Dev call Aug 12, 2024

CraigElder · August 12, 2024, 10:54pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

fixed statbility issue in tailsitter in qrtl mode

ArduPilot:master ← nishant-sg:qrtl-fix-tailsitter

opened 02:02AM - 06 Mar 24 UTC

nishant-sg

+18 -6

ArduPlane : Fixing issue in tailsitter https://github.com/ArduPilot/ardupilot/is…sues/25771 Changed tailsitter condtion to maintain height after transition into VTOL and in QRTL mode Increased duration transition to VTOL in tailisitter to 2 seconds to provide better stability. Before: https://github.com/ArduPilot/ardupilot/assets/70840360/1ede6dd3-1334-4d6c-93ac-c7cb5831fa06 After: https://www.youtube.com/watch?v=KfMJsq_d0Rk

github.com/ArduPilot/ardupilot

Plane: do not set desired vel/accel on takeoff for quadplanes

ArduPilot:master ← magate:patch-1

opened 10:24PM - 20 Mar 24 UTC

magate

+0 -2

This effectively bypasses the input shaping. Currently this creates a step ch…ange in the position controller. ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/e2413187-5ae2-4fb1-94aa-30ef9072ab44) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/5d7075ce-985a-4ec5-b884-5ee53f4098ac) Removing this allows for the smooth setting. ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/cf596d5d-c9ac-4141-9675-a5d31f22ea12) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/c72575e5-33f3-403a-ba73-2489dd337db2)

github.com/ArduPilot/ardupilot

Filter: LowPassFilter: split into two classes for constant and varable dt

ArduPilot:master ← IamPete1:filter_split

opened 01:30PM - 27 Jul 24 UTC

IamPete1

+198 -146

This splits our existing `LowPassFilter` class into a class which uses variable …time step and passes the dt in the apply call and a class which uses constant dt. The variable dt class retains the `LowPassFilter` name, the constant dt class is `LowPassFilter_const_dt`. The key thing is to only provide methods that will work together. This found two bugs, copters flow hold `set_cutoff_frequency` call would not work while in the mode, only on init, so a cuttoff frequency param change would not take effect in teal time. Secondly the SITL battery voltage filter is currently none functional because it was using the constant dt methods without setting the sample rate. Where needed the class has been changed to the constant dt version.

github.com/ArduPilot/ardupilot

Stop Missions blowing past desired speeds

ArduPilot:master ← peterbarker:pr/scurve-mission-speed-problem

opened 06:10AM - 02 Aug 24 UTC

peterbarker

+125 -5

SCurve navigation plans its segments based off the current vehicle speed, not ta…king into account that the speed can be changed between the next waypoint and the one after it. This has led to a crash where the vehicle accelerated up to its waypoint navigation speed and was travelling too fast for the rise in terrain it was traveling over. i.e. the mission was well-planned but the unexpected velocity caused a crash. The included autotest reproduces this in SITL (assuming you comment-out the actual test in the test, `ensure_low_gps_speed` you can get the log which produced the pre-fix graphs below): Pre-fix: ![image](https://github.com/user-attachments/assets/f59998b2-0b52-44bb-89f7-cb1250311942) Post-fix: ![image](https://github.com/user-attachments/assets/2b689812-d52f-482e-bc6b-5dd6a39ce5d7) This will be a positive change for users who set a speed at the start of their missions and stick to it. This will potentially be a negative change for users who are changing speeds many times as part of their missions. A better fix *might* be to pass the expected speed for the next segment in. However, there may be (a) a delay before we `DO_CHANGE_SPEED` and (b) there may be multiple `DO_CHANGE_SPEED`s. Example of pathological case which makes correct SCurve planning difficult: `MAV_CMD_DO_CONDITION_YAW` followed by `DO_CHANGE_SPEED`. Not actually an unreasonable demand in a mission, but planning your vel/accel profile becomes problematic when you don't *really* know how long that condition might take to become true! This work sponsored by Harris Aerial

github.com/ArduPilot/ardupilot

AP_ICEngine: move to using servo endpoints and RC option

ArduPilot:master ← IamPete1:ICE_param_conversion

opened 01:21PM - 03 Aug 24 UTC

IamPete1

+153 -32

This removes the separate set of servo endpoints that ICE was using. `ICE_PWM_IG…N_ON`, `ICE_PWM_IGN_OFF`, `ICE_PWM_STRT_ON`, `ICE_PWM_STRT_OFF`. Instead the normal servo function min/max/reversed params are used. This also removes `ICE_START_CHAN` in favor of a new aux function. The param conversion has been tested in SITL. In order to allow the user to go back and forth between versions a new hidden param has been added to act as a format version for the ICE lib. This ensures the conversion is only done one time. In order to maintain the existing behavior a new `set_output_min_max_defaults` was added to the `SRV_Channel` lib. There should be no change in behavior. The goal is just to clear up conflicting parameters to make it easier to setup.

github.com/ArduPilot/ardupilot

Autotune: Add switch to test gains after tune is complete

ArduPilot:master ← IamPete1:autotune_test_switch

opened 11:03AM - 05 Aug 24 UTC

IamPete1

+133 -80

This adds a switch allowing the user to test gains in any mode once the autotune… has been completed. If the user has used the switch they can then disarm in any mode and the gains will be saved if they are active. If the user does not use the switch then they must disarm in autotune to save gains per the current behavior. This allows easy testing of the tune in any mode and makes the procedure to save a little simpler. The load test gains functions have been updated to ensure they use the same criteria as the saving of gains for the load. Currently they were not checking if a axis had completed, only that the axis was enabled.

github.com/ArduPilot/ardupilot

Allow a Lua script to return to a previous mission track

ArduPilot:master ← timtuxworth:pr-crosstrack-lua

opened 04:22PM - 05 Aug 24 UTC

timtuxworth

+116 -1

As discussed in #27639 on the dev call on 29 Aug 2024, added a way to get the pr…evious WP location prior to switching out of AUTO mode and then restore it again after (in my case) doing some terrain object avoidance. This allows a plane to resume cross tracking mid mission which is required for magnetic field measurements in wilderness areas. I changed the names proposed by @tridge in the call because: 1. getting the previous WP could conceivably be used for other purposes not just cross tracking, so I'm proposing vehicle:get_previous_location() 2. Restoring the previous location for crosstracking also requires setting the internal crosstrack boolean to true, so proposing to call this vehicle:set_crosstrack_start() which both sets the prev_WP_loc and also sets auto_state.crosstrack = true to resume cross tracking for the current mission item. Includes a sample lua script which requires you to be running a mission. A switch will save the previous location (high) and switch to loiter, then resume the mission and restore crosstracking (low). This screen shot shows a loiter being triggered, then switching back to crosstracking and resuming the path by crosstracking to the mission track rather than just heading direct for the next WP (WP 10). ![Screenshot 2024-08-05 100641](https://github.com/user-attachments/assets/11aeedaf-3999-4744-97fb-5fbcc8974181)

github.com/ArduPilot/ardupilot

AP_Periph: add support for extended ESC DroneCAN message.

ArduPilot:master ← IamPete1:periph_extended_esc

opened 12:47AM - 07 Aug 24 UTC

IamPete1

+218 -27

This builds on https://github.com/ArduPilot/ardupilot/pull/27771 to allow testin…g of both it and https://github.com/ArduPilot/ardupilot/pull/27755. They do work: ![image](https://github.com/user-attachments/assets/c9bd1cc1-d5b9-4aee-9119-5981a5606933) On Periph this is not enabled by default. If it is enabled it sends each ESC in turn such that they are each sent at the set `ESC_EXT_TLM_RATE`, by default this is 10 times lower than the default ESC status message rate. I had to add getters into AP_ESC_Telem for periph to read the values. I also added some token values to the SITL esc backend. I have also added a helper to ESC telem for the get functions to check the type bitmask and if the data is stale in one call.

github.com/ArduPilot/ardupilot

AP_Math: correct warning on fabsF

ArduPilot:master ← peterbarker:pr/fabsf-warning-fix

opened 02:53AM - 08 Aug 24 UTC

peterbarker

+1 -1

This is a bit weird, actually. Surely this is true of the trig functions in h…ere too. When we explicitly instantiate `Vector3<double>` and we're using 32-bit maths we'll use the float versions of the trig functions when determining angles and whatnot for that instantiation? ``` 2024-08-08T01:51:53.6780446Z ../../libraries/AP_Math/vector3.cpp:432:9: warning: absolute value function 'fabsf' given an argument of type 'const double' but has parameter of type 'float' which may cause truncation of value [-Wabsolute-value] 2024-08-08T01:51:53.6781336Z if (fabsF(cosv) >= 1) { 2024-08-08T01:51:53.6781583Z ^ 2024-08-08T01:51:53.6781930Z ../../libraries/AP_Math/ftype.h:50:18: note: expanded from macro 'fabsF' 2024-08-08T01:51:53.6782342Z #define fabsF(x) fabsf(x) 2024-08-08T01:51:53.6782572Z ^ 2024-08-08T01:51:53.6789178Z ../../libraries/AP_Math/vector3.cpp:633:16: note: in instantiation of member function 'Vector3<double>::angle' requested here 2024-08-08T01:51:53.6789800Z template class Vector3<double>; ```

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: - [ ] EKF3 altitude slow correction with GPS broken? ([discussion](https://discuss.ardupilot.org/t/ekf3-use-barometer-and-gps-for-altitude-posz/119540), [related PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [ ] Lua scripting binding for "play_tune" not working (reported by muramura in general channel) - [ ] OmnibusF4 lost External Baro support? ([issue](https://github.com/ArduPilot/ardupilot/issues/27315)) - [ ] MR72 CAN rangefinder not adding distances to OA database ([issue](https://github.com/ArduPilot/ardupilot/issues/27216)) - [ ] Alexmos not working ([Plane forum discussion](https://discuss.ardupilot.org/t/plane-4-5-release/115620/19)) - [ ] Auto mode using rangefinder should trigger failsafe if user disables rangefinder (reported by Harris Aerial) - [ ] Custom build server of MatekH743 + flowhold ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/55)) - [ ] 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 - [ ] CAM messages with Img field "0" appearing in logs without pictures being taken (reported by Randy) -- Randy Confirmed issues: - [ ] **EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650))** - [ ] SCurves internal error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-3-beta1-is-available-for-beta-testing/117962/10)) - [ ] LD06 proximity sensor buffer overflow (reported in Discord Rover channel, [PR](https://github.com/ArduPilot/ardupilot/pull/27059)) - [ ] Rover watchdog on 4.5.1 ([discussion](https://discuss.ardupilot.org/t/rover-4-5-2-beta1-available-for-beta-testing/117186/7)) - [ ] 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 - [ ] SmartRTL flow of control error ([pre-existing issue](https://github.com/ArduPilot/ardupilot/issues/17416)) -- Randy, PeterB - [ ] APM_Config can't be used to include/exclude features ([issue](https://github.com/ArduPilot/ardupilot/issues/26654)) Enhancements or Issues that may not be resolved before the stable release: - [ ] ESC Telemetry on OSD for Servo9 ([issue](https://github.com/ArduPilot/ardupilot/issues/27064)) -- andy1piper says this is caused by a bug fix and so an enhancement request is required - [ ] DJI RS2 lock/follow not working? ([discussion](https://discuss.ardupilot.org/t/ap-support-for-dji-rs2-rsc2-rs3-gimbals-maybe/91830/39), [issue](https://github.com/ArduPilot/ardupilot/issues/27016)) -- existing issue - [ ] CAM2 using CAM1 servo output ([discussion](https://discuss.ardupilot.org/t/separate-cam1-and-cam2-triggering/117468), [issue](https://github.com/ArduPilot/ardupilot/issues/27015)) - [ ] 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: - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/5916 - [x] 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] Guided mode yaw when WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/27317), [PR](https://github.com/ArduPilot/ardupilot/pull/27318)) -- fixed ahead of 4.5.5 - [x] https://github.com/ArduPilot/ardupilot/issues/27171 -- resolved ahead of 4.5.4-rc1 - [x] EKF3 endless climb with EK3_OGN_HGT_MASK ([PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [x] Kakute buzzer scream ([issue](https://github.com/ArduPilot/ardupilot/issues/27120)) -- custom developmen issue - [x] https://github.com/ArduPilot/ardupilot/issues/27017 ([PR](https://github.com/ArduPilot/ardupilot/pull/27099)) - [x] CubeOrange with Siyi A8 failing to boot 1 in 20 times ([issue](https://github.com/ArduPilot/ardupilot/issues/26852)) -- fixed with Siyi firmware 0.3.7 - [x] 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)) -- resolved for 4.5.3-beta1 - [x] NoopLoop TOFSense-P noise ([discussion](https://discuss.ardupilot.org/t/rangefiner-on-fast-speed-low-altitude-quadcopter/116591/14)) -- not 4.5.0, cannot reproduce (Rishabh) - [x] 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), [PR](https://github.com/ArduPilot/ardupilot/pull/27003)) -- PeterB -- resolved for 4.5.3-beta1 - [x] RC SBus input on Navio2 ([discussion](https://discuss.ardupilot.org/t/rc-channels-stuck-and-not-following-sys-kernel-rcio-rcin-ch/117191)) -- QGC issue - [x] Avoidance backup for Z-axis is unconstrained ([PR](https://github.com/ArduPilot/ardupilot/pull/26858)) -- fixed for 4.5.3-beta1 - [x] 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)) -- fixed in 4.5.2-beta1 - [x] 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), [PR](https://github.com/ArduPilot/ardupilot/pull/26929)) -- hardware issue, work around ready for 4.5.3-beta1 - [x] 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), [PR with fix](https://github.com/ArduPilot/ardupilot/pull/26899)) -- fixed for 4.5.3-beta1 - [x] 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)) -- fixed for 4.5.3-beta1 - [x] Copter-4.6 filter issue ([discussion](https://discuss.ardupilot.org/t/notch-filters-turn-on-with-a-delay/116276/14)) -- not present in 4.5 - [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)) -

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 - [x] 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 - [ ] should implement this for plane: https://github.com/ArduPilot/ardupilot/pull/26383 - [ ] baro compensation: https://github.com/ArduPilot/ardupilot/pull/26917 - [ ] surfaces to max on soft reboot, 350ms pulse - [ ] https://github.com/ArduPilot/ardupilot/pull/23658 - [ ] https://github.com/ArduPilot/ardupilot/pull/27115 - [ ] use of 2nd airspeed if ARSPD_USE=0 and ARSPD_PRIMARY=0 and ARSP2_USE=1 - [ ] https://github.com/ArduPilot/ardupilot/issues/27171 - [ ] during fence breach flyto bypasses fence - [ ] errno race condition in GCS_FTP - [ ] should have common mutex in DNA server instances - [ ] remove EK3 dependence on GPS lag for horizon lag size - [ ] add ICE_OPTIONS bit for ignoring start on rc channel if it hasn't seen off - [ ] holybro G4 GPS F9P still configuring forever with moving baseline yaw - [ ] should check AP_Param::done_all_default_params at arming, warn of unused param in a defaults.parm - [ ] autotune save on disarm must happen after soft armed goes false - [ ] arming check quadplane for notch with N*bw > 3*freq Resolved - [x] https://github.com/ArduPilot/ardupilot/pull/26133 Longer term - [x] https://github.com/ArduPilot/ardupilot/pull/25442 - [ ] rebuild newlib and remove all possible abort() calls

CraigElder · August 14, 2024, 3:41pm

Attendee count (max): 16

UTC2301 - DFReader: fixed handling of multlipiers from FMTU and MULT by tridge · Pull Request #965 · ArduPilot/pymavlink · GitHub

Scaled innovations fix from last week broken scaled innovations in both MAVExplorer and MissionPlanner
- Probably a bug in pymavlink and in MissionPlanner
We probably need to revert the change
And then fix pymavlink and MissionPlanner
Peter will raise a PR to revert the ArduPilot change
- We can fix pymavlink quickly
- Fixing MissionPlanner open timeline

UTC2306 - Plane: fixed statbility issue in tailsitter in qrtl mode by nishant-sg · Pull Request #26417 · ArduPilot/ardupilot · GitHub

Fix stability issue in tailsitter in qrtl mode
This special-case fixes things in qrtl
Add a parameter for holding before descent
- Like the Copter one
- When set and entering descent phase call vertical controller with zero vertical velocity
Might be good to do weather vaning before descent too?
Vtol position controller changes?
Out-of-tree tailsitter model would be nice to have in-our models repo

UTC2314 - Plane: do not set desired vel/accel on takeoff for quadplanes by magate · Pull Request #26573 · ArduPilot/ardupilot · GitHub

Do not set desired vel/accel on takeoff for quadplanes
Zeroing of posvelaccel introduces a step-change
- This removes that
- Stops bypassing the input shaping
Tridge thinks the fix will work
- But doesn’t quite understand why this isn’t being called more often than thought
Flown a lot
Merged!

UTC2314 - Filter: LowPassFilter: split into two classes for constant and varable dt by IamPete1 · Pull Request #27670 · ArduPilot/ardupilot · GitHub

Split lowpass into two classes
If someone tests something and wants to provide feedback, how do they do that?
- Add a comment to the PR saying they flew it
- Some analysis
- E.g. “Did back to back test with master, all good”
- E.g. “here’s a before graph and an after graph”
- Including a log also agood idea

UTC2326 - Stop Missions blowing past desired speeds by peterbarker · Pull Request #27733 · ArduPilot/ardupilot · GitHub

DO_CHANGE_SPEED now changing segment of current segment too early
Need to change the API to do this properly
Peter and Leonard will sit down and look at it

UTC2329 - AP_ICEngine: move to using servo endpoints and RC option by IamPete1 · Pull Request #27745 · ArduPilot/ardupilot · GitHub

Quadplane CI test was setting up a different channel
People using default parameter files will be in trouble past that
Sanity check for parameters didn’t work because of enable parameters
Run param parse at compile-time to see if your defaults file is correct?
Is there any way this could cause ICE to start?
- Changing the start chan
- Will default to nothing-will-happen
Follow-up patch will move to aux function

UTC2340 - Autotune: Add switch to test gains after tune is complete by IamPete1 · Pull Request #27754 · ArduPilot/ardupilot · GitHub

Test gains after tune is complete
Add an internal error when we try to save too many parameters
- PH will raise a separate PR
Need to have switch in the high position to save the new gains
Is it OK to discard your tune if you land in the original gains?
Merged!

UTC2357 - AP_DroneCAN: DNA_Server: lock all high level database operations by tpwrules · Pull Request #27750 · ArduPilot/ardupilot · GitHub

Lock operations in DNA server
Sid approved
Merged!

UTC2358 - Plane: Allow a Lua script to return to a previous mission track by timtuxworth · Pull Request #27759 · ArduPilot/ardupilot · GitHub

Add a LUA script to return to previous mission track
Script to record previous waypoint
Script will need to sanity check the previous location

UTC0011 - AP_Periph: add support for extended ESC DroneCAN message. by IamPete1 · Pull Request #27772 · ArduPilot/ardupilot · GitHub

Add support for extended ESC DroneCAN message from Periph
Adds a rate message for the ability to send the extra data
Volatile-on-a-method?
- C++ - What does volatile represent when applied to a method? - Stack Overflow
We’ll remove the volatile keyword
Few minor cleanups

UTC0018 - AP_VideoTX:add additional freq bands(RushFPV 3.3GHz) by zvldz · Pull Request #27784 · ArduPilot/ardupilot · GitHub

Add additional frequency bands to VideoTX
MergeOnCIPass

UTC0019 - Flywoo H743 Pro by andyp1per · Pull Request #27785 · ArduPilot/ardupilot · GitHub

FlyWoo H743 Pro
Merged!

UTC0020 - AP_Mission: do not use float functions on integers by peterbarker · Pull Request #27788 · ArduPilot/ardupilot · GitHub

Using floating point functions on integers
Check for explicit flag values instad
Bitmask of valid fields

UTC0038 - AP_Math: correct warning on fabsF by peterbarker · Pull Request #27792 · ArduPilot/ardupilot · GitHub

Corrects a compilation warning on fabsF
Merged!

UTC0042 - AP_Scripting: correct compilation when AP_SCRIPTING_SERIALDEVICE_ENAB… by peterbarker · Pull Request #27812 · ArduPilot/ardupilot · GitHub

Fix compilation error when serialdevice enabled is false
Merged!

UTC0043 - AP_Logger: correctly read file header for block logger by andyp1per · Pull Request #27815 · ArduPilot/ardupilot · GitHub

Fix timestamps in logger-block
Merged!

UTC0045 - AP_OpticalFlow: simplify condition used for building onboard optical … by peterbarker · Pull Request #27816 · ArduPilot/ardupilot · GitHub

Simplify include of opticalflow onboard
Merged

UTC0045 - Correct compilation when network port registering disabled by peterbarker · Pull Request #27817 · ArduPilot/ardupilot · GitHub

Correct compilation when network port registering disabled
merged!

UTC0048 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

Plane update
Stability tailsitter patch to look at
Multi-source throttle notch
- Tridge wants a prearm check for quadplane for this
GPS configuring forever fix
Sub user using AM32 ESCs
- DShot implementation on IOMCU is not the same for zero-throttle
- Can cause motors to be spinning on startup
- 3D ESCs you can end up sending 1024 rather than zero

UTC0052 - Copter/Rover update

Need to get 4.5.6 out for beta testing
- one little fix for PayloadPlace which causes it to not climb

Dev call Aug 12, 2024

Attendee count (max): 16

UTC2301 - DFReader: fixed handling of multlipiers from FMTU and MULT by tridge · Pull Request #965 · ArduPilot/pymavlink · GitHub

UTC2306 - Plane: fixed statbility issue in tailsitter in qrtl mode by nishant-sg · Pull Request #26417 · ArduPilot/ardupilot · GitHub

UTC2314 - Plane: do not set desired vel/accel on takeoff for quadplanes by magate · Pull Request #26573 · ArduPilot/ardupilot · GitHub

UTC2314 - Filter: LowPassFilter: split into two classes for constant and varable dt by IamPete1 · Pull Request #27670 · ArduPilot/ardupilot · GitHub

UTC2326 - Stop Missions blowing past desired speeds by peterbarker · Pull Request #27733 · ArduPilot/ardupilot · GitHub

UTC2329 - AP_ICEngine: move to using servo endpoints and RC option by IamPete1 · Pull Request #27745 · ArduPilot/ardupilot · GitHub

UTC2340 - Autotune: Add switch to test gains after tune is complete by IamPete1 · Pull Request #27754 · ArduPilot/ardupilot · GitHub

UTC2357 - AP_DroneCAN: DNA_Server: lock all high level database operations by tpwrules · Pull Request #27750 · ArduPilot/ardupilot · GitHub

UTC2358 - Plane: Allow a Lua script to return to a previous mission track by timtuxworth · Pull Request #27759 · ArduPilot/ardupilot · GitHub

UTC0011 - AP_Periph: add support for extended ESC DroneCAN message. by IamPete1 · Pull Request #27772 · ArduPilot/ardupilot · GitHub

UTC0018 - AP_VideoTX:add additional freq bands(RushFPV 3.3GHz) by zvldz · Pull Request #27784 · ArduPilot/ardupilot · GitHub

UTC0019 - Flywoo H743 Pro by andyp1per · Pull Request #27785 · ArduPilot/ardupilot · GitHub

UTC0020 - AP_Mission: do not use float functions on integers by peterbarker · Pull Request #27788 · ArduPilot/ardupilot · GitHub

UTC0038 - AP_Math: correct warning on fabsF by peterbarker · Pull Request #27792 · ArduPilot/ardupilot · GitHub

UTC0042 - AP_Scripting: correct compilation when AP_SCRIPTING_SERIALDEVICE_ENAB… by peterbarker · Pull Request #27812 · ArduPilot/ardupilot · GitHub

UTC0043 - AP_Logger: correctly read file header for block logger by andyp1per · Pull Request #27815 · ArduPilot/ardupilot · GitHub

UTC0045 - AP_OpticalFlow: simplify condition used for building onboard optical … by peterbarker · Pull Request #27816 · ArduPilot/ardupilot · GitHub

UTC0045 - Correct compilation when network port registering disabled by peterbarker · Pull Request #27817 · ArduPilot/ardupilot · GitHub

UTC0048 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

UTC0052 - Copter/Rover update

UTC0054 - GSoC drawing to a close

UTC0055 - Conference

UTC0056 - close