Dev Call Aug 21, 2023

CraigElder · August 21, 2023, 10:51pm

Issues & Pull requests

github.com/ArduPilot/ardupilot

GCS_MAVLink: home position should always send

ArduPilot:master ← magicrub:pr/gcs_check_home2

opened 07:13PM - 28 Apr 23 UTC

magicrub

+10 -6

When a GCS requests the home position and we respond via ```send_home_position()…``` we used to always send it if home was set. Now we'll ignore the request for many more seconds until ```home.get_vector_from_origin_NEU()``` returns true which is when the EKF origin is set. Is that really necessary? It's just populating another part of the home_position() message which is otherwise 0 and used to be hard-coded to 0. If a GCS really wants that info then it can re-request until it gets non-zero data there.

github.com/ArduPilot/ardupilot

AP_ExternalControl: initial implementation of external control library

ArduPilot:master ← tridge:pr-external-control

opened 12:49AM - 09 Aug 23 UTC

tridge

+239 -6

This is a very basic implementation of an external control library, just to unbl…ock @pedro-fuoco Relates to #23363 ## Testing Instructions 1. Run sim_vehicle with --enable-dds --console --map 2. Set DDS_ENABLED param to 1 3. Use mavproxy to arm the vehicle, set the mode to guided, and takeoff to ~50m 4. Run the microROS agent like normal 5. Verify with ros2 CLI that you see the `ap/cmd_vel` topic 6. Publish commands to `ap/cmd_vel`, or use rqt. Current behavior is this ``` # Go up at 1 m/s ros2 topic pub /ap/cmd_vel geometry_msgs/msg/TwistStamped '{twist: {linear: {z: 1.0}}}' # Go down at 2 m/s ros2 topic pub /ap/cmd_vel geometry_msgs/msg/TwistStamped '{twist: {linear: {z: -1.0}}}' # Go east at 1 m/s ros2 topic pub /ap/cmd_vel geometry_msgs/msg/TwistStamped '{twist: {linear: {x: 1.0}}}' # Rotate the quadcopter 180 degrees and repeat the above tests. Regardless of the orientation, x always makes the copter go north because the cmd_vel topic is odom frame ENU. ``` We do need to decide if the cmd_vel topic should be in body frame or map frame. According to REP-147, the cmd_vel topic i in body frame. Perhaps we should use the frame ID to either `body` or `map` for these different ones? Or a different topic? We have to decide based on clarity (topics are easier to notice than frame ID's), but additional subscribers impact flash, code size, and RAM/CPU usage. https://ros.org/reps/rep-0147.html#rate-interface

github.com/ArduPilot/ardupilot

AP_BattMonitor: Fwd battery data to ESC_Telem

ArduPilot:master ← magicrub:pr/esc_telem_batt

opened 04:48PM - 15 Aug 23 UTC

magicrub

+68 -3

Adds ability to forward battery data to ESC Telemetry via new param BATTx_ESC_IN…DDEX wrapped in AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED. Repeat of the AP_RPM changes in https://github.com/ArduPilot/ardupilot/pull/24646 I opted to inherit AP_ESC_TELEM and in stead call it directly, like other libraries do for update_rpm(). This required moving update_telem_data() to public which then defeats the purpose of others having to inherit.

github.com/ArduPilot/ardupilot

Plane:prevent compass-less plane AHRS warning on ground

ArduPilot:master ← Hwurzburg:AHRS_status

opened 06:29PM - 16 Aug 23 UTC

Hwurzburg

+6 -0

@tridge @peterbarker how about this?....seems to work in SITL...even forced a DC…M fallback while flying and indicators work normally...you will get a brief bad AHRS on takeoff between when is_flying becomes true and EKF3 actually aligns a second later, but its a blink and you are already flying so the user ground panic is avoided...but probably also validates that existing inflight behavior is unaltered. It only impacts GCS messaging anyway...

github.com/ArduPilot/ardupilot

Pass mavlink_message_t to handle_command_*_packet

ArduPilot:master ← peterbarker:pr/pass-message-to-handle_command-functions

opened 08:41AM - 17 Aug 23 UTC

peterbarker

+72 -82

the "special case" blocks are getting longer and longer. Merge the switch state…ments for the command type to be handled by passing around the message. This would also allow a vehicle to inspect the `mavlink_message_t` if it really felt like it. The methods which actually use the msg_t when passed in as a command_long need to be moved over to command_int too. Moving them in this PR will avoid moving them into the special-case-switch in `handle_command_int`. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal 24 * 48 56 48 24 16 HerePro 40 Hitec-Airspeed * KakuteH7-bdshot 40 * 48 48 24 40 48 MatekF405 48 * 64 56 40 48 48 Pixhawk1-1M-bdshot 0 -56 -56 8 8 0 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 16 * 40 40 24 16 16 skyviper-v2450 -16 ```

github.com/ArduPilot/ardupilot

hwdef: update BETAFPV-F405 hwdef and readme

ArduPilot:master ← Hwurzburg:bETAFPV

opened 03:23PM - 17 Aug 23 UTC

Hwurzburg

+13 -17

correct readme...update hwdef to allow seamless transitions from BF to ArduPilot… in most systems assuming you have a board since you created this, can you test the SBUS input again with this def.?..it probably was never tested originally since I dont see how it could work with the current definition since this is an F405 and not a cpu with UART inverters

github.com/ArduPilot/ardupilot

CAN: support more device types in SITL AP_Periph

ArduPilot:master ← tridge:pr-SITL-periph-mcast

opened 02:01AM - 18 Aug 23 UTC

tridge

+1496 -1066

This moves to a multicast UDP method of getting state data from the main simulat…ion ardupilot binary to the simulated peripheral. This means the AP_Periph SITL binary has full state information via the SITL fdm structure and is able to support a much wider range of DroneCAN sensors. In this PR I have enabled: - GPS - compass - airspeed - baro - rangefinder - battery - EFI - RPM - ESC and servo - ESC telemetry This PR also allows for SIM_SPEEDUP other than 1.0 with SITL peripheral, although it will only talk properly to real hw devices if you have SIM_SPEEDUP=1, but for only simulated devices you can do quite high speedups. Time is lock-step synchronised between the peripheral and the ardupilot binary via the timestamp_us field in the multicast UDP state. @bugobliterator this PR removes the native_millis(), native_micros() etc as I believe these are no longer needed and just complicate the firmware. Please let me know if there is a good reason to keep them. I have tested with bridging to real devices and it works fine as long as you keep SIM_SPEEDUP=1. Update: now supports ESC and servo peripherals, with feedback coming back by another UDP socket Update2: can now start a full DroneCAN quadplane with sim_vehicle.py with -f quadplane-can. This includes GPS, airspeed, baro, compass, ESC, servo, ESC telem, rangefinder Similarly you can choose -f quad-can and get a quadcopter with CAN ESC, CAN ESC telem, compass, baro, GPS, rangefinder

github.com/ArduPilot/ardupilot

Allow multiple External AHRS GPS instances

ArduPilot:master ← Ryanf55:external-ahrs-multiple-gps

opened 05:28PM - 18 Aug 23 UTC

Ryanf55

+22 -6

Certain GNSS drivers, like the MicroStrain GQ7, have multiple GPS antennas that …get reported separately to the driver. Rather than only handling GPS data for one GPS sensor, or publishing the same GPS data to two external GPS types like recommended in the [tutorial](https://ardupilot.org/copter/docs/common-external-ahrs.html), this will allow future drivers to uniquely populate two GPS instances with data. To preserve existing behavior, I added a utility to get the first external AHRS instance, which is what the code was doing before. To consume this new behavior, an external AHRS system could do the following: ``` switch(packet_id) case gps_0_packet: gps_data = parse_gps_packet(packet) AP::gps().handle_external(gps_data , 0) case gps_1_packet: gps_data = parse_gps_packet(packet) AP::gps().handle_external(gps_data , 1) case imu_packet: // like normal ``` I plan to add support for this in MicroStrain's GQ7 AHRS, which reports two unique GPS sensor data packets.

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.4.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) - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [ ] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [ ] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] 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-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] Lane switching warning (reported by Partner, [issue](https://github.com/ArduPilot/ardupilot/issues/24181)) - [ ] MSP on Matek board ([discussion](https://discuss.ardupilot.org/t/msp-problem-no-gps-comp-and-baro-data/103043)) - [ ] CSRF and Mount Siyi boot loop ([see bottom of this issue](https://github.com/ArduPilot/ardupilot/issues/23815)) - [ ] very short ELRS failsafes ([issue](https://github.com/ArduPilot/ardupilot/issues/23853), [PR](https://github.com/ArduPilot/ardupilot/pull/24170)) - [ ] endless climb with vertical bendy ruler? ([discussion](https://discuss.ardupilot.org/t/rtl-and-auto-mode-working-in-strange-mode/100132/4)) - [ ] Baro TCal not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/21438)) - [ ] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594), [PR may help](https://github.com/ArduPilot/ardupilot/pull/24135)) Confirmed issues: - [ ] Gremsy ZIO zoom and focus not working? ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-mavlink-commands-not-working/103080)) -- needs backport from 4.5 - [ ] GSF on Rover not working below 5m/s ([discussion](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/2), [related PR](https://github.com/ArduPilot/ardupilot/pull/23515), [issue](https://github.com/ArduPilot/ardupilot/issues/24183), [PR](https://github.com/ArduPilot/ardupilot/pull/24206)) - [ ] KDECAN not working ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/11)) -- needs backport from 4.5. - [ ] Yaapu reports battery 2 error but only one battery is installed ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/7)) Enhancements or Issues that may not be resolved before the stable release: - [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9) - [ ] Enable 10hz PID logging - [ ] RPLidarA2M12 not working ([discussion](https://discuss.ardupilot.org/t/rp-lidar-a3-integration-with-ardupilot/101792/11)) - [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23782)) Resolved issues: - [x] users keep forgetting to set CAM1_TYPE (or CAM_TRIGG_TYPE) ([discussion](https://discuss.ardupilot.org/t/mav-cmd-set-camera-zoom-command-doesnt-work/100613/4)) -- fewer reports recently perhaps because of wiki updates - [x] RockBlock only works with MAVProxy ([discussion](https://discuss.ardupilot.org/t/rockblock-iridium-sbd-and-mission-planner/102728), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/5263)) -- Stephen Dade will raise wiki and MP/QGC issues -- added to wiki for -beta4 - [x] yaw reset from low flying copter passing over bridge (Randy has logs) -- older version of AP, new versions should be a little better - [x] Request to add Custom Build Server support for beta builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/7), [issue](https://github.com/ArduPilot/CustomBuild/issues/54, [PR](https://github.com/ArduPilot/CustomBuild/pull/55))) -- resolved for -beta3 - [x] Gremsy WE not working ([4.4 discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/15), [4.3.7 discussion](https://discuss.ardupilot.org/t/gremsy-pixy-we-not-working-with-4-3-5/99163)) -- Gremsy software issue. Fix from Gremsy coming soon - [x] Siyi A8 ROI not working (reported by Kelly Schrock on facebook, [discussion](https://discuss.ardupilot.org/t/siyi-a8-roi-issue/102091), [PR](https://github.com/ArduPilot/ardupilot/pull/24011)) -- resolved for -beta3 - [x] MatekF405-TE-bdshot only 2 channels working (see Painless360's channel) -- user error - [x] FPV406 watchdog due to cracked SD card ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/48)) -- no logs - [x] Mount serial gimbal param description confusion ([discussion](https://discuss.ardupilot.org/t/ip-cameras-rtsp-mavlink-support/99893/20)) -- fixed for beta3 - [x] serial pass through (for GPS) broken ([issue](https://github.com/ArduPilot/ardupilot/issues/21114), [PR](https://github.com/ArduPilot/ardupilot/pull/23888)) -- fixed in -beta2 - [x] RC loss+regain issue ([PR](https://github.com/ArduPilot/ardupilot/pull/23844)) -- fixed in -beta2 - [x] MP scales set-ekf-origin-here altitude incorrectly ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3083)) -- fixed in MP 1.3.80 build 1.3.8522.19145 - [x] Custom build server broken for Matek405 builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/13)) - [x] CubeOrangePlus not booting due to early memory corruption (reported by rmackay9, investigated by Tridge, PeterB, Sid) - [x] RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall, [PR](https://github.com/ArduPilot/ardupilot/pull/23553)) - [x] Watchdog using CSRF ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/18), [PR](https://github.com/ArduPilot/ardupilot/pull/23648)) -- resolved for beta2

CraigElder · August 23, 2023, 1:33am

Attendee count (max): 13

UTC2300 - GCS_MAVLink: home position should always send by magicrub · Pull Request #23636 · ArduPilot/ardupilot · GitHub

Changes requested

UTC2306 - https://github.com/ArduPilot/ardupilot/pull/24549

Initial implementation of an external control library
Randy will review this
For DDS control
merge-on-CI-pass!

UTC2307 - build_options.py: create MAVLink section, populate it by peterbarker · Pull Request #24587 · ArduPilot/ardupilot · GitHub

Creates a mavlink section to build_options.py and adds several things to it
Merged!
Will allow people to turn things back on which we want to remove

UTC2310 - AP_RPM: Allow more instances by magicrub · Pull Request #24645 · ArduPilot/ardupilot · GitHub

More RPM instances
Not being logged after this is merged
- Need to change logging to be an instance variable
Why 9?!
- Octoplane with a forward motor
- How’s the data coming in?
  - GPIO pins.
    - Lots of GPIO pins
4.5 might be very breaking for things
- E.g. changing RAW_IMU to have an instance variable,

UTC2319 - WIP: DDS external odometry/localization support by Ryanf55 · Pull Request #24518 · ArduPilot/ardupilot · GitHub

External odometry/localisation support for DDS
Should change visual odom to be double or single depending on target
Rates and velocities are single precision on CubeBlack, positions are double

UTC2331 - hwdef: removed baro from HolybroG4_GPS by tridge · Pull Request #24652 · ArduPilot/ardupilot · GitHub

Remove baro from HolyBroG4_GPS
- Not on production units
- Also turns off the IMUs
Users really want to flash the bootloader after they’ve flashed this firmware!
Boards are shipped with the flash in a weird state where it is all ff’s but can’t be written to
This patch forces erase of all sectors
There’s also a bug around flashing of these boards which the new bootloader works around
Great GPS, ‘though

UTC2337 - AP_BattMonitor: Fwd battery data to ESC_Telem by magicrub · Pull Request #24658 · ArduPilot/ardupilot · GitHub

Forward battery data to ESC telem
Peripheral use case
Allows you to bundle voltages from separate sensors into

UTC2343 - Plane:prevent compass-less plane AHRS warning on ground by Hwurzburg · Pull Request #24673 · ArduPilot/ardupilot · GitHub

Prevent compass-less plane
Would suppress compass warnings when it shouldn’t do that
Would also suppress if compass has failed
Special EKF state of waiting-for-movement
- Need to get flag all the way up to this code….
Tridge will discuss with Henry some more

UTC2346 - AP_AHRS: return estimates from state structure by tridge · Pull Request #24675 · ArduPilot/ardupilot · GitHub

Return estimates from state structure
Faster
Might save a bunch of CPU
- Re-evaluates active EKF type on each call
Shouldn’t change behaviour
Narrow semaphore scope?
- Taking it during EKF update
- Can just do it for copying the structure at the end in a future PR
Use an event to trigger the PID updates when new data comes in
- Active IMU finishes filtering step and would then trigger the rate loops
59 AM]Peter Hall: I would think there would also be a nice benefit on everything.
[9:59 AM]Peter Hall: Tuneing should be quite a bit easyer.
[10:02 AM]Peter Hall: PID updates should be run a on the IMU threads, so we use the new value immediately.
[10:04 AM]Leonard: The PID design was done with this in mind. This is one of the reasons for the T filter.
Reduce main loop rate to 200Hz?
- But run PIDs at 4kHz

UTC0004 - Pass mavlink_message_t to handle_command_*_packet by peterbarker · Pull Request #24679 · ArduPilot/ardupilot · GitHub

Single switch statement for all of the mavlink message handling
- So instead of some messages handled using msg and command just have them all take msg/command

UTC0011 - AP_MotorsUGV: add handling of asymmetric thrust by Williangalvani · Pull Request #24239 · ArduPilot/ardupilot · GitHub

Add handling of asymmetric thrust in AP_MotorsUGV
Willian has tested it
One quirk - if you are in manual mode and back up and you’re running asymmetrical thrust 2 you will reach full thrust at half throttle

UTC0015 - hwdef: update BETAFPV-F405 hwdef and readme by Hwurzburg · Pull Request #24681 · ArduPilot/ardupilot · GitHub

Betafpv-f405 hwdef and readme
Need to get Andy a board

UTC0015 - Enforce pre-commit in ArduPilot by Ryanf55 · Pull Request #24683 · ArduPilot/ardupilot · GitHub

Enforce pre-commit in ArduPilot
Pre-commit is a Python framework intended to run cleanliness code
- It will change commits as you are making them
- Modifies the commits and asks you to add stuff
Should this be in the default environment?
Pre-commit is something that people opt into
- Now we’re forcing it on everyone
“Pre-commit install” step?
- Modifies your git configuration to add commit
Tridge will try it for a while
More likely we end up with code that meets requirements
- Python change in autotest which doesn’t change our script tests
Will warn if you try to commit an executable file which doesn’t have a shebang line
Tridge tested
- Installed “black”
- Took a long time to run
- Gave errors on random things
Once installed, this is on for all your branches
- So if you try doing stuff on Copter 4.3 bad things happen
- Ryan will look
Should definitely be opt-in for now

UTC0035 - Rover 4.2: add RC in driver for Navigator by Williangalvani · Pull Request #24459 · ArduPilot/ardupilot · GitHub

RC in driver for Navigator
Merged!

UTC0044 - AP_Networking: Delete entity class pointer by muramura · Pull Request #24685 · ArduPilot/ardupilot · GitHub

Delete bad object
Tridge thinks maybe a comment instead

UTC0050 - CAN: support more device types in SITL AP_Periph by tridge · Pull Request #24687 · ArduPilot/ardupilot · GitHub

Support more CAN devices in SITL
[10:52 AM]Peter Hall: does it do CAN the same as the SITL CAN stuff we had before?
[10:52 AM]Peter Hall: That did not work with WSL.
- Will work after the next PR

UTC0051 - Allow multiple External AHRS GPS instances by Ryanf55 · Pull Request #24699 · ArduPilot/ardupilot · GitHub

Allow multiple external ahrs gps instances

UTC0105 - AP_Param: fixed parameter defaults array length handling by tridge · Pull Request #24708 · ArduPilot/ardupilot · GitHub

Fix multiple-parameter-file-parsing
merged!

UTC0107 - AP_HAL_ChibiOS: add 8 bi-directional dshot channels to KakuteH7-Wing by andyp1per · Pull Request #24714 · ArduPilot/ardupilot · GitHub

Bidirectional d-shot channels for KakuteH7-Wing
Merged!

UTC0108 - Use textual IDs for APJ_BOARD_ID in hwdef by peterbarker · Pull Request #24718 · ArduPilot/ardupilot · GitHub

Textual IDs for APJ_BOARD_ID
Want to see if we can remove these lines entirely

UTC0120 - Refactor microstrain to common library by Ryanf55 · Pull Request #24723 · ArduPilot/ardupilot · GitHub

Refactoring MicroStrain externalahrs
Multiple inheritance
- We’ve shied away from this but probably OK here
Commit list will get cleaned up
Autotest suite covers stuff
Ryan might get a device to test

UTC0129 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
4.4.0 went out
4.3.8 sometime around Friday
New stable updates for older releases may become a pattern - for at least one back
Couple of commits ready for 4.4.1
Himark servo support in 4.4 will probably happen

UTC0032 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

New 4.4.0 is going well
A bunch of items still requiring investigation
Rover spline support is coming next
- L1 may need to go back in

UTC0036 - XFacta vote passed

New DevTeam member!
Still another vote outstanding….

Attendee count (max): 13

UTC2300 - GCS_MAVLink: home position should always send by magicrub · Pull Request #23636 · ArduPilot/ardupilot · GitHub

UTC2306 - https://github.com/ArduPilot/ardupilot/pull/24549

UTC2307 - build_options.py: create MAVLink section, populate it by peterbarker · Pull Request #24587 · ArduPilot/ardupilot · GitHub

UTC2310 - AP_RPM: Allow more instances by magicrub · Pull Request #24645 · ArduPilot/ardupilot · GitHub

UTC2319 - WIP: DDS external odometry/localization support by Ryanf55 · Pull Request #24518 · ArduPilot/ardupilot · GitHub

UTC2331 - hwdef: removed baro from HolybroG4_GPS by tridge · Pull Request #24652 · ArduPilot/ardupilot · GitHub

UTC2337 - AP_BattMonitor: Fwd battery data to ESC_Telem by magicrub · Pull Request #24658 · ArduPilot/ardupilot · GitHub

UTC2343 - Plane:prevent compass-less plane AHRS warning on ground by Hwurzburg · Pull Request #24673 · ArduPilot/ardupilot · GitHub

UTC2346 - AP_AHRS: return estimates from state structure by tridge · Pull Request #24675 · ArduPilot/ardupilot · GitHub

UTC0004 - Pass mavlink_message_t to handle_command_*_packet by peterbarker · Pull Request #24679 · ArduPilot/ardupilot · GitHub

UTC0011 - AP_MotorsUGV: add handling of asymmetric thrust by Williangalvani · Pull Request #24239 · ArduPilot/ardupilot · GitHub

UTC0015 - hwdef: update BETAFPV-F405 hwdef and readme by Hwurzburg · Pull Request #24681 · ArduPilot/ardupilot · GitHub

UTC0015 - Enforce pre-commit in ArduPilot by Ryanf55 · Pull Request #24683 · ArduPilot/ardupilot · GitHub

UTC0035 - Rover 4.2: add RC in driver for Navigator by Williangalvani · Pull Request #24459 · ArduPilot/ardupilot · GitHub

UTC0044 - AP_Networking: Delete entity class pointer by muramura · Pull Request #24685 · ArduPilot/ardupilot · GitHub

UTC0050 - CAN: support more device types in SITL AP_Periph by tridge · Pull Request #24687 · ArduPilot/ardupilot · GitHub

UTC0051 - Allow multiple External AHRS GPS instances by Ryanf55 · Pull Request #24699 · ArduPilot/ardupilot · GitHub

UTC0105 - AP_Param: fixed parameter defaults array length handling by tridge · Pull Request #24708 · ArduPilot/ardupilot · GitHub

UTC0107 - AP_HAL_ChibiOS: add 8 bi-directional dshot channels to KakuteH7-Wing by andyp1per · Pull Request #24714 · ArduPilot/ardupilot · GitHub

UTC0108 - Use textual IDs for APJ_BOARD_ID in hwdef by peterbarker · Pull Request #24718 · ArduPilot/ardupilot · GitHub

UTC0120 - Refactor microstrain to common library by Ryanf55 · Pull Request #24723 · ArduPilot/ardupilot · GitHub

UTC0129 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0032 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0036 - XFacta vote passed

UTC0037 - close