Dev Call Aug 28, 2023

CraigElder · August 28, 2023, 10:56pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_AdvancedFailsafe: automatically set mode to auto when datalink loss

ArduPilot:master ← eppravitra:afs-improvement

opened 08:24AM - 25 Mar 23 UTC

eppravitra

+16 -0

Automatically set mode to auto when there is datalink loss in Advanced Failsafe.… This is to make sure advanced failsafe is entered when Plane is flying with other autonomous modes. For example, right now when Plane is flying in Guided mode, it will not enter the specified mission item unless the mode is switched to Auto

github.com/ArduPilot/ardupilot

AP_AdvancedFailsafe: option to continue the mission even after data link is recovered

ArduPilot:master ← eppravitra:afs-improvement2

opened 09:20AM - 25 Mar 23 UTC

eppravitra

+2 -2

AP_AdvancedFailsafe: option to continue the mission even after data link is rec…overed When set MAX_COM_LOSS to a negative number, the aircraft will continue to fly the mission even after data link is recovered. This is useful when the landing sequence is part of the flight plan.

github.com/ArduPilot/ardupilot

Add AP_INVERTED_FLIGHT_ENABLED

ArduPilot:master ← peterbarker:pr/inverted-flight-enabled

opened 10:58AM - 17 Jul 23 UTC

peterbarker

+80 -6

Not so much for the space, but to avoid accidents. ``` Board A…P_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * 8 * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * 0 * * MatekF405 * * * * 0 * * Pixhawk1-1M-bdshot * * * 0 * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * 0 * * skyviper-v2450 * ``` And with the feature removed: ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal -8 * -24 -352 -168 -8 -24 HerePro -24 Hitec-Airspeed * KakuteH7-bdshot -8 * -24 -296 -416 -8 -24 MatekF405 -8 * -24 -312 -416 -8 0 Pixhawk1-1M-bdshot -16 -24 -344 -416 -16 -24 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -8 * -16 -288 -408 -8 -16 skyviper-v2450 -16 ```

github.com/ArduPilot/ardupilot

AP_Arming: mag field check vs world magnetic model

ArduPilot:master ← rmackay9:arming-magfield-vs-wmm

opened 04:48AM - 04 Aug 23 UTC

rmackay9

+35 -1

This adds an arming check of the vehicle's primary compass's magnetic field vs t…he world magnetic model. The purpose is to try and catch situations where metal objects in the environment near the vehicle result in a bad yaw estimate which can lead to short-term loss of control soon after takeoff. The loss of control is "short-term" because normally the [EKF failsafe](https://ardupilot.org/copter/docs/ekf-inav-failsafe.html) and/of [GSF's emergency yaw reset](https://ardupilot.org/copter/docs/common-compassless.html) lead to regaining control if given enough time and space. The vehicle's primary compass magnetic field values are rotated into earth frame and then each axis is compared vs the expected value to ensure it is less than the threshold held in a new ARMING_MAGTHRESH parameter. Note that for the Z-axis 2x the threshold parameter value is used. The threshold is 100 mgauss by default. The check can be disabled by setting ARMING_MAGTHRESH to zero. I've tested this on real hardware (a CubeOrange with a Here3 GPS/compass) moving it closer/farther from a Rode microphone which is a surprisingly good source of magnetic interference. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/83166b19-fbc4-4147-ba33-f49880c346c4) Some discussion points: - maybe we should only enable the check if the user calibrated the compass while they had GPS (so scaling has been applied) - is checking each individual axis the right approach? It's easy and it seems to work - this does not catch situations where the the compass orientation has been incorrectly set

github.com/ArduPilot/ardupilot

AP_Scripting: add argcheck to default userdata creation functions

ArduPilot:master ← IamPete1:lua_new_userdata_arg_check

opened 10:53PM - 11 Aug 23 UTC

IamPete1

+56 -1

Currently we can do things like this: ``` local location = Location("foo") lo…cal target_velocity = Vector3f("bar") ``` Any arguments passed to construction functions is discarded. This can lead to bugs where one thinks the arguments do something but they don't. Now the code will error out with: `Lua: ./scripts/test.lua:12: bad argument #1 to 'Location' (too many arguments)` Unfortunately luacheck does not catch these issues related number or type of arguments (although the VSCode lua extension does... )

github.com/ArduPilot/ardupilot

AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES to 16

ArduPilot:master ← magicrub:pr/more_batteries

opened 12:21AM - 16 Aug 23 UTC

magicrub

+163 -5

AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES limit to 16 (default is sti…ll 9) Doesn't hurt to bump the max up to 16, especially for vehicles with lots of power monitoring and AP_Periphs with sensors galore! Note: if we ever consider pushing above 16 The limitation is param1 being treated as uint16 in handle_command_battery_reset() ``` MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_t &packet) { const uint16_t battery_mask = packet.param1; const float percentage = packet.param2; if (AP::battery().reset_remaining_mask(battery_mask, percentage)) { ``` Since it's a command_long, the float could give us 24 bitmask bits as-is. The [MAVLink docs don't mention any limit](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/ardupilotmega.xml#L269) but since packet.param1 is a float we could change it to 32bit and do: ``` const uint32_t battery_mask = is_equal(packet.param1, -1.0) ? 0xFFFFFFFF : packet.param1; ``` which would allow a GCS to clear them all (including SITL autotest) without having to know how many there are and thus support up to 32 gracefully-ish. In fact, I've also made PR https://github.com/ArduPilot/ardupilot/pull/24661 on top of this branch that I made for the LOLs.

github.com/ArduPilot/ardupilot

Refactor microstrain to common library

ArduPilot:master ← Ryanf55:refactor-microstrain-to-common-library

opened 10:58PM - 21 Aug 23 UTC

Ryanf55

+768 -666

This refactors out out the common shared logic from microstrain series 5 and 7 (…mainly, the parsing). This will allow creating the 7-series driver with far less code duplication. Logic was not impacted. On SITL, I just renamed the class to make it clear it's a simulator for the 5-series. The 7-series uses some different packets, and also has two GPS instances. https://ardupilot.org/copter/docs/parameters.html#gps-type https://ardupilot.org/copter/docs/common-external-ahrs.html ``` param set GPS_TYPE 21 param set AHRS_EKF_TYPE 11 param set EAHRS_TYPE 2 param set SERIAL4_PROTOCOL 36 param set SERIAL4_PROTOCOL 115 ``` https://github.com/ardupilot/ardupilot/blob/master/libraries/SITL/SIM_MicroStrain.h#L3 Test: * `autotest.py build.Plane test.Plane.MicroStrainEAHRS --debug` * `sim_vehicle.py -v Plane -DG --console --map -A --uartE=sim:MicroStrain` * With GDB breakpoint: `sim_vehicle.py -v Plane -DG --console -A --uartE=sim:MicroStrain -B AP_ExternalAHRS_MicroStrain5.cpp:98`

github.com/ArduPilot/ardupilot

pre-commit: Fix current errors

ArduPilot:master ← Ryanf55:pre-commit-fix-current-errors

opened 02:29AM - 22 Aug 23 UTC

Ryanf55

+1269 -1268

This fixes all current errors with pre-commit in ArduPilot. Relates to #24683 … Mainly: * Line endings * Wrong executable permissions * Missing shebang * Having a shebang without executable permissions * Invalid XML (changed to `.j2` extension which is common for jinja templates) ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/5cf6655d-7820-496e-9efc-099b8dbcc38e)

github.com/ArduPilot/ardupilot

pre-commit: Run autoupdate

ArduPilot:master ← Ryanf55:pre-commit-autoupdate

opened 02:33AM - 22 Aug 23 UTC

Ryanf55

+3 -3

* To fix https://github.com/pre-commit/pre-commit/issues/2782 * Discovered in h…ttps://github.com/ArduPilot/ardupilot/pull/24683#issuecomment-1687242147 This should fix the issue of not being able to commit on older branches when using pre-commit once installed. If we want to help out developers working on old releases, this would require a backport of the pre-commit config. This is super low risk to the release, and I don't see it needing a beta, since pre-commit is only used when changing code, and does not affect any flight behavior. To do this on a release branch, you can see running the autoupdate brings in the new `isort` version which has the fix for the poetry error. ``` ryan@ryan-B650-970:~/Development/ardu_ws/src/ardupilot$ pre-commit autoupdate [https://github.com/pre-commit/pre-commit-hooks] updating v4.2.0 -> v4.4.0 [https://github.com/pycqa/isort] updating 5.10.1 -> 5.12.0 [https://github.com/pre-commit/mirrors-mypy] updating v0.950 -> v1.5.1 ```

github.com/ArduPilot/ardupilot

Add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE

ArduPilot:master ← peterbarker:pr/defines-for-control-and-command

opened 01:07AM - 24 Aug 23 UTC

peterbarker

+38 -1

``` Board AP_Periph blimp bootloader copter heli iofirmware … plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ``` I've run this through test_build_options.py for the created defines.

github.com/ArduPilot/ardupilot

ArduCopter: allow MAV_CMD_SOLO_BTN_PAUSE_CLICK as COMMAND_INT

ArduPilot:master ← peterbarker:copter-MAV_CMD_SOLO_BTN_PAUSE_CLICK-int

opened 01:50AM - 25 Aug 23 UTC

peterbarker

+25 -7

I've tested this with in SITL using gdb, setting a breakpoint on `GCS_MAVLINK_Co…pter::handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK` and checking that all relevant clauses are covered when run as both COMMAND_LONG and COMMAND_INT I think we could probably turn the new define off on where `HAL_SOLO_GIMBAL_ENABLED` isn't on.

github.com/ArduPilot/ardupilot

Periph: Add BATTn_OPTION to not broadcast - keep data internal

ArduPilot:master ← magicrub:pr/periph_batt_no_transmit

opened 06:05PM - 25 Aug 23 UTC

magicrub

+27 -1

This will allow you to keep Battery instance info internal and not send them ove…r CAN as a BATTERYINFO msg. Use-case: 1 - Smart-battery or a battery with sub-packs or a periph that is also acting as a power manager. On this periph I have multiple battery instances and one of them is BATTn_MONITOR=10 for SUM. I don't want to consume CAN bandwidth or confuse other systems with sending battery CAN packets of batteries that don't apply to systems outside of the periph. I only want to send the SUM battery instance over the CAN bus. 2- Periph-based ESC or Servo. You want feedback that also includes voltage/current. This allows you to use AP_BattMon without having to spam the bus with your battery data as if you're a battery supply. You can make your own Acturator::Status or ESC:; status messages. Related merged PR https://github.com/ArduPilot/ardupilot/pull/24658 where a battery can populate ESC_Telemetry.

github.com/ArduPilot/ardupilot

SITL: support both multicast and socketcan in CAN SITL

ArduPilot:master ← tridge:pr-can-sitl-mcast

opened 01:37AM - 26 Aug 23 UTC

tridge

+466 -503

This allows for the choice of both multicast and socketcan in SITL. This will al…low for CAN in SITL on cygwin and WSL/WSL2 To select transport set SIM_CAN_TYPE0 and SIM_CAN_TYPE1 (you can have different transports for the 2 interfaces) The default is multicast UDP Testing done: - [x] ubuntu linux - [x] WSL or WSL2 - [x] cygwin - [x] macos

github.com/ArduPilot/ardupilot

AP_Mount: Viewpro date fix (and other small fixes)

ArduPilot:master ← rmackay9:viewpro-date-fix

opened 02:51AM - 28 Aug 23 UTC

rmackay9

+4 -3

This makes 3 unrelated fixes to AP's camera and mount subsystems found during re…cent testing. These changes have been tested on real hardware. 1. Viewpro driver fix to the date sent to the camera gimbal. The mask applied to the date was incorrect meaning it was incorrect after the 15th of the month. Below is a screenshot of the Viewlink app showing the correct date after this PR was applied. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/12da0011-084e-47df-ad0c-b5f98d08c1d9) 2. AP_Mount's DEVID field should be writeable so that users can reset it to zero in case they swap one Xacti camera for another (assuming the other has a different DroneCAN node id). 3. RC_Channel's init_aux_function was missing entries for the recently added CAMERA_IMAGE_TRACKING and CAMERA_LENS features. For image tracking we don't need to initialise the state but for set-lens we should. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/45d2421e-da94-4bda-8498-16df46cad1d9) ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/fdaf2c32-4c3c-420f-be14-76b44fe485c0)

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: - [ ] ADSB on AP_Periph support? ([discussion](https://discuss.ardupilot.org/t/adsb-using-ap-periph-not-connecting/105634), [wiki](https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Periph/README.md)) - [ ] Provide RemoteID support firmware to ease setup ([issue](https://github.com/ArduPilot/ardupilot/issues/24789), [discussion](https://discuss.ardupilot.org/t/offical-copter-release-with-remote-id-support/105543)) - [ ] 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 29, 2023, 2:48am

Attendee count (max): 13

UTC2300 - common.xml: display GIMBAL_MANAGER_STATUS.flags as bitmask by peterbarker · Pull Request #327 · ArduPilot/mavlink · GitHub

Display gimbal manager status flags as bitmask
Merged

UTC2301 - AC_AttitudeControl: Fix yaw limit calculations by lthall · Pull Request #23326 · ArduPilot/ardupilot · GitHub

Fix yaw limit calculations
Some discussions as to whether something can’t be const
Get_rate_yaw_pid non-const
Probably need a get_rate_yaw_pid const version

UTC2308 - AP_AdvancedFailsafe: automatically set mode to auto when datalink loss by eppravitra · Pull Request #23333 · ArduPilot/ardupilot · GitHub

Automatically set mode to auto when datalink is lost
- So if you’re in GUIDED you can just not do anything useful in AFS
LUA implementation?
This has to be optional or you might end up bouncing if the user is trying to force something and you’re losing the link repeatedl
Tridge is happy for this to go in if it is optional

UTC2314 - AP_AdvancedFailsafe: option to continue the mission even after data link is recovered by eppravitra · Pull Request #23334 · ArduPilot/ardupilot · GitHub

Option to continue mission after data link is recovered
AFS_OPTIONS required!

UTC2317 - Add AP_INVERTED_FLIGHT_ENABLED by peterbarker · Pull Request #24332 · ArduPilot/ardupilot · GitHub

Ability to remove inverted flight at compilation time
Will remove the copter changes and then merge

UTC2323 - AP_Arming: mag field check vs world magnetic model by rmackay9 · Pull Request #24501 · ArduPilot/ardupilot · GitHub

Prearm check to check mag field check from world magnetic model
100 mgauss requirement
Could be a chunk of user support on this one
Return an enumeration from use_compass()?
- A “maybe” return value?
Maximum of xy rather than length?
Z is double thresh because it’s often off a lot
- Compass dance doesn’t seem to do z-axis nicely?

UTC2338 - Add PID object PD limit by lthall · Pull Request #24567 · ArduPilot/ardupilot · GitHub

Add PID object PD limit
Limit the maximum correction out of the PD term
It’s the sum of them
logging ?
- Add a limit flag?
- Yes, add a bit in existing logging field
Constructors are a bit unwieldy?
- Would be nice to find a better way to construct PIDs?
Impact on Heli?
- Different not necessarily better
Bill has some issues with some of the defaults changes
This will help the Hex frame a bit to be more consistent when it loses a propellor

UTC0000 - Correct MAVLINK_MSG_ID_SET_ATTITUDE_TARGET anglular rate input frame by lthall · Pull Request #24568 · ArduPilot/ardupilot · GitHub

Attitude+rate specified means angles weren’t considered to be in body frame
- XML specifies this

UTC0014 - AP_Scripting: add argcheck to default userdata creation functions by IamPete1 · Pull Request #24601 · ArduPilot/ardupilot · GitHub

Add a warning if you’re doing bad things with constructors in scripting
Should be a lot safer
- There’s one in our examples are wrong
- Vector3 in particular
merged!

UTC0015 - AP_BattMonitor: expose CAPACITY param on periph by IamPete1 · Pull Request #24603 · ArduPilot/ardupilot · GitHub

Expose capacity param on periph
Param removed from table…
MergeOnCIPass

UTC0018 - AP_RPM: Allow more instances by magicrub · Pull Request #24645 · ArduPilot/ardupilot · GitHub

Allow more RPM instances
NeedsTesting but can then be merged

UTC0019 - AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES to 16 by magicrub · Pull Request #24660 · ArduPilot/ardupilot · GitHub

Move from 9 to 16 batteries
Can reset batteries in SITL, and that is now covered
These aren’t really batteries
- These are subsystem voltages
Whole heap of stuff around these like failsafes
- This is on periph
Use cells instead of batteries?
Probably should pull out the ADC stuff into a separate library so we can re-use it
Merged!

UTC0028 - Refactor microstrain to common library by Ryanf55 · Pull Request #24723 · ArduPilot/ardupilot · GitHub

Refactor microstrain
Should have done rename as a separate step
Merged!

UTC0032 - pre-commit: Fix current errors by Ryanf55 · Pull Request #24727 · ArduPilot/ardupilot · GitHub

Pre-commit on repo will pass after this
Need to exclude Sagetech as we’ve already gone backwards and forwards on it
Tridge was experimenting with pre-commit
- Still on
- Not on on every repo
- Ugly on 4.3 branches
- Does slow down some things significantly
- Subsystem split is very slow
- Some rebasing things
Probably not on by default in people’s environments as working on older branches is problematic

UTC0039 - pre-commit: Run autoupdate by Ryanf55 · Pull Request #24728 · ArduPilot/ardupilot · GitHub

Fix pre-commit references to fix poetry bugs
Merged!

UTC0040 - AP_ExternalAHRS: Fix MicroStrain nullptr crash on bootup by Ryanf55 · Pull Request #24792 · ArduPilot/ardupilot · GitHub

Fix nullptr crash on bootup
Really want the latest data?
Might be a packet sitting there
Boost priority can stuff you up
- Higher than SPI
- Drops priority once AHRS update is done
- So we do need to call the update in two places

UTC0050 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
4.3.8 went out nicely
- But parallel stables aren’t working
- No feedback on whether people are actually flying 4.3.8
4.4 is going well
- No real problems reported
- … airspeed use got disabled upgrading 4.1.6 to 4.4
  - Tridge will try to replicate in SITL

UTC0052 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Copter update
Couple of questions that came up
- No ADSB DroneCAN driver at the moment
- RemoteID bothersome stuff
  - Play games where we store parameters on H7
  - Turn on RemoteID by default on H7 2MB boards
    - But it is off by default
    - Once turned on it can’t be turned off
  - Sid’s already doing this for CubeID
- Andy mentioned slow loops on 4.4
- And lost logging data?

UTC0103 - Add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE by peterbarker · Pull Request #24743 · ArduPilot/ardupilot · GitHub

Allow some deprecated mavlink commands to be compiled out
Merged!

UTC0107 - Tools: Change erase sectors size by tsubashchandar · Pull Request #24750 · ArduPilot/ardupilot · GitHub

Erase sectors correctly on stm32l4r5
Merged!

UTC0111 - Tools: support new stable release of 4.3.x by tridge · Pull Request #24759 · ArduPilot/ardupilot · GitHub

Fix marking of things as stable in metadata
Merged!

UTC0112 - ArduCopter: allow MAV_CMD_SOLO_BTN_PAUSE_CLICK as COMMAND_INT by peterbarker · Pull Request #24762 · ArduPilot/ardupilot · GitHub

Handle cmd solo btn click as command_int
Will circle back around and turn these off apart from on-solo things
Merged!

UTC0114 - hwdef: don't include solo gimbal or oreoled on thepeach autopilots by peterbarker · Pull Request #24763 · ArduPilot/ardupilot · GitHub

Peach boards don’t get OreoLED or Solo Gimbal
Makes no sense
Merged!

UTC0114 - Take set-servo and set-relay commands as COMMAND_INT too by peterbarker · Pull Request #24766 · ArduPilot/ardupilot · GitHub

Set-servo and set-relay as command-int
Merged!

UTC0115 - Periph: Add BATTn_OPTION to not broadcast - keep data internal by magicrub · Pull Request #24773 · ArduPilot/ardupilot · GitHub

Option to not broadcast battery information in Periph

UTC0122 - SITL: support both multicast and socketcan in CAN SITL by tridge · Pull Request #24779 · ArduPilot/ardupilot · GitHub

Support both multicast and socketcan for SITL
- Instead of just socketcan
Couple of name changes and can then be merged

UTC0133 - AP_Mount: Viewpro date fix (and other small fixes) by rmackay9 · Pull Request #24788 · ArduPilot/ardupilot · GitHub

Small viewpro fixes
Merged

UTC0134 - https://github.com/ArduPilot/ardupilot/pull/24795

Simplify Siyi absolute zoom
New A8 firmware has absolute zoom
Just delete the old code
Needs some debug removed
Good to merge after that

UTC0137 - autotest: remove generation of defaults files by peterbarker · Pull Request #24781 · ArduPilot/ardupilot · GitHub

Stop generating defaults files on autotest server
Merged!

UTC0140 - AP_Periph: restructure by tridge · Pull Request #24782 · ArduPilot/ardupilot · GitHub

Restructure AP_Periph
Needs rebasing and can then be reviewed….

UTC0147 - Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT by peterbarker · Pull Request #24783 · ArduPilot/ardupilot · GitHub

Accept plane engine control as both command-long and command-int
Merged!

Dev Call Aug 28, 2023

Attendee count (max): 13

UTC2300 - common.xml: display GIMBAL_MANAGER_STATUS.flags as bitmask by peterbarker · Pull Request #327 · ArduPilot/mavlink · GitHub

UTC2301 - AC_AttitudeControl: Fix yaw limit calculations by lthall · Pull Request #23326 · ArduPilot/ardupilot · GitHub

UTC2308 - AP_AdvancedFailsafe: automatically set mode to auto when datalink loss by eppravitra · Pull Request #23333 · ArduPilot/ardupilot · GitHub

UTC2314 - AP_AdvancedFailsafe: option to continue the mission even after data link is recovered by eppravitra · Pull Request #23334 · ArduPilot/ardupilot · GitHub

UTC2317 - Add AP_INVERTED_FLIGHT_ENABLED by peterbarker · Pull Request #24332 · ArduPilot/ardupilot · GitHub

UTC2323 - AP_Arming: mag field check vs world magnetic model by rmackay9 · Pull Request #24501 · ArduPilot/ardupilot · GitHub

UTC2338 - Add PID object PD limit by lthall · Pull Request #24567 · ArduPilot/ardupilot · GitHub

UTC0000 - Correct MAVLINK_MSG_ID_SET_ATTITUDE_TARGET anglular rate input frame by lthall · Pull Request #24568 · ArduPilot/ardupilot · GitHub

UTC0014 - AP_Scripting: add argcheck to default userdata creation functions by IamPete1 · Pull Request #24601 · ArduPilot/ardupilot · GitHub

UTC0015 - AP_BattMonitor: expose CAPACITY param on periph by IamPete1 · Pull Request #24603 · ArduPilot/ardupilot · GitHub

UTC0018 - AP_RPM: Allow more instances by magicrub · Pull Request #24645 · ArduPilot/ardupilot · GitHub

UTC0019 - AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES to 16 by magicrub · Pull Request #24660 · ArduPilot/ardupilot · GitHub

UTC0028 - Refactor microstrain to common library by Ryanf55 · Pull Request #24723 · ArduPilot/ardupilot · GitHub

UTC0032 - pre-commit: Fix current errors by Ryanf55 · Pull Request #24727 · ArduPilot/ardupilot · GitHub

UTC0039 - pre-commit: Run autoupdate by Ryanf55 · Pull Request #24728 · ArduPilot/ardupilot · GitHub

UTC0040 - AP_ExternalAHRS: Fix MicroStrain nullptr crash on bootup by Ryanf55 · Pull Request #24792 · ArduPilot/ardupilot · GitHub

UTC0050 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0052 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0103 - Add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE by peterbarker · Pull Request #24743 · ArduPilot/ardupilot · GitHub

UTC0107 - Tools: Change erase sectors size by tsubashchandar · Pull Request #24750 · ArduPilot/ardupilot · GitHub

UTC0111 - Tools: support new stable release of 4.3.x by tridge · Pull Request #24759 · ArduPilot/ardupilot · GitHub

UTC0112 - ArduCopter: allow MAV_CMD_SOLO_BTN_PAUSE_CLICK as COMMAND_INT by peterbarker · Pull Request #24762 · ArduPilot/ardupilot · GitHub

UTC0114 - hwdef: don't include solo gimbal or oreoled on thepeach autopilots by peterbarker · Pull Request #24763 · ArduPilot/ardupilot · GitHub

UTC0114 - Take set-servo and set-relay commands as COMMAND_INT too by peterbarker · Pull Request #24766 · ArduPilot/ardupilot · GitHub

UTC0115 - Periph: Add BATTn_OPTION to not broadcast - keep data internal by magicrub · Pull Request #24773 · ArduPilot/ardupilot · GitHub

UTC0122 - SITL: support both multicast and socketcan in CAN SITL by tridge · Pull Request #24779 · ArduPilot/ardupilot · GitHub

UTC0133 - AP_Mount: Viewpro date fix (and other small fixes) by rmackay9 · Pull Request #24788 · ArduPilot/ardupilot · GitHub

UTC0134 - https://github.com/ArduPilot/ardupilot/pull/24795

UTC0137 - autotest: remove generation of defaults files by peterbarker · Pull Request #24781 · ArduPilot/ardupilot · GitHub

UTC0140 - AP_Periph: restructure by tridge · Pull Request #24782 · ArduPilot/ardupilot · GitHub

UTC0147 - Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT by peterbarker · Pull Request #24783 · ArduPilot/ardupilot · GitHub

UTC0148 - AP_ExternalAHRS: correct AP_ExternalAHRS init by peterbarker · Pull Request #24784 · ArduPilot/ardupilot · GitHub

UTC0151 - GSoC is almost over

UTC0151 - new dev-team-member vote

UTC0151 - close