Dev Call Dec 1 ,2025

Development Team
1

CI Workflows

Release update

Issues & Pull requests

2

Attendee count (max): 18

UTC1101 - CI updates

  • Blimp test continues to have issues
  • Colcon less so
  • Haven’t noticed too much

UTC1104 - Vehicle updates

  • Really long flare is only outstanding issue
  • Copter red-herring wp-speed not working
    • Randy tested it and the vehicle can over-speed!
    • However, we discovered the Copter can over-speed
      • Something with the way we initialise the speed in scurves
      • Dependent on accel/decel curves
      • We assume you will go to the speed the leg will go to when it was set up
      • Might mean you reach max accel and decel values because final speed allows for it
      • But you might not need that for the speed set on the tuning knob
      • We’re not passing the tuned value to wpnav controller maybe?
      • Something different about takeoffs?

UTC1109 - add inclusion guidelines to porting document by tpwrules · Pull Request #7238 · ArduPilot/ardupilot_wiki · GitHub

  • Add inclusion guidelines to porting document
  • Andy and Henry spend a lot of time reviewing boards
    • A lot of time means grounds for not pressing on, perhaps?
      • Use other devs or contractors in that case?
  • Henry looks at all PRs going in to see if they are relevant for the Wiki
    • Has put a document together
  • Minimum must build
  • Henry has been pushing back on poor PR requests
    • Pointing to the requirements documentation
  • Open source student projects might just generate a rubbish schematic to get past that?
    • Must be a physical artifact
  • Testing boards can take a long time
  • A “testing mode” for boards?
    • e.g. toggle GPIOs with a known signal
    • e.g. known data out a UART
    • E.g. blink LEDs
    • Something based on a hwdef file?
  • Peter will dig out his “build new boards” PR

UTC1129 - Clarify STATUSTEXT is UTF-8 encoded by hamishwillee · Pull Request #2384 · mavlink/mavlink · GitHub

  • Statustext strings are utf-8
  • Merged!

UTC1132 - https://github.com/ArduPilot/ardupilot/pull/25419

  • Forward messages with bad CRCs
  • Tridge wants three message IDs exempted from this “forward even with bad CRCS

UTC1137 - https://github.com/mavlink/mavlink/pull/2386

  • ESC_STATUS and ESC_INFO
  • These were inspired by our ESC_TELEMETRY_1_TO_4 message
  • fast/slow messages for ESC telemetry
  • Ordering of the fields is contentious
    • How do you relate the fields back to motors?
    • The slow update message could provide the ordering
  • PH is not convinced so far
  • Has to be an improvement
  • Instancing was probably not a thing
  • Zeroing the end probably not going to work with current shape
  • An array of structures isn’t a thing in mavlink
  • Could potentially do rpm1 rpm2 etc
    • Couldn’t index in graphs, then
  • Tridge not so keen on looking at other messages to allow relating to servo outputs
  • PX4 appear to have servos and motors as different things
    • We have actuators which are one of the other
  • We could get rid of the special marshalling stuff….
  • Unsparsify it using a bitmask?
  • Motor ordering is a problem
    • Forward motor and vertical motor?
    • Throttle in ArduPilot can be servo or ESC
      • Might be an ESC hidden behind a servo output
  • Often want to relate to a PWM output in servo output raw or whatever, this would be problematic

UTC1149 - Copter: added co-rotating X8 frames by tridge · Pull Request #30585 · ArduPilot/ardupilot · GitHub

  • Co-rotation X8 frames
  • Should it less-than-1 or less-than-or-equal-to-1?
  • Don’t want to increase gains to be above 1
  • MergeOnCIPass
    • Probably a 4.6.3 backport

UTC1153 - AP_Mount/AP_Camera: basic AVT camera gimbal support by rmackay9 · Pull Request #30643 · ArduPilot/ardupilot · GitHub

  • Prelude to adding AVT support for pointing ot a specific lat/lng
  • Peter wants to have to one backend cope with idiosyncrasies rather than having separate backends for each of the different manufacturers

UTC0000 - SIM: Allow set_pose to teleport globally without offsets by b-andreoni · Pull Request #30982 · ArduPilot/ardupilot · GitHub

  • Allow warping of vehicle position
  • Worried about breaking existing users
  • We’ll add a flags field

UTC0009 - Plane: prevent bad climbs in auto mode by peterbarker · Pull Request #31140 · ArduPilot/ardupilot · GitHub

  • Prevent bad climbs in auto
  • Peter needs to look at the failing test

UTC0009 - AIRBRAIN H743 by andyp1per · Pull Request #31262 · ArduPilot/ardupilot · GitHub

  • AIRBRAIN H743
  • Merged

UTC0016 - https://github.com/ArduPilot/ardupilot/pull/31285

  • Loiter-turns moving to circle edge rather than tangential entrance
  • Merged!

UTC0021 - Plane: fix yaw calculation during POS1 overshoot by robertlong13 · Pull Request #31401 · ArduPilot/ardupilot · GitHub

  • Fix yaw calculation during POS1 overshoot
  • Merged!

UTC0024 - Roll pitch ef mount lock aux sw option for CADDX mount by Hwurzburg · Pull Request #31461 · ArduPilot/ardupilot · GitHub

  • CADDx switch improvements
  • Randy’s comments weren’t adequately addressed, so Henry will look

UTC0033 - NEU to NED conversion -This includes the conversion. by lthall · Pull Request #31513 · ArduPilot/ardupilot · GitHub

  • NEU to NED conversion
  • Little script for updating parameter files from tridge!
  • Parameter file stuff
  • Problems moving PID objects from one place to another
  • Maybe add another convenience function for moving a bunch of parameters that will retain their indexes in a new structure
  • Randy’s having trouble getting a couple of parameters copying over correctly.
    • Notch filter index
    • Might be the scaling problem
    • Randy really needs gdb working again in wsl2!
  • Blocker for starter of 4.7 beta testing
    • PH will have a look

UTC0044 - https://github.com/ArduPilot/ardupilot/pull/31568

  • Arming check becomes arming_skipchk
  • Keep what we’ve got in terms of what checks there are
  • Do we want a generic tool to convert old parameter files?
    • A changed default in ArduPilot would be problematic
    • New parameter metadata thing?
      • So generate the tool from the comments?
      • Probably not workable due to complexity
    • Existing mechanism is you would flash old firmware and olf parameters, upgrade parameters and take new copy
  • Maybe a SITL tool to upgrade parameters?
  • FETtec mandatory checks
  • Peter will review and merge if he’s happy

UTC0101 - https://github.com/ArduPilot/ardupilot/pull/31568

  • Disable networking asserts for production builds
    • Well, it plays with the string outputs
  • Infinite loop instead?
    • A spinning thread only works if you have a sleep in the while loop
  • Just removes the message
  • No loss of functionality
  • Approved!
  • merged!

UTC0103 - AP_Scripting: add access to more fence methods by andyp1per · Pull Request #31603 · ArduPilot/ardupilot · GitHub

  • This looks good to PH
  • Access to more bits of fence
  • We want to delay this until we get the fence alt types PR from Andy
    • Either in that same PR or just afterwards

UTC0108 - SITL: Add simulator for LightWare GRF-250 by rishabsingh3003 · Pull Request #31612 · ArduPilot/ardupilot · GitHub

  • GRF-250 simulator support
  • Merged!

UTC0108 - AP_TemperatureSensor: Support Servo_Telem sources by rob-clarke · Pull Request #31616 · ArduPilot/ardupilot · GitHub

  • AP_TemperatureSensor support servo telem sources
  • So you can add temperature sources for your existing servos
  • Merged!

UTC0110 - signing: Improvements to the Bootloader and Firmware Signing Process by joshanne · Pull Request #31623 · ArduPilot/ardupilot · GitHub

  • Improve bootloader and firmware signing process
  • Peter will fix commit messages

UTC0116 - Tools: use --gap-fill 0xFF in objcopy for consistent flash content by tridge · Pull Request #31625 · ArduPilot/ardupilot · GitHub

  • Fix load using gdb
  • Padding fix
  • Merged!

UTC0117 - vote in progress

  • For next conference expenses

UTC0018 - close