Dev call Aug 19, 2024

CraigElder · August 19, 2024, 10:49pm

Issues & Pull Requests

github.com/ArduPilot/pymavlink

mavutil: add WebSocket Server mavlink_connection type

ArduPilot:master ← IamPete1:websockets

opened 12:25AM - 15 Aug 24 UTC

IamPete1

+117 -0

This adds support for a WebSocket server connection type. This is used with the …prefix `wsserver`. For example `wsserver:localhost:5763`. https://github.com/mavlink/mavlink2rest also does WebSockets, however, it sends a MAVLink JSON object in a text WebSocket message. This sends raw MAVLink in the binary WebSocket message. I have tested with a browser based client. It does work, but I wrote it too, so its not a independent test. I have also only tested sending from server to client, not from client to server. The more common python WebSocket [library ](https://websockets.readthedocs.io/en/stable/) is designed for a asyncio workflow which makes it hard to integrate here. I ended up using [wsproto](https://python-hyper.org/projects/wsproto/en/stable/) mostly because it had a synchronous server [example](https://github.com/python-hyper/wsproto/blob/main/example/synchronous_server.py). It would be nice to get multi client working in the future. I'm not sure if we would want that to work under this same prefix or if we would want to add a new prefix to enable that. Packetisation to get more data into each packet might also be a good idea.

github.com/ArduPilot/ardupilot

added driver for MLX90614 Temperature sensor

ArduPilot:master ← rahulOCR:pr-mlx90-sensor

opened 02:01PM - 25 Apr 24 UTC

rahulOCR

+105 -1

Hey everyone, I am resubmitting this PR as per code of conduct of Ardupilot aft…er closing #26644 I am submitting this PR to merge into master. I have added MLX90614 temperature sensor into AP_TemperatureSensor library. Using data-sheet provided [Link of data-sheet]](https://www.melexis.com/en/documents/documentation/datasheets/datasheet-mlx90614). I have used this to get ambient temperature of cabin of battery. **WIKI:** Hi I am attaching datasheet, wiki and photos for interfacing. MLX90614 sensor is an infrared thermometer for non-contact temperature measurements. Both the IR sensitive thermopile detector chip and the signal conditioning ASIC are integrated in the same TO-39 can. Integrated into the MLX90614 are a low noise amplifier, 17-bit ADC and powerful DSP unit thus achieving high accuracy and resolution of the thermometer. set (examples shown for first sensor): [TEMP1_TYPE](https://ardupilot.org/copter/docs/parameters.html#temp1-type) = 0:Disabled, 1:TSYS01, 2:MCP9600, 3:MAX31865, 4:TSYS03, 5:Analog, 6:DroneCAN, 7:MLX90614 Sensor type [TEMP1_BUS](https://ardupilot.org/copter/docs/parameters.html#temp1-bus) = 0-3 Board’s I2C port on which the sensor is attached [TEMP1_ADDR](https://ardupilot.org/copter/docs/parameters.html#temp1-addr) = the sensor’s I2C address (0-127). For this sensor, 90 [TEMP1_SRC](https://ardupilot.org/copter/docs/parameters.html#temp1-src) = which other temperature reporting device type should have its temperature report replaced with this sensor’s. [TEMP1_SRC_ID](https://ardupilot.org/copter/docs/parameters.html#temp1-src-id) = this identifies which individual device, of the above type, should have its report replaced. ![318392511-4a5c6cde-a86b-47e0-a5c3-8bec4d2a5e01](https://github.com/ArduPilot/ardupilot/assets/56602737/ce392d65-23ad-4dfa-b314-72fda6c07fe0) [MLX90614-Datasheet-Melexis.pdf](https://github.com/ArduPilot/ardupilot/files/14823016/MLX90614-Datasheet-Melexis.pdf)

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

Plane: 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

+126 -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() - REMOVED based on the dev call on 12 Aug 2024 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. The sample script includes a LocationTracker() class which can be used to save previous target locations that can be passed to set_crosstrack_start() 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

+254 -33

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

Copter: Disarm: move autotune disarm call after setting soft arm false

ArduPilot:master ← IamPete1:autotune_save_order

opened 12:34AM - 13 Aug 24 UTC

IamPete1

+5 -5

This just moves the autotune disarm call down inside the same function. The key …thing is to be be after `hal.util->set_soft_armed(false);` so there is more room in the param save queue. See also: https://github.com/ArduPilot/ardupilot/pull/27820 I also checked quadplane, but it is already doing it in the correct order.

github.com/ArduPilot/ardupilot

AP_TemperatureSensor: add AP_TEMPERATURE_SENSOR_BACKEND_DEFAULT_ENABLED

ArduPilot:master ← peterbarker:pr/temperaturesensor-enabled

opened 01:57AM - 14 Aug 24 UTC

peterbarker

+7 -3

``` Board AP_Periph blimp bootloader copter heli iofirm…ware plane rover sub CubeOrange-periph-heavy * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

SRV_Channels: find_channel: use channel mask remove need for search over all channels

ArduPilot:master ← IamPete1:servo_find_channel

opened 02:03PM - 15 Aug 24 UTC

IamPete1

+16 -7

This should speed up the find channel call so its less painful at higher rates. …https://github.com/ArduPilot/ardupilot/pull/27843 ~~I have not tested this, or had a in depth look to see if its a good idea.~~ I think this is OK, there will be slightly more lag when a function is changed, we should not be changing functions at runtime so I think its OK.

github.com/ArduPilot/ardupilot

AHRS: added common origin between backends

ArduPilot:master ← tridge:pr-common-origin

opened 09:38PM - 15 Aug 24 UTC

tridge

+69 -18

This ensures that EKF2, EKF3 and ExternalAHRS all have a common origin Note t…hat the origin will come from the first running backend that gets an origin, even if it is not the active backend. This is needed because EKF2 and EKF3 refuse to change origin once it is set. The placement of this code in the update function for each backend is done as two backends may get an origin on the same loop, so we must check for an origin as soon as we call the backends update

github.com/ArduPilot/ardupilot

GCS_MAVLink: treat clear-all as zero-item-upload

ArduPilot:master ← peterbarker:pr/missionitemprotocol-clear-all-is-zero-item-upload

opened 11:59PM - 15 Aug 24 UTC

peterbarker

+68 -10

~these would appear to be identical operations.~ clear differs from a 0-item-up…load in the "clear" is only allowed disarmed, and resets a whole bunch of mission state (e.g. the loaded item). Replaces https://github.com/ArduPilot/ardupilot/pull/15669 . Like the PR it replaces, this allows a GCS to cancel an upload with a clear-all command as if they'd issues a mission-upload with zero items.

github.com/ArduPilot/ardupilot

AP_NavEKF3: document provenance of Python-generated equations

ArduPilot:master ← tpwrules:pr/ek3-provenance

opened 07:07PM - 17 Aug 24 UTC

tpwrules

+774 -884

Over time the current iteration of the generator has drifted from the actual cod…e, both due to changes within itself and in the used libraries. This PR tracks down how that's happened and makes everything consistent again so that informed improvements can be made. * Code generator is modified to automatically use `sq` and friends. * Old generator versions that generate the current code have been dug up. * [Nix](https://nixos.org/) shebangs are added to conveniently use the correct versions of the generator libraries. * Outdated previously generated code is removed from the repo. * Unused generated code is disabled. No compiler output change (on CubeOrange at least).

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 - [ ] https://github.com/ArduPilot/ardupilot/pull/26417 - [ ] https://github.com/ArduPilot/ardupilot/issues/27822 - [ ] common origin for EAHRS 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

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: - [ ] 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: - [ ] 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] **EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650), [PR](https://github.com/ArduPilot/ardupilot/pull/27636))** -- fixed for 4.5.6-rc1 - [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)) -

CraigElder · August 20, 2024, 2:47am

Attendee count (max): 14

UTC2301 - mavutil: add WebSocket Server mavlink_connection type by IamPete1 · Pull Request #967 · ArduPilot/pymavlink · GitHub

Websocket server mavlink connection type in pymavlink
Merged!

UTC2304 - added driver for MLX90614 Temperature sensor by rahulOCR · Pull Request #26886 · ArduPilot/ardupilot · GitHub

Add support for MLX90614
Another temperature sensor

UTC2308 - Filter: LowPassFilter: split into two classes for constant and varable dt by IamPete1 · Pull Request #27670 · ArduPilot/ardupilot · GitHub

Split LowPassFilter into two classes for constant and variable parts of lowpass filter
Merged!

UTC2309 - Plane: Allow a Lua script to return to a previous mission track by timtuxworth · Pull Request #27759 · ArduPilot/ardupilot · GitHub

Allow a lua script to return to a previous mission track
Only really applicable to Plane at the moment
- SCurves are more complex
Merged!

UTC2310 - AP_Periph: add support for extended ESC DroneCAN message. by IamPete1 · Pull Request #27772 · ArduPilot/ardupilot · GitHub

Add support for ESC DroneCAN message
Merged!

UTC2313 - AP_Math: Remove heap allocations from mat_inverse by Horolsky · Pull Request #27804 · ArduPilot/ardupilot · GitHub

Remove heap allocation from mat_inverse
Is the abstraction warranted?
- Maybe just return return nullptr instead of adding teh buffer abstraction
Tridge left a review

UTC2327 - AP_Param: throw error if we lose parameters by tridge · Pull Request #27820 · ArduPilot/ardupilot · GitHub

Throw an error if we run out of space in the queue to save parameters
Merged!

UTC2330 - Tools: LogAnalyzer: remove by peterbarker · Pull Request #27832 · ArduPilot/ardupilot · GitHub

Remove LogAnalyzer.py
Merged!
Should get MissionPlanner to open a web browser pointing the web tools at the log when they press the “AutoAnalyze” button
- DataFlash Logs / Auto Analysis should use the latest web tool · Issue #3392 · ArduPilot/MissionPlanner · GitHub

UTC2331 - Copter: Disarm: move autotune disarm call after setting soft arm false by IamPete1 · Pull Request #27821 · ArduPilot/ardupilot · GitHub

Save parameters after disarm rather than before disarm for Copter autotune
Came close to overflowing the parmeter-save buffer
Merged!

UTC2333 - AP_TemperatureSensor: add AP_TEMPERATURE_SENSOR_BACKEND_DEFAULT_ENABLED by peterbarker · Pull Request #27833 · ArduPilot/ardupilot · GitHub

Add backend temperature sensor default define
Merged!

UTC2334 - AP_GPS: change GPS_TYPE value 10 from SBF to Septentrio by peterbarker · Pull Request #27840 · ArduPilot/ardupilot · GitHub

Stop referring to Septentrio devices as just “SBF”
Still include SBF in there

UTC2336 - emit MAV_RESULT_DENIED if start/stop item passed to MAV_CMD_MISSION_START by peterbarker · Pull Request #27848 · ArduPilot/ardupilot · GitHub

Spit out denied if user tries to start mission at non-zero offset or provide a stop item
Merged!

UTC2339 - SRV_Channels: find_channel: use channel mask remove need for search over all channels by IamPete1 · Pull Request #27849 · ArduPilot/ardupilot · GitHub

Optimize find_channel call
Merged!

UTC2341 - GCS_MAVLink: allow uploading GCS to cancel upload using mission_clear_all by peterbarker · Pull Request #27854 · ArduPilot/ardupilot · GitHub

Allow cancelling an upload when clearing a mission
Can be merged once the method name has been fixed

UTC2351 - AHRS: added common origin between backends by tridge · Pull Request #27851 · ArduPilot/ardupilot · GitHub

Add common origin between backends
Want an autotest for this
- EK3_CHECK_SCALE

UTC0001 - AP_NavEKF2: added EK2_OPTIONS by tridge · Pull Request #27852 · ArduPilot/ardupilot · GitHub

Add options mask to EKF2
- Unconditionally using visual odometry at the moment
Merged!

UTC0003 - Welcome to Thomas

Newest DevTeam member!

UTC0005 - AP_NavEKF3: document provenance of Python-generated equations by tpwrules · Pull Request #27862 · ArduPilot/ardupilot · GitHub

Document provenance of Python-generated equations
Nix-shell stuff?
- Would probably break Paul’s workflow
Use a single version of simpy for all generation
- Currently requires two different versions
Would be nice to #include a resulting cpp file
Need to run this past Paul

UTC0015 - AP_DroneCAN: DNA_Server: polish db comments and organize by tpwrules · Pull Request #27863 · ArduPilot/ardupilot · GitHub

Polish DNA server DB comments
Couple of minor cleanups

UTC0023 - AP_GPS: allow for EAHRS_SENSORS to not include GPS by tridge · Pull Request #27864 · ArduPilot/ardupilot · GitHub

Allow for eahrs to not create GPS sensor
Merged!

UTC0025 - Plane update

Need to review Randy’s PR for 4.5.6
DShot issues, 3D reversible ESC
Motor not turning off when parachute deployed?
- 4.6 not 4.5 feature
Some TECS stuff with George

UTC0030 - Copter update

4.5.6beta1 will be out shortly
Tougher and tougher to backport stuff now
Help with backports offered by Andy and tridge
Create a new topic in Discuss for each release?
- Done for Copter
- Requested for Plane
- Not creating a new topic means people get a message
- One shared issue with all vehicles in there?

Dev call Aug 19, 2024

Attendee count (max): 14

UTC2301 - mavutil: add WebSocket Server mavlink_connection type by IamPete1 · Pull Request #967 · ArduPilot/pymavlink · GitHub

UTC2304 - added driver for MLX90614 Temperature sensor by rahulOCR · Pull Request #26886 · ArduPilot/ardupilot · GitHub

UTC2308 - Filter: LowPassFilter: split into two classes for constant and varable dt by IamPete1 · Pull Request #27670 · ArduPilot/ardupilot · GitHub

UTC2309 - Plane: Allow a Lua script to return to a previous mission track by timtuxworth · Pull Request #27759 · ArduPilot/ardupilot · GitHub

UTC2310 - AP_Periph: add support for extended ESC DroneCAN message. by IamPete1 · Pull Request #27772 · ArduPilot/ardupilot · GitHub

UTC2313 - AP_Math: Remove heap allocations from mat_inverse by Horolsky · Pull Request #27804 · ArduPilot/ardupilot · GitHub

UTC2327 - AP_Param: throw error if we lose parameters by tridge · Pull Request #27820 · ArduPilot/ardupilot · GitHub

UTC2330 - Tools: LogAnalyzer: remove by peterbarker · Pull Request #27832 · ArduPilot/ardupilot · GitHub

UTC2331 - Copter: Disarm: move autotune disarm call after setting soft arm false by IamPete1 · Pull Request #27821 · ArduPilot/ardupilot · GitHub

UTC2333 - AP_TemperatureSensor: add AP_TEMPERATURE_SENSOR_BACKEND_DEFAULT_ENABLED by peterbarker · Pull Request #27833 · ArduPilot/ardupilot · GitHub

UTC2334 - AP_GPS: change GPS_TYPE value 10 from SBF to Septentrio by peterbarker · Pull Request #27840 · ArduPilot/ardupilot · GitHub

UTC2336 - emit MAV_RESULT_DENIED if start/stop item passed to MAV_CMD_MISSION_START by peterbarker · Pull Request #27848 · ArduPilot/ardupilot · GitHub

UTC2339 - SRV_Channels: find_channel: use channel mask remove need for search over all channels by IamPete1 · Pull Request #27849 · ArduPilot/ardupilot · GitHub

UTC2341 - GCS_MAVLink: allow uploading GCS to cancel upload using mission_clear_all by peterbarker · Pull Request #27854 · ArduPilot/ardupilot · GitHub

UTC2351 - AHRS: added common origin between backends by tridge · Pull Request #27851 · ArduPilot/ardupilot · GitHub

UTC0001 - AP_NavEKF2: added EK2_OPTIONS by tridge · Pull Request #27852 · ArduPilot/ardupilot · GitHub

UTC0003 - Welcome to Thomas

UTC0005 - AP_NavEKF3: document provenance of Python-generated equations by tpwrules · Pull Request #27862 · ArduPilot/ardupilot · GitHub

UTC0015 - AP_DroneCAN: DNA_Server: polish db comments and organize by tpwrules · Pull Request #27863 · ArduPilot/ardupilot · GitHub

UTC0023 - AP_GPS: allow for EAHRS_SENSORS to not include GPS by tridge · Pull Request #27864 · ArduPilot/ardupilot · GitHub

UTC0025 - Plane update

UTC0030 - Copter update

UTC0037 - GSoC

UTC0037 - Conference update

UTC0038 - close