messages ([issue](https://github.com/ArduPilot/ardupilot/issues/22662), [PR](https://github.com/ArduPilot/ardupilot/pull/22670)) -- resolved in master - [x] Gremsy driver sending gimbal feed-forward values when vehicle is disarmed and pilot provides yaw input ([PR](https://github.com/ArduPilot/ardupilot/pull/22604)) -- resolved for 4.3.4 - [x] Surface Tracking oscillation with US-D1 lidar ([discussion](https://discuss.ardupilot.org/t/massive-amounts-of-noise-on-us-d1-radar-rangefinder-leads-to-erratic-altitude-hold/93132)) - [x] Surface Tracking using raw lidar instead of filt or interpolated leads to momentary fast climb ([PR](https://github.com/ArduPilot/ardupilot/pull/22611)) -- resolved for 4.3.4 - [x] Internal Error I:917 ([discussion1](https://discuss.ardupilot.org/t/internal-errors-0x100000-l-917-flow-of-ctr/87033/3), [discussion2](https://discuss.ardupilot.org/t/internal-errors-0x100000-i-921-flow-of-ctr-twitching-motion-in-loiter-during-forward-flight/93126), [discussion3](https://discuss.ardupilot.org/t/prearm-internal-errors-0x100000-l-921-flow-of-ctrl/93986), [PR](https://github.com/ArduPilot/ardupilot/pull/22298)) -- resolved for Copter-4.3.3-rc1 - [x] gimbal yaw jumps to far left when RC input > 1700 ([issue](https://github.com/ArduPilot/ardupilot/issues/22225), [PR](https://github.com/ArduPilot/ardupilot/pull/22442)) -- resolved for 4.3.3-rc1 - [x] baro alt error 5808m ([discussion1](https://discuss.ardupilot.org/t/copter-4-3-1-rc1-available-for-beta-testing/93378/7), [discussion2](https://discuss.ardupilot.org/t/prearm-error-gps-alt-error-5850m-see-baro-alterr/94099/3)) -- needed to set BARO_OPTIONS = 1 - [x] Kakute H7 V2 config error ([discussion](https://discuss.ardupilot.org/t/holybro-kakute-h7-v2-config-error-ins-unable-to-initialise-driver/92003)) -- resolved for 4.3.0-beta3 - [x] Arming check for slow loop rate triggering during motor test and compassmot ([issue](https://github.com/ArduPilot/ardupilot/issues/22388), [PR to revert for 4.3](https://github.com/ArduPilot/ardupilot/pull/22413)) - [x] message rates from a file not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22361), [PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4820)) -- wiki dev docs were wrong, fixed with PR - [x] slow param download with Pixracer on 4.3 vs 4.2 ([discussion](https://discuss.ardupilot.org/t/slow-parameter-loading-in-4-3/94075/3)) -- cannot reproduce, no response to request for logs - [x] AHRS and GPS differ pre-arm when doing non-GPS nav ([issue](https://github.com/ArduPilot/ardupilot/issues/22383), [PR](https://github.com/ArduPilot/ardupilot/pull/22393)) -- resolved for 4.3.3-rc1 - [x] SBus output not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14)) -- could not reproduce, receiver outputting SERIAL_CONFIG_8E1I instead of SERIAL_CONFIG_8E2I - [x] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) -- no logs, cannot progress - [x] Sporty takeoff ([discussion](https://discuss.ardupilot.org/t/feedback-and-assistance-with-new-takeoff-behaviour/94121)) -- change in behaviour, Leonard says param changes fix it - [x] prearm RNGFND1_PIN=103, set SERVO3_FUNCTION=-1. ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14), [PR](https://github.com/ArduPilot/ardupilot/pull/22375)) -- resolved for Copter-4.3.3 - [x] boot fails if too many dshot LEDs ([issue](https://github.com/ArduPilot/ardupilot/issues/22263), [discussion](https://discuss.ardupilot.org/t/problem-in-copter-4-3-with-the-subsytem-led-preventing-the-drone-from-startup/93992)) -- classified by Andy as an enhancement request. - [x] Siyi A8 mount always unhealthy ([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/92133/30), [PR](https://github.com/ArduPilot/ardupilot/pull/22313)) -- resolved for 4.3.1 - [x] AutoTune gains not loaded during pilot testing ([PR](https://github.com/ArduPilot/ardupilot/pull/22193)) -- resolved for 4.3.2 - [x] Solo gimbal not pointing down past 45 deg ([issue](https://github.com/ArduPilot/ardupilot/issues/22190)) -- RC6_TRIM issue - [x] Gimbal yaw-reset after pitch changed ([issue](https://github.com/ArduPilot/ardupilot/issues/22095)) -- QGC gimbal control issue - [x] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) -- user frame issue. - [x] Gremsy gimbal overloaded with high update rate of vehicle attitude messages ([PR](https://github.com/ArduPilot/ardupilot/pull/22151)) -- resolved for 4.3.1-beta1 - [x] User can't find Benewake H30 lidar ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/5)) -- not on sale yet - [x] SkyViper Journey broken (4.0.8 works, >4.1 does not) ([issue](https://github.com/ArduPilot/ardupilot/issues/21932), [PR](https://github.com/ArduPilot/ardupilot/pull/22134)) -- resolved for 4.3.1-beta1 - [x] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [x] Rover S-Curve tuning instructions ([wiki](https://ardupilot.org/rover/docs/rover-tuning-navigation.html)) - [x] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771), [PR](https://github.com/ArduPilot/ardupilot/pull/21830)) -- resolved for beta2 - [x] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) -- resolved for 4.3.0-beta2 - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · April 4, 2023, 3:07pm

Attendee count (max): 17

UTC1101 - conference debrief

“Epic”
Thanks to everyone involved
Louis is getting playlist up
Tridge is still missing Leonard’s slides and one other
People seem comfortable with Tom’s Reno proposal
- Visa issues?
Ethernet up and running on Cube Red and Pixhawk 6x!
Videos for Copter-following-boat coming
- More complicated things didn’t happen because of rain
Need to get Randy a wind vane 3D sensor like we used on sailboats
High-altitude non-GPS OF is still problematic

UTC1110 - common.xml: remove MAV_CMD_ACK by peterbarker · Pull Request #307 · ArduPilot/mavlink · GitHub

OK to remove MAV_CMD_ACK?
- OK with us, will work with upstream,

UTC1113 - mavproxy_console: filter SYS_STATUS messages before warning of internal errors by peterbarker · Pull Request #1164 · ArduPilot/MAVProxy · GitHub

Don’t throw internal errors if SYS_STATUS is not from ArduPilot
Merged!

UTC1115 - mavproxy_wp: use MAV_CMD_DO_SET_MISSION_CURRENT to set waypoints by peterbarker · Pull Request #1167 · ArduPilot/MAVProxy · GitHub

Change to use a setting to switch between the two
- And automatically if we get an unsupported

UTC1121 - AP_NavEKF3: reduce updates to wind estimates while dead reckoning by rmackay9 · Pull Request #21508 · ArduPilot/ardupilot · GitHub

Fix wind estimation to not update wind estimates if you don’t have GPS
Merged!

UTC1123 - AP_Motors: Matrix: mixer simplification by IamPete1 · Pull Request #22854 · ArduPilot/ardupilot · GitHub

Motor mixer simplification
Leonard’s approved it
Merged!

UTC1124 - AP_Camera: add mavlinkv2 camera support (e.g. Gremsy ZIO) WIP by rmackay9 · Pull Request #23138 · ArduPilot/ardupilot · GitHub

Mavlink2 camera support WIP PR
Gremsy tested it and it works
We need the extra define for this new backend
- This all goes on 1MB boards
Need to fix the %s problem

UTC1136 - AP_Common: Add same_loc_as() function to Location by sypaq-nexton · Pull Request #23264 · ArduPilot/ardupilot · GitHub

Add same_loc_as
Merged!

UTC1139 - Plane:allow airbrakes to be used by Hwurzburg · Pull Request #23270 · ArduPilot/ardupilot · GitHub

Allow brakes to be used
Init missing
merged!

UTC1142 - waf: per library C and C++ flags support by tridge · Pull Request #23288 · ArduPilot/ardupilot · GitHub

Per-library compiler flags C and C++
CI currently supports adding flags for specific board builds
This is more general and is fixed against the library rather than just in CI…
ardupilot/build_ci.sh at c63ec307f13fbeaef57b1b296018dca0e5ecee45 · ArduPilot/ardupilot · GitHub

UTC1147 - AP_Mount:Add GIMBAL_MANAGER_SET_ATTITUDE support by khanasif786 · Pull Request #23307 · ArduPilot/ardupilot · GitHub

Gimbal manager set_attitude support
Merged!

UTC1149 - AP_Scripting: Plane_aerobatics.lua enhancements by Hwurzburg · Pull Request #23311 · ArduPilot/ardupilot · GitHub

Aerobatics lua script enhancement
Documentation
Need to set the trick up properly now
Henry will go back and fix the docs up

UTC1156 - SRV_Channel: move FUNCTION @Values to multi line format by IamPete1 · Pull Request #23332 · ArduPilot/ardupilot · GitHub

Need to know output was correct!
Peter will do a quick check

UTC1158 - Add support for Covariance for GPS Accuracy · Issue #23259 · ArduPilot/ardupilot · GitHub

Covariance for GPS accuracy
Just fill diagonals with two copies of the horizontal position accuracy
- Can’t differentiate lat/lon
And the third is the z axis
uBlox output a covariance in various messages
Is the bandwidth worth it?
- Better than a diagonal matrix?
Dops are notoriously bad
- Geometric measure
- Reverse engineer back to the covariance…
Really just a position accuracy in meters at the end of the day
Some GPSs can’t give horizontal/vertical accuracy
- Enum for known/unknown can be determined from the return code of get_horizontal_accuracy
We’re sending through the GPS position here , not the vehicle position!

UTC0005 - Copter:add prearm check for no mission in AUTO by Hwurzburg · Pull Request #23336 · ArduPilot/ardupilot · GitHub

Add prearm check for no mission in AUTO
Should be in the Mission library not in the vehicles

UTC0011 - AP_OSD:add option to correct direction arrows for BF font set by Hwurzburg · Pull Request #23351 · ArduPilot/ardupilot · GitHub

Add option to correct direction arrows
A few logic issues
Arrow glyph decided by offset into array
3-pi because jagged translation
North-start-clockwise vs south-start-counter-clockwise!
Need a common function to get the arrow character
Tridge will work with Henry on cleaning this up

UTC0024 - AP_Motors: Tricopter: rework yaw servo defaulting, remove yaw from mix if no servo is setup by IamPete1 · Pull Request #23355 · ArduPilot/ardupilot · GitHub

Tidy yaw servo defaulting when no servo set up
Perhaps we should make an API call to say don’t do differential-thrust yaw?
- As we do for quadcopter/tilt
This may break working tricopter setups
Come back to this when PH is available

UTC0033 - Add notify noises to Buzzer by Hwurzburg · Pull Request #23378 · ArduPilot/ardupilot · GitHub

Add notify noises to buzzer
Remote USB with buzzer are becoming very popular
Use for gyro
Include to remove can then be merged

UTC0038 - Copter: remove stale conversion functions by peterbarker · Pull Request #23384 · ArduPilot/ardupilot · GitHub

Remove some parameter conversion functions
More conversion functions coming in for centidegrees/degrees coming in!
Airspeed naming?
- 10:41 AM]AndrewTridgell: TRIM_ARSPD_CM → AIRSPEED_CRUISE
- [10:41 AM]AndrewTridgell: ARSPD_FBW_MIN → AIRSPEED_MIN
- [10:41 AM]AndrewTridgell: ARSPD_FBW_MAX → AIRSPEED_MAX
- [10:42 AM]AndrewTridgell: TECS_LAND_ARSPD → AIRSPEED_LAND
- 10:44 AM]AndrewTridgell: could be AIRSPEED_TARGET
- 10:46 AM]AndrewTridgell: LIMIT_ROLL_DEG
- [10:46 AM]AndrewTridgell: LIMIT_PITCH_DEG
Whole bunch of quadplane parameters as well

UTC0048 - AP_DDS: Switch NavSatFix topic to sensor data QOS by pedro-fuoco · Pull Request #23371 · ArduPilot/ardupilot · GitHub

DDS QOS
Merged!

UTC0048 - Plane update

Clear mission disarmed in auto done
rts/crts radio was actually bad hardware
Big parameter changes for 4.5 is going to be the next big thing
Beta soon
Beta testing how?
- Rely on the fact we have an eclectic bunch of vehicles
- No set testing pattern
- NeedsTesting is an additional thing that can be tested
  - Tridge creates testing branches
- Usually by the time it gets to that stage
- Maybe a “FlightTest” tag?

UTC0055 - Copter update

4.3.6 will go out the door soon
There’s some backports for 4.2 and 4.1
- Wonky loiter takeoff
- And the d-shot bug
4.4 beta testing this week

UTC0057 - GSoC

Last day for proposals!

Attendee count (max): 17

UTC1101 - conference debrief

UTC1110 - common.xml: remove MAV_CMD_ACK by peterbarker · Pull Request #307 · ArduPilot/mavlink · GitHub

UTC1113 - mavproxy_console: filter SYS_STATUS messages before warning of internal errors by peterbarker · Pull Request #1164 · ArduPilot/MAVProxy · GitHub

UTC1115 - mavproxy_wp: use MAV_CMD_DO_SET_MISSION_CURRENT to set waypoints by peterbarker · Pull Request #1167 · ArduPilot/MAVProxy · GitHub

UTC1121 - AP_NavEKF3: reduce updates to wind estimates while dead reckoning by rmackay9 · Pull Request #21508 · ArduPilot/ardupilot · GitHub

UTC1123 - AP_Motors: Matrix: mixer simplification by IamPete1 · Pull Request #22854 · ArduPilot/ardupilot · GitHub

UTC1124 - AP_Camera: add mavlinkv2 camera support (e.g. Gremsy ZIO) WIP by rmackay9 · Pull Request #23138 · ArduPilot/ardupilot · GitHub

UTC1136 - AP_Common: Add same_loc_as() function to Location by sypaq-nexton · Pull Request #23264 · ArduPilot/ardupilot · GitHub

UTC1139 - Plane:allow airbrakes to be used by Hwurzburg · Pull Request #23270 · ArduPilot/ardupilot · GitHub

UTC1142 - waf: per library C and C++ flags support by tridge · Pull Request #23288 · ArduPilot/ardupilot · GitHub

UTC1147 - AP_Mount:Add GIMBAL_MANAGER_SET_ATTITUDE support by khanasif786 · Pull Request #23307 · ArduPilot/ardupilot · GitHub

UTC1149 - AP_Scripting: Plane_aerobatics.lua enhancements by Hwurzburg · Pull Request #23311 · ArduPilot/ardupilot · GitHub

UTC1156 - SRV_Channel: move FUNCTION @Values to multi line format by IamPete1 · Pull Request #23332 · ArduPilot/ardupilot · GitHub

UTC1158 - Add support for Covariance for GPS Accuracy · Issue #23259 · ArduPilot/ardupilot · GitHub

UTC0005 - Copter:add prearm check for no mission in AUTO by Hwurzburg · Pull Request #23336 · ArduPilot/ardupilot · GitHub

UTC0011 - AP_OSD:add option to correct direction arrows for BF font set by Hwurzburg · Pull Request #23351 · ArduPilot/ardupilot · GitHub

UTC0024 - AP_Motors: Tricopter: rework yaw servo defaulting, remove yaw from mix if no servo is setup by IamPete1 · Pull Request #23355 · ArduPilot/ardupilot · GitHub

UTC0033 - Add notify noises to Buzzer by Hwurzburg · Pull Request #23378 · ArduPilot/ardupilot · GitHub

UTC0038 - Copter: remove stale conversion functions by peterbarker · Pull Request #23384 · ArduPilot/ardupilot · GitHub

UTC0048 - AP_DDS: Switch NavSatFix topic to sensor data QOS by pedro-fuoco · Pull Request #23371 · ArduPilot/ardupilot · GitHub

UTC0048 - Plane update

UTC0055 - Copter update

UTC0057 - GSoC

UTC0058 - close