Dev Call Aug 7, 2023

CraigElder · August 7, 2023, 11:00pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: CubeOrange map EXTERN_DRDY and !EXTERN_CS to ADC

ArduPilot:master ← WickedShell:wickedshell/cube-orange-adc

opened 05:58PM - 14 Aug 20 UTC

WickedShell

+14 -4

This maps the same change onto CubeOrange that we have for CubeBlack, which allo…ws you to use the EXTERN_DRDY and !EXTERN_CS pins as ADC pins. This is generally useful as I have carrier boards which map this out and use it, and the usage of the bus as SPI is strongly discouraged/not desired. I've validated this on my carrier board here. @bugobliterator @proficnc any concerns with bringing this change in by default, so that we don't have to maintain a custom hwdef for the feature?

github.com/ArduPilot/ardupilot

Add failsafe protections to Mode Takeoff

ArduPilot:master ← Hwurzburg:takeoff_mode_failsafe

opened 03:22AM - 01 May 23 UTC

Hwurzburg

+27 -2

Based off #23630 so may need changes as that one is reviewed....the only changes… in mode_takeoff.cpp from that PR is the IF statement at line 133.... but this basically makes TAKEOFF have the same long failsafe protections as AUTO mode ....now long failsafe has no action if below TKOFF_LVL_ALT and gets recalled by TAKEOFF mode after reaching it and then will have the same behavior as AUTO in long failsafe...thanks to @peterbarker for brainstorming with me on this

github.com/ArduPilot/ardupilot

Trimble GSOF GPS Simulator for SITL

ArduPilot:master ← Ryanf55:gsof-sim

opened 07:48AM - 21 May 23 UTC

Ryanf55

+341 -12

## Background Here's the first draft of the GSOF Sim. A few fields aren't don…e, mainly the bitfields, or fields I don't know how to populate. It does the required data so far. Tested in GDB, no crashes (yet). This should be a great tool to refactor the GSOF driver and verify it doesn't break anything. Doing this testing exposed #23842. There are other vulnerabilities I have found, mainly the `valid` flag is not safe, but nothing to crash it (yet). Please provide any initial feedback on any of the TODO's or any other improvements you see. Thanks to @peterbarker and @tridge for the suggestion to make this; I learned a ton! ## Testing 1. Use sim_vehicle and set the following params ``` sim_vehicle.py -v Copter -DG param set SIM_GPS_TYPE 11 param set GPS_TYPE 11 ``` OR, break on the GSOF driver like so: ``` sim_vehicle.py -v Copter -DGB AP_GPS_GSOF.cpp:324 ``` 2. Autotest suite ``` autotest.py build.Copter test.CopterTests2b.MultipleGPS test.CopterTests2b.GPSTypes ``` ## Dependencies: https://github.com/ArduPilot/ardupilot/pull/24525 https://github.com/ArduPilot/ardupilot/pull/23857

github.com/ArduPilot/ardupilot

AP_ESC_Telem: Improve handling of time wrap with RPM data

ArduPilot:master ← WickedShell:wickedshell/esc-rpm-wrap-handling

opened 11:17PM - 25 May 23 UTC

WickedShell

+48 -21

The primary target here is to close a window where after time wraps we would ign…ore the last reported RPM data even if it was valid (such as in the are_motors_running function). The secondary thing this helps us with is that by zeroing out the time we can ensure that if we lose telemetry after wrapping around we don't have a window of time where we consider it to be valid again. This PR is worth reviewing in separate commits. The second commit is a combination of me kibitzing, and attempting some drive by improvements. They're detailed in the commit message and should be reviewed carefully. Thus far this has been run through the autotest sequence, but needs to be tested on real hardware still. I'm hoping to get back to that shortly, and do some explicit testing of the behavior on wraps.

github.com/ArduPilot/ardupilot

Allow compass mag cal command to come in as COMMAND_INT

ArduPilot:master ← peterbarker:pr/compass-cal-as-command-int

opened 04:01AM - 02 Aug 23 UTC

peterbarker

+21 -26

``` + column -ts, /tmp/some.csv Board AP_Periph blimp bootload…er copter heli iofirmware plane rover sub Durandal -88 * -88 -88 -88 -88 -96 HerePro * Hitec-Airspeed * KakuteH7-bdshot -40 * -32 -40 -40 -32 -32 MatekF405 -8 * -16 -8 -16 -8 -8 Pixhawk1-1M-bdshot -16 -16 -16 -16 -16 -16 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 0 * -8 -8 -8 8 0 skyviper-v2450 -16 ``` Tested in SITL + MAVProxy. We also test this in autotest.

github.com/ArduPilot/ardupilot

Eliminate MINIMIZE_FEATURES define

ArduPilot:master ← peterbarker:pr/copter-minimize-features

opened 10:46PM - 02 Aug 23 UTC

peterbarker

+40 -36

This is primarily a Copter patch. Had to rename `NAV_GUIDED` to `AC_NAV_GUIDE…D` to avoid affecting Sub, which turns that on on all boards. No change in compiler output: ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot 64 64 72 64 72 64 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

AP_RangeFinder: compile mavlink rangefinder in only if HAL_GCS_ENABLED

ArduPilot:master ← peterbarker:pr/rangefinder-mavlink-requires-hal-gcs-enabled

opened 09:50PM - 03 Aug 23 UTC

peterbarker

+2 -1

``` Board,AP_Periph f303-Universal,-344 ``` Before: ``` 134295144 000000…02 T AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t) 134252500 00000032 T mavlink_frame_char 134251656 00000036 T mavlink_update_checksum 134251692 00000064 T mavlink_get_msg_entry 134252532 00000064 T mavlink_parse_char 134250652 00000080 T mavlink_sha256_init(mavlink_sha256_ctx*) 134313220 00000090 T AP_RangeFinder_MAVLink::handle_msg(__mavlink_message const&) 134251180 00000128 T mavlink_sha256_final_48(mavlink_sha256_ctx*, unsigned char*) 134408816 00000256 t mavlink_sha256_constant_256 134251308 00000348 T mavlink_signature_check(__mavlink_signing*, __mavlink_signing_streams*, __mavlink_message const*) 134252652 00000380 T AP_Periph_FW::can_send_ADSB(__mavlink_adsb_vehicle_t&) 134250732 00000448 T mavlink_sha256_update(mavlink_sha256_ctx*, void const*, unsigned long) 134251756 00000744 T mavlink_frame_char_buffer 134409072 00003996 t mavlink_get_msg_entry::mavlink_message_crcs ``` After: ``` pbarker@fx:~/rc/ardupilot((HEAD detached from 0c48652bb2d))$ arm-nm build/f303-Universal/bin/AP_Periph | grep mavlink 134295144 00000002 T AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t) 134252500 00000032 T mavlink_frame_char 134251656 00000036 T mavlink_update_checksum 134251692 00000064 T mavlink_get_msg_entry 134252532 00000064 T mavlink_parse_char 134250652 00000080 T mavlink_sha256_init(mavlink_sha256_ctx*) 134251180 00000128 T mavlink_sha256_final_48(mavlink_sha256_ctx*, unsigned char*) 134408520 00000256 t mavlink_sha256_constant_256 134251308 00000348 T mavlink_signature_check(__mavlink_signing*, __mavlink_signing_streams*, __mavlink_message const*) 134252652 00000380 T AP_Periph_FW::can_send_ADSB(__mavlink_adsb_vehicle_t&) 134250732 00000448 T mavlink_sha256_update(mavlink_sha256_ctx*, void const*, unsigned long) 134251756 00000744 T mavlink_frame_char_buffer 134408776 00003996 t mavlink_get_msg_entry::mavlink_message_crcs pbarker@fx:~/rc/ardupilot((HEAD detached from 0c48652bb2d))$ ```

github.com/ArduPilot/ardupilot

AP_GPS: avoid use of mavlink_channel_t when GCS not compiled in

ArduPilot:master ← peterbarker:pr/send-mavlink-gps-rtk-out

opened 10:56PM - 03 Aug 23 UTC

peterbarker

+32 -11

![image](https://github.com/ArduPilot/ardupilot/assets/7077857/502dbcda-a06b-470…9-8a4b-a29ec867a088) ![image](https://github.com/ArduPilot/ardupilot/assets/7077857/4c899748-15dc-4c03-a343-c072164f0f82) ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal 0 * 0 0 0 0 0 HerePro 0 Hitec-Airspeed * KakuteH7-bdshot 0 * 0 0 0 0 0 MatekF405 0 * 0 0 0 0 0 Pixhawk1-1M-bdshot 0 0 0 0 0 0 f103-QiotekPeriph * f303-Universal -72 iomcu * revo-mini 0 * 0 0 0 0 0 skyviper-v2450 0 ```

github.com/ArduPilot/ardupilot

AP_GPS: tidy is_healthy calculations

ArduPilot:master ← peterbarker:pr/AP_GPS-HAL_BUILD_AP_PERIPH-fixes

opened 02:07AM - 04 Aug 23 UTC

peterbarker

+2 -4

this removes some duplicate code and simplifies the flow of control Will prev…ent a bug if we ever do blended on a periph ``` 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 * ```

github.com/ArduPilot/ardupilot

Provide VSCode launch and debug tasks for developers to build and debug SITL

opened 11:55PM - 06 Aug 23 UTC

Ryanf55

Enhancement SITL DevCallTopic

## Feature request **Is your feature request related to a problem? Please des…cribe.** Due to ArduPilot's highly custom simulation bringup (sim_vehicle.py), and lack of use of CMake or other common build tool, it's difficult to use VSCode's GUI support for configuring, building, testing, and debugging. Developers are maintaining [their own custom configs](https://github.com/ArduPilot/ardupilot_vscode_devenv/issues/1#issuecomment-1214816404), but these aren't shared. **Describe the solution you'd like** Merge one of the dev's `launch.json` and `tasks.json` files that works on `master`, and then allow others to start contributing. When working, this provides the ability to use a keyboard shortcut to configure, build, run `sim_vehicle.py`, attach `gdb`, and inspect the code at a breakpoint WITHOUT using `gdb's` CLI. This can be faster and easier, but it still allows console-commands for gdb. Here is a hard-coded launch and task showing a breakpoint being triggered in SITL. ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/24a5ccee-ab2d-41f8-972c-0431a778db29) **Describe alternatives you've considered** https://github.com/ArduPilot/ardupilot_vscode_devenv/issues/1 **Platform** [x ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: break out include files for firmware defaults

ArduPilot:master ← peterbarker:pr/include-files-for-chibios_hwdef

opened 01:43AM - 07 Aug 23 UTC

peterbarker

+432 -428

``` 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 * ```

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) - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [ ] 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)) 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

*GSOC

CraigElder · August 9, 2023, 10:11pm

Attendee count (max): 17

UTC2300 - common.xml: add a RELAY_STATUS message to report current relay state by peterbarker · Pull Request #324 · ArduPilot/mavlink · GitHub

Add a RELAY_STATUS mavlink message
Merged!

UTC2303 - Update gimbal manager v2 messages: by Davidsastresas · Pull Request #323 · ArduPilot/mavlink · GitHub

Gimbal manager v2 messages
Pulling messages from upstream
Many insignificant changes (periods on sentences), clouding real change
Several small flaws
- “AUTOPILOT_STATE_FOR_GIMBAL_DEVICE” has ambiguity for 0/NaN that likely isn’t handled
Rebased on top of 2.7 fix
Can be merged once it is done

UTC2315 - Dev Call Aug 7, 2023

EXTERN_DRD and !EXTERN_CS to ADC
Alt-config-2 gets back GPIOs
Merged!

UTC2316 - Add failsafe protections to Mode Takeoff by Hwurzburg · Pull Request #23650 · ArduPilot/ardupilot · GitHub

Add failsafe protections to Mode Takeoff
Will leave first flight phase of takeoff if long failsafe occurs
Say during takeoff a long failsafe is triggered
- Long failsafe occurs
- Say it is a GCS failsafe
- User takes over in manual
- New flag would still be set
- Next time user takes off they might get a failsafe?
A few spots to clear the flag
Becomes a pending rather than active flag

UTC2332 - https://github.com/ArduPilot/ardupilot/pull/23843

GSOF simulator
Reviews left

UTC2342 - AP_HAL_ChibiOS/hwdef: JFB110 board definition by jfbblue0922 · Pull Request #24165 · ArduPilot/ardupilot · GitHub

JFB110 board definition
Tridge’s old requests haven’t been addressed

UTC2345 - AP_ESC_Telem: Improve handling of time wrap with RPM data by WickedShell · Pull Request #23896 · ArduPilot/ardupilot · GitHub

Stop valid ESC data being lost on time wrap
Merged!

UTC2355 - https://github.com/ArduPilot/ardupilot/pull/24360

JRE rangefinder
Peter will write a simulator
Randy will rework the state machine

UTC0002 - AP_BattMonitor: add health logging by IamPete1 · Pull Request #24475 · ArduPilot/ardupilot · GitHub

Add logging for battery monitor health
- E.g. CAN
Analogue sensors can go healthy/unhealthy!
merged!

UTC0005 - Allow compass mag cal command to come in as COMMAND_INT by peterbarker · Pull Request #24480 · ArduPilot/ardupilot · GitHub

Allow compass mag cal command to come in as COMMAND_INT
Merged!

UTC0006 - AP_Arming: mag field check vs world magnetic model by rmackay9 · Pull Request #24501 · ArduPilot/ardupilot · GitHub

Prearm check mag field vs world magnetic model
“Is compass vector compatible with vehicle attitude?”
If you slowly rotate an autopilot through 90 degrees then the yaw of the autopilot can take a long time to rotate to match
- You can arm and take off in that time
- This new check actually catches that problem!
No user action has been suggested.
- Wiki page?
What happens to takeoff from a ship?
- Metal deck
- Turn the check off……
A few tweaks to make to the message
If you are using GPS-for-yaw then you might not want to do this check
The EKF learns compass offsets from GPS-for-yaw
- Bad things will happen if your heading from GPS is bad
- If you have relative positions set wrong bad things will happen
You do sometimes lose gps-for-yaw and we fall back to the compasses (as “fixed” by the EKF
Need to check GPS-for-yaw
This is likely to cause a high support load
- This is what master is for!
Copter and EKF checks were fighting each other
- EKF threshold in Copter, loop before it tells EKF to try doing a yaw-reset -with-GSF
  - Almost got to the threshold
  - But EKF did its own yaw reset
  - Which meant the Copter emergency yaw reset check didn’t trigger
  - If the EKF hadn’t been trying to fix things then higher-level check would have triggered and perhaps fixed things
  - Move check down into the EKF?
  - Move EKF failsafe intoEKF (out of Rover+Copter)
- Two GSF instances
  - They agreed
  - Should we do GSF switching logic up in the frontend of the EKF?
    - We already do core switching up there

UTC0027 - Eliminate MINIMIZE_FEATURES define by peterbarker · Pull Request #24483 · ArduPilot/ardupilot · GitHub

Removes MINIMIZE_FEATURES
Merged! Woohoo

UTC0035 - https://github.com/ArduPilot/ardupilot/pull/20138

LD06 proximity sensor integration
Rishabh wants to do some work
- Some confusion as to why he couldn’t push over the PR, he already has rights?

UTC0047 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
ZealotH743 main-loop-stuck problem still?
In_expeted_delay not wide enough?
Pitching down after takeoff
- 4.3 issue
- High pitch limit on Plane for takeoff without airspeed sensor
  - Will pitch down pretty strongly
    - By design
Guided mode target on mode enter
- Returning to guided mode after being in other mode was a bug
- Nasty bug but not a regression
Auto-enable of fence with forced arm
- Original behavior driven by outback challenge requiring demonstration of fence breach while on the ground and disarmed
Release within next few days

UTC0056 - Copter update

Outstanding issues
- EKF errors from Michelle
- Baro issues
- Vertical bendy ruler
Push 4.4 out anyway
- Lots of important bug fixes pending in 4.4
- Will get a lot more testers once 4.4 is out
- There will be a 4.4.1 to get the outstanding issues done if they’re not done already
RTK injection when first module is a base
- Backport from master
- Could go into 4.4.1
- Will work 50% of the time….
- Depends on detection order

UTC0059 - backports to 4.3?

Policies?
Probably will not do another stable 4.3 release
Put them into the branch anyway?
Cygwin builds means we don’t use build-binaries
- Meaning we will run latest rather than what people will put on their vehicles
- We’ll do a 4.3-beta to try to fix the situation

UTC0110 - Add sending of RELAY_STATUS message by peterbarker · Pull Request #24488 · ArduPilot/ardupilot · GitHub

RELAY_STATUS message sending
Can be merged once rebased

UTC0113 - WIP: DDS external odometry/localization support by Ryanf55 · Pull Request #24518 · ArduPilot/ardupilot · GitHub

External odometry/localisation support
Several implementation questions answered

UTC0124 - Provide VSCode launch and debug tasks for developers to build and debug SITL · Issue #24521 · ArduPilot/ardupilot · GitHub

Vscode launch and debug tasks for developers to build and debug code

UTC0126 - Rename handle vision position estimate by Ryanf55 · Pull Request #24528 · ArduPilot/ardupilot · GitHub

Rename handle_vision_position_estimate to handle_vision_pose_estimate
Can rename the visualodom library but not teh GCS ones

UTC0131 - AP_GPS: avoid use of mavlink_channel_t when GCS not compiled in by peterbarker · Pull Request #24499 · ArduPilot/ardupilot · GitHub

Avoid use of mavlink_channel_t in GCS
merged!

UTC0134 - Plane:disarm on parachute release FS by Hwurzburg · Pull Request #24532 · ArduPilot/ardupilot · GitHub

Disarm vehicle when parachute released
Merged

UTC0137 - AP_RangeFinder: compile mavlink rangefinder in only if HAL_GCS_ENABLED by peterbarker · Pull Request #24497 · ArduPilot/ardupilot · GitHub

Compile mavlink rangefinder in only if mavlink enabled
Merged!

UTC0140 - AP_HAL_ChibiOS: break out include files for firmware defaults by peterbarker · Pull Request #24524 · ArduPilot/ardupilot · GitHub

Include files for chibios
Move header information out to separate files
Syntax highlighting
Merged!

UTC0144 - AP_HAL_ChibiOS: properly support CRSF on HEEWING-F405 by andyp1per · Pull Request #24506 · ArduPilot/ardupilot · GitHub

HeeWing CRSF
Problematic from hard-coding the DMA channel
- Fragile
- If the auto-allocator changes this could subtly break

UTC0148 - AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 by andyp1per · Pull Request #24505 · ArduPilot/ardupilot · GitHub

8 bdshot channels on mRoControlZeroH7
README.md need updating?
- Nope, it doesn’t exist
Merged!

Attendee count (max): 17

UTC2300 - common.xml: add a RELAY_STATUS message to report current relay state by peterbarker · Pull Request #324 · ArduPilot/mavlink · GitHub

UTC2303 - Update gimbal manager v2 messages: by Davidsastresas · Pull Request #323 · ArduPilot/mavlink · GitHub

UTC2315 - Dev Call Aug 7, 2023

UTC2316 - Add failsafe protections to Mode Takeoff by Hwurzburg · Pull Request #23650 · ArduPilot/ardupilot · GitHub

UTC2332 - https://github.com/ArduPilot/ardupilot/pull/23843

UTC2342 - AP_HAL_ChibiOS/hwdef: JFB110 board definition by jfbblue0922 · Pull Request #24165 · ArduPilot/ardupilot · GitHub

UTC2345 - AP_ESC_Telem: Improve handling of time wrap with RPM data by WickedShell · Pull Request #23896 · ArduPilot/ardupilot · GitHub

UTC2355 - https://github.com/ArduPilot/ardupilot/pull/24360

UTC0002 - AP_BattMonitor: add health logging by IamPete1 · Pull Request #24475 · ArduPilot/ardupilot · GitHub

UTC0005 - Allow compass mag cal command to come in as COMMAND_INT by peterbarker · Pull Request #24480 · ArduPilot/ardupilot · GitHub

UTC0006 - AP_Arming: mag field check vs world magnetic model by rmackay9 · Pull Request #24501 · ArduPilot/ardupilot · GitHub

UTC0027 - Eliminate MINIMIZE_FEATURES define by peterbarker · Pull Request #24483 · ArduPilot/ardupilot · GitHub

UTC0035 - https://github.com/ArduPilot/ardupilot/pull/20138

UTC0047 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0056 - Copter update

UTC0059 - backports to 4.3?

UTC0110 - Add sending of RELAY_STATUS message by peterbarker · Pull Request #24488 · ArduPilot/ardupilot · GitHub

UTC0113 - WIP: DDS external odometry/localization support by Ryanf55 · Pull Request #24518 · ArduPilot/ardupilot · GitHub

UTC0124 - Provide VSCode launch and debug tasks for developers to build and debug SITL · Issue #24521 · ArduPilot/ardupilot · GitHub

UTC0126 - Rename handle vision position estimate by Ryanf55 · Pull Request #24528 · ArduPilot/ardupilot · GitHub

UTC0131 - AP_GPS: avoid use of mavlink_channel_t when GCS not compiled in by peterbarker · Pull Request #24499 · ArduPilot/ardupilot · GitHub

UTC0134 - Plane:disarm on parachute release FS by Hwurzburg · Pull Request #24532 · ArduPilot/ardupilot · GitHub

UTC0137 - AP_RangeFinder: compile mavlink rangefinder in only if HAL_GCS_ENABLED by peterbarker · Pull Request #24497 · ArduPilot/ardupilot · GitHub

UTC0140 - AP_HAL_ChibiOS: break out include files for firmware defaults by peterbarker · Pull Request #24524 · ArduPilot/ardupilot · GitHub

UTC0144 - AP_HAL_ChibiOS: properly support CRSF on HEEWING-F405 by andyp1per · Pull Request #24506 · ArduPilot/ardupilot · GitHub

UTC0148 - AP_HAL_ChibiOS: allow 8 bdshot channels on mRoControlZeroH7 by andyp1per · Pull Request #24505 · ArduPilot/ardupilot · GitHub

UTC0151 - close