Dev call Aug 26, 2024

+102 -0

Upstream PR was here: https://github.com/mavlink/mavlink/pull/2110 * gps: add… status and resilience information Add fields to report resilience and status information from GNSS receivers back to ground control stations for representation in the user interface. * gps: separate GNSS integrity information Move the changes to the `GPS_RAW_INT` message into a separate message that supports multiple GNSS receivers. Update the enum values to better support all GNSS receivers. * gps(integrity): add RAIM info to `GNSS_INTEGRITY` message * gps(integrity): change `GNSS_INTEGRITY` message `id` field to instanced Change the `id` field on the `GNSS_INTEGRITY` message to make use of the instance support in the MAVLink schema. * gps(integrity): move integrity message to `development.xml` * gps(integrity): add jamming mitigated and spoofing critical Change the enums for jamming and spoofing so jamming includes a state for mitigated interference and spoofing no longer includes a message for critical spoofing. * gps(integrity): add units to `GNSS_INTEGRITY` RAIM fields * gps(integrity): add qualitative indicators to `GNSS_INTEGRITY` message Add qualitative fields for GNSS signal quality, incoming corrections quality and overall system status. GNSS receivers or drivers can compute these based on other data. They can be useful before takeoff and during flight as a reliable overview of important GNSS components. * gps(integrity): update quality indicators for unsupported drivers Add support for drivers that can't or don't want to provide the quality indicator information * gps(integrity): use invalid attribute to indicate invalid values Instead of having implicit invalid values, use the `invalid` attributes. Also add invalid values to the RAIM data as it may not always be supplied or available from receivers. * code review - invalid value for uint8 is 255 * Apply suggestions from code review * Update message_definitions/v1.0/development.xml ---------

Add EKF3 feature for optflow fusion

ArduPilot:master ← peterbarker:pr/EK3_FEATURE_OPTFLOW_FUSION

opened 08:14AM - 10 Feb 23 UTC

+59 -6

This should automatically remove the EKF3 Optical fusion code based on the prese…nce of OpticalFlow sensors. The builds looks like this: ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * Hitec-Airspeed 0 KakuteH7-bdshot * * * * * * * MatekF405 -10392 * -10384 -10392 -10384 -10336 -10392 Pixhawk1-1M * * * * * * * f103-QiotekPeriph * f303-Universal 0 iomcu * revo-mini * * * * * * * skyviper-v2450 -10400 ``` I believe that means we should test-fly this on a board OpticalFlow is not included on - on a vehicle with a rangefinder attached (RangeFinder and OpticalFlow are intertwined a little in EKF3). Should test with everybody's least favorite height source.

Make blended backend a real backend

ArduPilot:master ← peterbarker:pr/blended-backend

opened 07:40AM - 29 Apr 24 UTC

+316 -168

Tested in SITL. ``` Board AP_Periph blimp bootloader copter… heli iofirmware plane rover sub Durandal 352 * 184 304 328 352 360 Hitec-Airspeed * KakuteH7-bdshot 480 * 496 472 656 472 472 MatekF405 56 * 128 128 -96 80 104 Pixhawk1-1M-bdshot 96 120 104 64 104 104 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 64 * -96 8 16 0 104 skyviper-v2450 * ```

AP_ICEngine: move to using servo endpoints and RC option

ArduPilot:master ← IamPete1:ICE_param_conversion

opened 01:21PM - 03 Aug 24 UTC

IamPete1

+150 -29

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.

Compiling with cygwin broken!?

opened 08:05AM - 18 Aug 24 UTC

olliw42

DevCallTopic

I'm trying to compile current master, and get a link error, the culprit seems to… be `__wrap__malloc_r`: ![grafik](https://github.com/user-attachments/assets/7dfcd9a7-af89-49c4-a1e7-7d5fb9b305ed) When I did last time, like 2-3 months back it was working all fine. This stuff really is above my paygrade, but it seems to me it is related to the changes in https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Common/c%2B%2B.cpp, which happened in these last months. When I ensure that the code section in `#ifdef CYGWIN_BUILD` is not included, when it compiles and links fine ... but I sure have no idea if the resulting firmware would be working fine. I'm on Win10 and for compiling I use something which calls itself "Cygwin64 Terminal". I must admit I don't recall really what this is (well, google leads to a page, but ...), just that I use it since long and it always worked great for me so far. Any hint on what I should do in the code would be much appreciated :)

AP_NavEKF3: do not log DefaultAirspeed if logging not started

ArduPilot:master ← peterbarker:pr/no-write-airspeed-if-no-core

opened 04:02AM - 21 Aug 24 UTC

+7 -4

if we are not going to use this value ourselves then we certainly should not add… it to the replay log A similar problem was causing replay to not work correctly. There's the additional thing that logging may be preventing the EKF from starting, so logging here can cause Logger to throw a fatal error in SITL as it can't log the replay block.

AP_Mount: Siyi ZT6 hardware id and set-lens fix

ArduPilot:master ← rmackay9:siyi-zt6-lens-fix

opened 11:25AM - 21 Aug 24 UTC

+44 -19

This fixes two problems with the AP_Mount Siyi driver to improve support for the… ZT6 1. corrects the Hardware ID. The manual says it should be '8', '2' but when testing with real hardware it appears to actually be '8','3' ![image](https://github.com/user-attachments/assets/2bdb373a-94d2-44e3-bc8a-984790991265) 2. fixes the set-lens method (used when the pilot selects the active lens using an Aux switch or the MP AuxFunctions tab). The order is now: - low: RGB - mid: Thermal - high: Picture-in-picture RGB / Thermal This has been tested on real hardware (a ZT6 only, I do not have a ZT30). Below is a screen shot of MP's messages tab. Before this change the "Mount: Siyi ZT6" message did not appear. ![image](https://github.com/user-attachments/assets/c105342f-60a2-4707-8f0d-dad7580ec17a) I think we should backport this to 4.5 because we claimed that we had ZT6 support in an earlier point release. The ZT6 actually does partially work without this fix in that the gimbal can be moved around. It's just that set-len doesn't work properly.

AP_Camera/AP_Mount/AP_Scripting: add change settings method

ArduPilot:master ← rmackay9:camera-change-settings

opened 12:04AM - 24 Aug 24 UTC

+241 -0

This adds a new general purpose "change_settings" method to AP_Camera (and AP_Mo…unt) which allows us to add support for various camera settings without creating methods for each. The vast majority of camera settings are simply a number. The new method is used to implement three commonly used settings for the Siyi ZT6 and ZT30 thermal cameras: - Thermal Palette (e.g. WhiteHot, BlackHot, Rainbow, etc) - Thermal Gain (aka temperature range) - Thermal Raw Data (stores raw temp data along with thermal images when a picture is taken) A new change_camera_settings.lua script is also added which creates user visible parameters for these settings. This has been tested on real hardware and below is a picture of a test where I changed the thermal palette on a ZT6 between "4" (Rainbow) and "10" (BlackHot) ![image](https://github.com/user-attachments/assets/2ae3e645-1cfd-4f74-ac7d-c2c4d4508d14) ![image](https://github.com/user-attachments/assets/5fa8ef18-e6d2-45d9-92f0-386ddee4de97) ![image](https://github.com/user-attachments/assets/e063f568-d491-417f-a57d-074faa4b2fa8) We should eventually implement the change for the ViewPro and Topotek drivers as well which also support these features. Topotek in particular has specifically mentioned they would like the ability to easily change the Palette.

Copter: avoid nullptr deref in config_error_loop

ArduPilot:master ← peterbarker:pr/copter-nullptr-deref

opened 02:03AM - 24 Aug 24 UTC

+1 -1

we may neter the config_error_loop before we cann Copter's methods which allocat…e the wpnav object. We send mavlink messages in the config error loop, one of which calls this method - so we end up with a nullptr dereference. We might be able to find a way to stop sending this message in the config error loop, but that's likely to take some time to do....

AP_Camera/AP_Mount/GCS_MAVLink: Siyi implements camera-thermal-status

ArduPilot:master ← rmackay9:siyi-get-temp

opened 04:09AM - 24 Aug 24 UTC

+418 -20

This PR adds support for sending the min and max temperatures and their XY posit…ions in the live video stream to the ground station when using Siyi ZT6 and ZT30 cameras. We can add support for ViewPro and Topotek cameras in a follow-up PRs. This is useful for search & rescue and firefighting applications because the ground station can overlay a rectangle over the hotspot along with its temperature. This PR relies on this mavlink PR https://github.com/mavlink/mavlink/pull/2145 and (and the equivalent upstream PR https://github.com/mavlink/mavlink/pull/2145). It is also built on PR https://github.com/ArduPilot/ardupilot/pull/27890 and PR https://github.com/ArduPilot/ardupilot/pull/27911 so those should be merged first. This has been lightly tested on real-hardware (a CubeOrange + Siyi ZT6) and below is a screen shot showing the temperature jump when I moved in front of the camera although please note that the test used named value pairs to send the temperatures and positions instead of using the new mavlink message. ![temp-minmax-test](https://github.com/user-attachments/assets/c17de083-b256-4af1-b4dc-a1b5f293cdf4)

Correct Jamming simulator use of accuracies

ArduPilot:master ← peterbarker:pr/d-supplied-accuracies

opened 07:20AM - 24 Aug 24 UTC

+75 -25

Replaces https://github.com/ArduPilot/ardupilot/pull/23173/files , which got for…gotten and https://github.com/ArduPilot/ardupilot/pull/23173 was merged instead. The merged PR didn't change the backends to use the information out of the supplied simulated GPS state object, so while position might move around due to jamming the accuracies did not. Add a test that everything goes wonky.

DDS Backports to 4.5

ArduPilot:Copter-4.5 ← Ryanf55:backport-dds-4.5

opened 07:01PM - 24 Aug 24 UTC

Ryanf55

+112 -24

Backport the following DDS features/fixes that are low-risk and ABI compatible: … They were ported in the following order. A few merge conflicts to resolve were caused by the ABI breaking change to remove the refs file, and the experimental IMU topic that we do not want on 4.5. * https://github.com/ArduPilot/ardupilot/pull/25724 * https://github.com/ArduPilot/ardupilot/pull/27010 * https://github.com/ArduPilot/ardupilot/pull/27131 * https://github.com/ArduPilot/ardupilot/pull/27258 * https://github.com/ArduPilot/ardupilot/pull/27140 * https://github.com/ArduPilot/ardupilot/pull/27161 * https://github.com/ArduPilot/ardupilot/pull/27715 * https://github.com/ArduPilot/ardupilot/pull/27520 Many of these were all requested by a commercial user of Ardupilot DDS and have been thoroughly tested on `master` for a while.

Tools: add build option for batchsampler

ArduPilot:master ← peterbarker:pr/batchsampler-enabled-buld-option

opened 04:46AM - 25 Aug 24 UTC

+5 -2

also create an IMU category to hold IMU-specific options ``` Board … AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ``` And when someone chooses the option to remove it: ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy -680 Durandal -2056 * -2056 -2064 -2080 -2040 -2064 Hitec-Airspeed * KakuteH7-bdshot -1680 * -1728 -1744 -1936 -1712 -1688 MatekF405 -1712 * -1712 -1664 -2168 -1712 -1744 Pixhawk1-1M-bdshot -1744 -1592 -1712 -1536 -1736 -1744 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -1832 * -1824 -1832 -1800 -1792 -1736 skyviper-v2450 0 ```

#26740 causes old params to appear on Wiki param pages

opened 05:41AM - 26 Aug 24 UTC

Hwurzburg

DevCallTopic

PR https://github.com/ArduPilot/ardupilot/pull/26740 has caused a user(I expect …more) to raise wiki issue stating the wiki pages are not using the correct params, since both the old and new names are shown in the emitted parameter pages...we have not done this for previous param renames...either we show the old names somehow differentiated in the wiki param page or we should revert this....I dont see how NOT doing this was a "breaking" change to older firmware as PeterB told me...

Filter: LowPassFilter: use `calc_lowpass_alpha_dt` helper

ArduPilot:master ← IamPete1:filter_low_pass_use_alpha_helper

opened 10:20AM - 26 Aug 24 UTC

IamPete1

+1 -14

This swaps to using the helper function for the LowPassFilter method. The helper… is already used for the constant dt filter. The helper is here: https://github.com/ArduPilot/ardupilot/blob/a65cd27435c2839e27d85a20549311ad63602dbd/libraries/AP_Math/AP_Math.cpp#L399-L416 This does mean we don't early return in the `dt` or `cutoff_freq` out of range cases. The return value is the same, we just now get a alpha of either 1.0 or 0.0 and apply the filter update. This replaces https://github.com/ArduPilot/ardupilot/pull/27582

Plane

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 - [x] 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 - [x] 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

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC