Dev Call Dec 04, 2023

CraigElder · December 4, 2023, 3:13pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Copter: use attitude control base class

ArduPilot:master ← IamPete1:copter_attitude_control_class

opened 01:08PM - 10 Oct 23 UTC

IamPete1

+19 -29

The base `AC_AttitudeControl` class implements all the methods from `AC_Attitude…Control_Heli` and `AC_AttitudeControl_Multi` so there is no need for the extra level of indirection. This also changes over `AC_CustomControl` from `AC_AttitudeControl_Multi` to `AC_AttitudeControl`. If we were to add any new methods to multi or heli attitude control this now requires that a virtual or pure virtual function be added in the base class and then overridden, but we have been following that pattern anyway.

github.com/ArduPilot/ardupilot

AP_InertialNav: add fallback numeric vert velocity

ArduPilot:master ← robertlong13:pr_innav_velocity_fallback

opened 06:13PM - 25 Oct 23 UTC

robertlong13

+59 -15

This PR adds the ability for AP_InertialNav to fall back to a filtered numeric d…erivative of altitude when measuring vertical velocity whenever the AHRS refuses a request for velocities. This prevents the vertical velocity from simply freezing when GPS is lost on Plane. Related to this issue: https://discuss.ardupilot.org/t/near-crash-in-qhover-after-gps-loss/107723/3 I also intend to make another PR to prevent DCM fallback (like Copter does) when hovering. But wanted to start with this one first. ![Before](https://github.com/ArduPilot/ardupilot/assets/14059190/3f3ff659-51f9-456b-a34b-7171a4f94797) ![After](https://github.com/ArduPilot/ardupilot/assets/14059190/d18f7f22-8b3c-47fa-8cec-eff4521d543b) This does cause some noise to feed into the altitude control, but this is vastly superior to the current behavior. [Download Before/After Logs](https://github.com/ArduPilot/ardupilot/files/13169282/logs.zip) I am also planning to test this on a physical aircraft this week.

github.com/ArduPilot/ardupilot

AP_Scripting: add checksum of running and loaded scripts with arming check

ArduPilot:master ← IamPete1:scripting_checksum

opened 11:08PM - 12 Nov 23 UTC

IamPete1

+171 -21

This allows a arming check that the correct scripts are running and loaded preve…nting a missing SD card from meaning critical scripts are missing. This does a crc32 on the each file and XOR's the result for multiple files. The crc caculation gives the same result per file as the `crc32` command on linux and pages such as this one: https://emn178.github.io/online-tools/crc32_checksum.html However, because of float parameter transport we can't actually set the CRC we want into parameters, so this is still a draft. We could move to a 16 bit checksum, or add a "lock in scripts" command to set the current value to the parameters. This is also very much a pass/fail arming check, we can only tell that the check sum failed, we cannot tell which script is missing. I the future this would allow a fail safe action to be taken if the running scripts do not match the expected checksum.

github.com/ArduPilot/ardupilot

Microstrain7 Initial Support

ArduPilot:master ← Ryanf55:microstrain7

opened 11:15PM - 18 Nov 23 UTC

Ryanf55

+880 -136

# Purpose This forms initial support for the [MicroStrain 3DM-AQ6 EAHRS syste…m](https://www.microstrain.com/inertial-sensors/3dm-gq7). It's "working on the bench". I've updated this to also include the simulator. # What's different from MicroStrain5 * Dual GNSS antenna support with new messages available on the GQ7 * Minimal refactor to improve shared code between MicroStrain5 and MicroStrain7 * Improved state machine for health reporting based on device health rather than message frequency * The chosen set of messages are endorsed by MicroStrain # Manual Testing So far, bench testing the driver against hardware. There are a few more things I'd like to do (in follow up PR) prior to flight testing. It would be nice to get this minimum version in to avoid major merge conflicts. # Automated Testing Autotest is included. # Set up Use MicroStrain Sensor Connect and configure these data rates and channels manually: ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/4951c4fd-3e4e-4526-8795-549033150ecd) # Demo Logs with bench hardware ``` $ ./Tools/autotest/sim_vehicle.py -v Plane -A "--serial3=uart:/dev/3dm-gq7" -DG ... BUILD SUMMARY Build directory: /home/ryan/Dev/ros2_ws/src/ardupilot/build/sitl Target Text (B) Data (B) BSS (B) Total Flash Used (B) Free Flash (B) External Flash Used (B) --------------------------------------------------------------------------------------------------------- bin/arduplane 4954805 187960 213160 5142765 Not Applicable Not Applicable Build commands will be stored in build/sitl/compile_commands.json 'build' finished successfully (3.573s) SIM_VEHICLE: Using defaults from (Tools/autotest/models/plane.parm) SIM_VEHICLE: Run ArduPlane (gdb) SIM_VEHICLE: "/home/ryan/Dev/ros2_ws/src/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduPlane (gdb)" "gdb" "-x" "/tmp/tmpwnj65h0c" "--args" "/home/ryan/Dev/ros2_ws/src/ardupilot/build/sitl/bin/arduplane" "-S" "--model" "plane" "--speedup" "1" "--slave" "0" "--serial3=uart:/dev/3dm-gq7" "--defaults" "Tools/autotest/models/plane.parm" "--sim-address=127.0.0.1" "-I0" SIM_VEHICLE: Run MavProxy SIM_VEHICLE: "mavproxy.py" "--out" "127.0.0.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" RiTW: Starting ArduPlane (gdb) : gdb -x /tmp/tmpwnj65h0c --args /home/ryan/Dev/ros2_ws/src/ardupilot/build/sitl/bin/arduplane -S --model plane --speedup 1 --slave 0 --serial3=uart:/dev/3dm-gq7 --defaults Tools/autotest/models/plane.parm --sim-address=127.0.0.1 -I0 Connect tcp:127.0.0.1:5760 source_system=255 [Errno 111] Connection refused sleeping Log Directory: Telemetry log: mav.tlog Waiting for heartbeat from tcp:127.0.0.1:5760 MAV> Detected vehicle 1:1 on link 0 online system 1 INITIALISING> Mode INITIALISING AP: ArduPlane V4.5.0-dev (30b66ecb) AP: 1335a96389cc4630a4ec6b8290ea9cdc Received 1388 parameters (ftp) Saved 1388 parameters to mav.parm AP: Initialising ArduPilot AP_Logger_File: buffer size=204800 AP: MicroStrain7 ExternalAHRS initialised AP: Ground start AP: Skipping INS calibration AP: Calibrating barometer MANUAL> Mode MANUAL AP: Barometer 1 calibration complete AP: Barometer 2 calibration complete AP: Barometer 3 calibration complete AP: Airspeed 1 calibration started AP: ArduPilot Ready AP: AHRS: DCM active AP: GPS 1: specified as ExternalAHRS AP: Field Elevation Set: 1681m Flight battery warning GPS lock at 0 meters AP: EKF2 IMU0 MAG0 initial yaw alignment complete AP: EKF2 IMU1 MAG0 initial yaw alignment complete Received 1394 parameters Saved 1388 parameters to mav.parm AP: EKF3 IMU0 initialised AP: EKF3 IMU1 initialised AP: Airspeed 1 calibrated AP: EKF3 IMU0 tilt alignment complete AP: EKF3 IMU1 tilt alignment complete AP: EKF3 IMU0 MAG0 initial yaw alignment complete AP: EKF3 IMU1 MAG0 initial yaw alignment complete AP: EKF2 IMU0 tilt alignment complete AP: EKF2 IMU1 tilt alignment complete AP: EKF2 IMU0 origin set AP: EKF2 IMU1 origin set AP: EKF3 IMU0 origin set AP: EKF3 IMU1 origin set AP: EKF3 IMU0 is using GPS AP: EKF3 IMU1 is using GPS AP: PreArm: Gyros not calibrated AP: EKF2 IMU0 is using GPS AP: EKF2 IMU1 is using GPS AP: PreArm: Gyros not calibrated Flight battery 100 percent AP: PreArm: Gyros not calibrated AP: PreArm: Gyros not calibrated Flight battery 100 percent ```

github.com/ArduPilot/ardupilot

AP_Motors: Heli: Single: rework tail rotor handling

ArduPilot:master ← IamPete1:heli_tail

opened 04:14PM - 22 Nov 23 UTC

IamPete1

+224 -111

This is a none-functional change to re-work tail rotor handling into what is hop…efully easier to understand. This moves the tail types to be a enum class and uses switch statements where possible. Helper functions have been added to check if DDFP and direct drive var pitch. Yaw offset had been moved to its own function. As usual the motors example has been updated to allow testing of different tail types, it shows no difference before vs after. ``` Single_Heli H3 Servo_only: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 Single_Heli H3 Servo_with_ExtGyro: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 Single_Heli H3 DirectDrive_VarPitch: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 Single_Heli H3 DirectDrive_FixedPitch_CW: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 Single_Heli H3 DirectDrive_FixedPitch_CCW: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 Single_Heli H3 DDVP_with_external_governor: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 ```

github.com/ArduPilot/ardupilot

AP_Motors: Heli: dual and quad: remove un-needed override methods

ArduPilot:master ← IamPete1:heli_uneeded_overrides

opened 04:24PM - 22 Nov 23 UTC

IamPete1

+0 -12

`AP_MotorsHeli_Quad` and `AP_MotorsHeli_Dual` both inherit from `AP_MotorsHeli` …which implements the same methods. There is no need to override. https://github.com/ArduPilot/ardupilot/blob/b5e2f9aa0a7337d9bb1d5cc4e57bb472b112a5c1/libraries/AP_Motors/AP_MotorsHeli.h#L72-L73 https://github.com/ArduPilot/ardupilot/blob/b5e2f9aa0a7337d9bb1d5cc4e57bb472b112a5c1/libraries/AP_Motors/AP_MotorsHeli.h#L120-L121 Alternately we could make the base class a pure virtual so the child class must implement.

github.com/ArduPilot/ardupilot

Copter: accept do-change-speed during takeoff

ArduPilot:master ← rmackay9:copter-do-set-speed-fix

opened 12:51PM - 28 Nov 23 UTC

rmackay9

+27 -1

This resolves issue https://github.com/ArduPilot/ardupilot/issues/21080 by ensur…ing that DO_CHANGE_SPEED commands received during the takeoff phase of a mission are respected. This is done by caching any do-change-speed commands received (either from a mission command or via MAVLink in real-time) and then using those cached values when WPNav object is initialised. WPNav is re-initialised if it has ever become inactive. This has been tested in SITL for xy, up and down using nearly vertical square (see below) with a do-change-speed command immediately after the TAKEOFF (the regular failure case) ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/a23a75af-0a9a-41e3-9871-a6598230fa46) Below are before-vs-after screen shots of the horizontal test. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/6ba5378a-115d-4e37-be3f-47b0a0278e75) ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/a7f2399b-1693-4af8-a0f6-618bddfa6bb8) A touch more testing is required to ensure that do-change-speed commands received via MAVLink also work but 99% sure they will.

github.com/ArduPilot/ardupilot

Copter: Use RTL_CLIMB_MIN in cone slope.

ArduPilot:master ← lthall:20231128_RTL_MinRTL_CLIMB_MIN

opened 10:56PM - 28 Nov 23 UTC

lthall

+1 -5

This PR replaces the hard coded height increase in the cone slope calculation wi…th the parameter RTL_CLIMB_MIN. The current behaviour determines the RTL altitude based on the minimum of: - The parameter RTL_ALT (default 10m) - The hash define RTL_ALT_MIN (2m) - The current altitude + RTL_CLIMB_MIN If we are in the cone slope we can reduce the altitude to a minimum of: - rtl_return_dist_cm * RTL_CONE_SLOPE - The current altitude + RTL_ABS_MIN_CLIMB (2.5m) This means that even if you are right above the RTL location the aircraft will increase in altitude by 2.5m before descending. This PR changes the minimum altitude in the cone to: - rtl_return_dist_cm * RTL_CONE_SLOPE - MAX(RTL_ALT_MIN, The current altitude + RTL_CLIMB_MIN) This means that when you are right over the landing point the aircraft will only increase in altitude by RTL_CLIMB_MIN or to a minimum of 2m.

github.com/ArduPilot/ardupilot

EKF3: allow earth-frame fields to be estimated with an origin but no GPS

ArduPilot:master ← Williangalvani:allow_mag_estimation

opened 04:00PM - 29 Nov 23 UTC

Williangalvani

+17 -0

I need some feedback here. This is my attempt at fixing https://github.com/Ar…duPilot/ardupilot/issues/18229 Here's a log using it: [00000228.zip](https://github.com/ArduPilot/ardupilot/files/13502545/00000228.zip) I am using a script to set the origin so we can use the earth field database. I can see that XKF2 fields are all populated for magnetic field in body frame and earth frame. ![image](https://github.com/ArduPilot/ardupilot/assets/4013804/4d97de56-8818-462b-98bf-2e6a66020247) I am not sure of what else to look at, though. magnetic field innovations seem bad, but at least they exist? ![image](https://github.com/ArduPilot/ardupilot/assets/4013804/74c70e6d-94d1-4c12-a2ec-19aac1081910)

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: Set RADIX2HD HAL_I2C_INTERNAL_MASK

ArduPilot:master ← mluessi:ml_radix2hd_fix_i2c_internal_mask

opened 10:25PM - 30 Nov 23 UTC

mluessi

+1 -0

The detection of external compasses wasn't working and I though I had it fixed i…n #25291. It still wasn't working because `HAL_I2C_INTERNAL_MASK` wasn't set and so no external buses were scanned (as `HAL_I2C_INTERNAL_MASK` defaults to 1). Note that for some reason it was working with the HMC5983 I used for testing, but other compasses, e.g., the QMC5883L were not working.

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) - [ ] disable uart reboot checker for non-debug build - [ ] lua scripts sometimes do not start: https://github.com/ArduPilot/ardupilot/issues/25455 - [x] https://github.com/ArduPilot/ardupilot/issues/25157 - [ ] can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height - [ ] scaling of baro gate with height: https://github.com/ArduPilot/ardupilot/issues/25337 - [ ] pitch stick mixing can stall aircraft - [ ] https://github.com/ArduPilot/ardupilot/issues/25283 - [ ] support new DroneCAN ESC status msg - [ ] slow down EFI update in periph - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] add frame to fly to in mavproxy - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [x] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] 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 - [x] 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 - [x] 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 - [x] 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 & Rover

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: - [ ] Navio+ PPM input not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-released/107005/17)) - [ ] H743 I2C with 0x70 not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/25508)) - [ ] CRSF option for "RX Battery Sensor" sends telem that conflicts with Yaapu telem (?) ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-beta1-available-for-beta-testing/106076/12)) - [ ] EKF3 external nav is fusing using wrong GPS noise ([issue](https://github.com/ArduPilot/ardupilot/issues/24020)) - [ ] benewake TFminiPlus-I2C timing out with NoData ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-released/105233/56)) - [ ] 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)) Confirmed issues: - [ ] 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)) - [ ] 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: - [ ] MAVFTP (using MP) of terrain data to SD card takes 25min ([discussion](https://discuss.ardupilot.org/t/terrain-data-loading-on-sd-card-via-mavftp-is-slow/107750), [MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3229), [MAVProxy issue](https://github.com/ArduPilot/MAVProxy/issues/1270)) - [ ] 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. - [ ] 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 - [ ] MAV_CMD_YAW should accept direction=0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23874)) - [ ] 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)) - [ ] 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), [issue](https://github.com/ArduPilot/ardupilot/issues/24802)) - [ ] 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] Rover overshoots at waypoint ([issue](https://github.com/ArduPilot/ardupilot/issues/23457), [PR](https://github.com/ArduPilot/ardupilot/pull/25623)) - [x] SERVO_FUNCTION = RCIN3Scaled output range incorrect ([discussion](https://discuss.ardupilot.org/t/release-rover-4-4-as-stable-ok/106080/6), [issue](https://github.com/ArduPilot/ardupilot/issues/25524), [PR](https://github.com/ArduPilot/ardupilot/pull/25538)) - [x] 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)) -- PR merged, no further followup - [x] TKOFF_THR_MAX not actually included in release ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-released/107005/3), [PR](https://github.com/ArduPilot/ardupilot/pull/25514)) - [x] corners less curved? ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-released/105233/77)) -- caused by slight change in default cornering acceleration. - [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

github.com/ArduPilot/ardupilot

Copter-4.4.4-beta1 / Plane-4.4.4-beta / Rover-4.4.0-beta11 release

ArduPilot:Copter-4.4 ← rmackay9:copter-444-beta1

opened 07:58AM - 04 Dec 23 UTC

rmackay9

+1513 -413

This is the Copter-4.4.4-beta1, Plane-4.4.4-beta1 and Rover-4.4.0-beta11 release…. The changes include can be seen in the "4.4.4-beta1" column of [this project](https://github.com/ArduPilot/ardupilot/projects/27). My main motivation for releasing this is to get the Rover-4.4.0 out as an official release but I'm not in a huge rush so if other devs want PRs included I'm happy to. In general I included as many PRs as I could from the ["Pending" column](https://github.com/ArduPilot/ardupilot/projects/27) but skipped over PRs that could not be cherry-picked easily. So if you're one of the devs with PRs stuck in pending and you're keen to get them included in 4.4 could I ask you to create a backport PR? @tridge, I've also updated the version and release notes for Plane but obviously feel free to fix up the wording, etc as you see fit.

CraigElder · December 5, 2023, 5:23pm

Attendee count (max): 15

UTC2300 - Copter: use attitude control base class by IamPete1 · Pull Request #25224 · ArduPilot/ardupilot · GitHub

Use attitude control base class in Copter
Merged!

UTC2307 - Dev Conference

Organizers need information from us
Conference room Tom was hoping to use can only fit 50
- Can’t really do the conference part at the airport, then
Under 400ft can do anything we want flying at parts of the airport
City of Reno wants to sponsor some of this
We had 65-ish people in Canberra
- In USA we might expect a lot more
Tridge doesn’t want this to become a vendor conference
Randy finds the “developer” part of the conference very enjoyable
- Working on code, sharing ideas without random questions being asked
Might want buses or vans for transport
Larger venue? Casino perhaps?
Hard-constrain to 50 could do all at airport
- Push to 100 people?”
- 200?
Randy thinks limit of 100
Problem is people don’t indicate they’re coming until way past the deadline
3 or 4 days before and they say they’re coming
- Including core DevTeam members
- Can’t turn someone away because someone “more important” now wants to come
Most DevTeam members that came this year will probably make it
Knowing when we’re “full” might be very important
More organized people will register early
- E.g. US partners
- DevTeam members from Europe or Australia will say a few days beforehand
Is 50 the real number?
- Variable number of people in rooms based on seating pattern
  - Circular-table type pattern has lower density
  - Classroom-style is much denser
- When Tom saw it a year ago it felt about the same size as the one in the ballroom
- Tom will get floor area and we can check against the ballroom venue
[10:15 AM]Willian Galvani: could we maybe split things up? so first days are more focused on development stuff, and then we have something more open to vendors?
partners/non-partners
- All partners invited
  - 2 slots?
- Others on case-by-case
Hotels are separate to venue at airport
- 20 minute driver
Pre-conference stuff?
3-day conference
- Maybe food on the second night?
When?
- October-ish?
- 10th-15th is problematic for Randy
So Reno were thinking of replacing the air races with some sort of unmanned show
- We’d be trying for the week before that
Step-size in venue size bit of a problem in Canberra
- 50 people jumps to 400
There are lakes nearby.,…
Sounds promising
We’ll have a subcommittee (Discord channel?) of some description to keep chasing

UTC2339 - hwdef: added files for Airvolute DCS2 onboard FMU by vrsanskytom · Pull Request #25354 · ArduPilot/ardupilot · GitHub

Airvolute DCS2 FMU
Henry will look

UTC2341 - https://github.com/ArduPilot/ardupilot/pull/25366

Add fallback for numeric vertical velocity
Climb rate locking to last value if DCM in charge
Merged

UTC2345 - AP_AHRS: prevent DCM fallback when losing GPS by robertlong13 · Pull Request #25408 · ArduPilot/ardupilot · GitHub

Prevent DCM fallback when losing GPS
Tridge has an alternative AHRS: added AHRS_OPTIONS and jamming simulator by tridge · Pull Request #25676 · ArduPilot/ardupilot · GitHub which gives more control
Bob will test this and we can merge it if he’s happy

UTC2359 - Plane: set_servos_controlled rework by IamPete1 · Pull Request #25416 · ArduPilot/ardupilot · GitHub

Rework set_servos_controlled
Merged!

UTC0001 - AP_Scripting: add checksum of running and loaded scripts with arming check by IamPete1 · Pull Request #25521 · ArduPilot/ardupilot · GitHub

Checksum for scripts to be running for prearms to pass
merged!

UTC0004 - Microstrain7 Initial Support by Ryanf55 · Pull Request #25579 · ArduPilot/ardupilot · GitHub

Microstrain7 initial support
Merged!

UTC0008 - AP_Motors: Heli: Single: rework tail rotor handling by IamPete1 · Pull Request #25603 · ArduPilot/ardupilot · GitHub

Tidy heli tail rotor handling
Switch statements etc
Bill will look

UTC0012 - AP_Motors: Heli: dual and quad: remove un-needed override methods by IamPete1 · Pull Request #25604 · ArduPilot/ardupilot · GitHub

Remove unneeded override methods
Merged!

UTC0012 - Copter: accept do-change-speed during takeoff by rmackay9 · Pull Request #25654 · ArduPilot/ardupilot · GitHub

Accept DO_CHANGE_SPEED during takeoff
Autotest?
- Randy will write one

UTC0017 - Copter: Use RTL_CLIMB_MIN in cone slope. by lthall · Pull Request #25660 · ArduPilot/ardupilot · GitHub

Use RTL_CLIMB_MIN in code slope calculations
Doesn’t guarantee a minimum climb without param set
PH will look at it

UTC0022 - EKF3: allow earth-frame fields to be estimated with an origin but no GPS by Williangalvani · Pull Request #25666 · ArduPilot/ardupilot · GitHub

Allow earth-frame fields to be estimated with an origin but no GPS
Need Paul’s input on it
Willian will try to reproduce in SITL in Norway
Need to make sure z-gyro-bias is updating
- That would explain yaw drifting
If it is updating then it should have been able to fix the bias

UTC0037 - AP_HAL_ChibiOS: Set RADIX2HD HAL_I2C_INTERNAL_MASK by mluessi · Pull Request #25672 · ArduPilot/ardupilot · GitHub

Correct HAL_I2C_INTERNAL_MASK
Merged!

UTC0037 - AP_HAL_ChibiOS: allow betaflight converter to run on output from "dump hardware" by andyp1per · Pull Request #25682 · ArduPilot/ardupilot · GitHub

Allow betaflight converter to run on output from dump_hardware
Merged!
Randy would like descriptions in every PR

UTC0038 - AP_HAL_ChibiOS: Set RADIX2HD HAL_I2C_INTERNAL_MASK (backport to 4.4) by mluessi · Pull Request #25677 · ArduPilot/ardupilot · GitHub

Backport of same PR as above
Merged!

UTC0040 - New variant of KakuteH7 using ICM42688 by andyp1per · Pull Request #25688 · ArduPilot/ardupilot · GitHub

New variant of KakuteH7 with new IMUs
Merged!

UTC0041 - AP_Scripting: added socket network bindings by tridge · Pull Request #25687 · ArduPilot/ardupilot · GitHub

Add socket network bindings for LUA
Pete’s already looked at it a bit
Web server
- Cgi is working
- LUA CGI scripts
- E.g. AJAX
- Full-fledged web-server
- Tridge had a test server up
  - …. But router is currently down….
- Probably move it to be an applet
Log download is 3 or 4 times faster…
Limitation is filesystem code
- Tridge will be looking to see if performance can be improved there
Cloud log upload without a companion computer?
Might need to look at hardware acceleration so we can do https and not be CPU-bound
Ntrip client?!
Terrain database?!
Web tools on-board works
More boards with ethernet would be good!
6X is the only one on the market, it seems

UTC0050 - Sub: support up to 32 buttons and 2 additional axis in MANUAL_CONTROL by Williangalvani · Pull Request #25671 · ArduPilot/ardupilot · GitHub

More buttons
merged!

UTC0057 - AP_Scripting: added SCR_THD_PRIORITY by tridge · Pull Request #25686 · ArduPilot/ardupilot · GitHub

Add SCR_THD_PRIORITY
Timing glitches causing problems with IMU reads
0.2 seconds
Many, many warnings of setting this new param
All scripts get this new priority
Why doesn’t the script adjust its own priority?
- Logs will show the new thing
PH will look at it

UTC0124 - AP_Scripting: added readstring for uarts by tridge · Pull Request #25685 · ArduPilot/ardupilot · GitHub

Added readstring for uarts
Efficiency

UTC0127 - AP_ExternalAHRS: added InertialLabs support by tridge · Pull Request #25674 · ArduPilot/ardupilot · GitHub

Add InertialLabs support
Datum?
UI is set in UI
Protocol doesn’t say
Ryan’s looking at this

UTC0131 - discussion on scripted ExternalAHRS

Generally agreed needed for addition of sensor data with our current architecture
Need data on how good external AHRS devices
- Apparently good in bad-GPS environments

UTC0150 - Copter update

4.4.4beta1
Randy wants Rover out there in beta testing
Want the Hobbywing ESC fix in

Attendee count (max): 15

UTC2300 - Copter: use attitude control base class by IamPete1 · Pull Request #25224 · ArduPilot/ardupilot · GitHub

UTC2307 - Dev Conference

UTC2339 - hwdef: added files for Airvolute DCS2 onboard FMU by vrsanskytom · Pull Request #25354 · ArduPilot/ardupilot · GitHub

UTC2341 - https://github.com/ArduPilot/ardupilot/pull/25366

UTC2345 - AP_AHRS: prevent DCM fallback when losing GPS by robertlong13 · Pull Request #25408 · ArduPilot/ardupilot · GitHub

UTC2359 - Plane: set_servos_controlled rework by IamPete1 · Pull Request #25416 · ArduPilot/ardupilot · GitHub

UTC0001 - AP_Scripting: add checksum of running and loaded scripts with arming check by IamPete1 · Pull Request #25521 · ArduPilot/ardupilot · GitHub

UTC0004 - Microstrain7 Initial Support by Ryanf55 · Pull Request #25579 · ArduPilot/ardupilot · GitHub

UTC0008 - AP_Motors: Heli: Single: rework tail rotor handling by IamPete1 · Pull Request #25603 · ArduPilot/ardupilot · GitHub

UTC0012 - AP_Motors: Heli: dual and quad: remove un-needed override methods by IamPete1 · Pull Request #25604 · ArduPilot/ardupilot · GitHub

UTC0012 - Copter: accept do-change-speed during takeoff by rmackay9 · Pull Request #25654 · ArduPilot/ardupilot · GitHub

UTC0017 - Copter: Use RTL_CLIMB_MIN in cone slope. by lthall · Pull Request #25660 · ArduPilot/ardupilot · GitHub

UTC0022 - EKF3: allow earth-frame fields to be estimated with an origin but no GPS by Williangalvani · Pull Request #25666 · ArduPilot/ardupilot · GitHub

UTC0037 - AP_HAL_ChibiOS: Set RADIX2HD HAL_I2C_INTERNAL_MASK by mluessi · Pull Request #25672 · ArduPilot/ardupilot · GitHub

UTC0037 - AP_HAL_ChibiOS: allow betaflight converter to run on output from "dump hardware" by andyp1per · Pull Request #25682 · ArduPilot/ardupilot · GitHub

UTC0038 - AP_HAL_ChibiOS: Set RADIX2HD HAL_I2C_INTERNAL_MASK (backport to 4.4) by mluessi · Pull Request #25677 · ArduPilot/ardupilot · GitHub

UTC0040 - New variant of KakuteH7 using ICM42688 by andyp1per · Pull Request #25688 · ArduPilot/ardupilot · GitHub

UTC0041 - AP_Scripting: added socket network bindings by tridge · Pull Request #25687 · ArduPilot/ardupilot · GitHub

UTC0050 - Sub: support up to 32 buttons and 2 additional axis in MANUAL_CONTROL by Williangalvani · Pull Request #25671 · ArduPilot/ardupilot · GitHub

UTC0057 - AP_Scripting: added SCR_THD_PRIORITY by tridge · Pull Request #25686 · ArduPilot/ardupilot · GitHub

UTC0124 - AP_Scripting: added readstring for uarts by tridge · Pull Request #25685 · ArduPilot/ardupilot · GitHub

UTC0127 - AP_ExternalAHRS: added InertialLabs support by tridge · Pull Request #25674 · ArduPilot/ardupilot · GitHub

UTC0131 - discussion on scripted ExternalAHRS

UTC0150 - Copter update

UTC0200 - close