Dev Call Dec 11, 2023

CraigElder · December 11, 2023, 10:53pm

Issues & Pull Request

github.com/ArduPilot/ardupilot

Integrate IQUART Serial Protocol and Motor Control

ArduPilot:master ← iq-motion-control:integrate_iquart_communication_protocol

opened 07:52PM - 04 Dec 23 UTC

vertiq-jordan

+2427 -4

This PR seeks to integrate [Vertiq's IQUART protocol ](https://iqmotion.readthed…ocs.io/en/latest/manual/manual_iquart.html) and [IQUART Flight Controller Interface (IFCI)](https://iqmotion.readthedocs.io/en/latest/manual/manual_ifci_control.html) into ArduPilot. At a high level, IQUART is a UART based protocol that allows users to interact with various motor parameters, and with IFCI, users can fully control their motors as a part of a complete vehicle. Vertiq also produces the [IQ Control Center](https://github.com/iq-motion-control/iq-control-center/releases) which provides users a simple GUI to communicate with their motor. Using ArduPilot's serial passthru, users can connect to the Control Center without having to remove motors from their vehicle. IFCI provides full support for motor telemetry alongside its ability to set motor throttle. When requested, the motor returns its microcontroller temperature, coil temperature, voltage, current, power consumption, velocity, and uptime. **Testing Performed** All tests were performed using a Matek H743 connected with 4 Vertiq 2306 modules all connected to the same serial bus. The first test performed is a confirmation of our ability to communicate with a vehicle with IQ Control Center through serial passthrough. You'll see [in the video here](https://drive.google.com/file/d/1_qdmuCbpo7fUNZVFuOo1emOT8B8ph2yh/view?usp=drive_link) that I first enable serial passthrough with SERIAL6, and then open IQ Control Center, and connect. The software, as expected, finds all 4 modules connected to the flight controller over serial. Next is a [basic hover flight test](https://drive.google.com/file/d/1l1Kq7g53H_ojYnmGmeZU0yWan1CG82KG/view?usp=drive_link). The flight controller is configured to communicate via IQUART on SERIAL6. Finally is a [sample flight log](https://github.com/ArduPilot/ardupilot/files/13550654/iquart_throttle_up_down_telem.zip). This was a basic unloaded test in which the throttle was raised and lowered.

github.com/ArduPilot/MAVProxy

Add OpenAI compatible Chat module

ArduPilot:master ← rmackay9:chat-module

opened 06:58AM - 09 Dec 23 UTC

rmackay9

+1091 -0

This adds a "chat" module that can interface with an OpenAI chatGPT-4 Assistant …and control an Ardupilot vehicle (Copter, Plane, Rover, Sub). Note that running this requires either using my OpenAI API key or you must have your own and then run the provided setup_assistant.py script. Below are some screenshots showing a typical interaction ![chat-screen](https://github.com/ArduPilot/MAVProxy/assets/1498098/5f750dd5-29b6-413e-8276-576490905c0a) ![rtl-home](https://github.com/ArduPilot/MAVProxy/assets/1498098/ffefbd7f-9775-4f44-a696-7b48020eedf7) ![console](https://github.com/ArduPilot/MAVProxy/assets/1498098/82454932-4d22-44f1-9dc0-308c3d795e4b) There are some known issue we may want to resolve before merging: - [ ] add MAVProxy package dependency on "openai" - [ ] how should we deal with the need for the OpenAI API key? options include: - [ ] allow everyone to use an AP API key and monitor its use to control costs - [ ] request all users get their own API key (which costs $20?) and automatically re-create the Assistant under their key - [ ] allow more permanent storing of OpenAI API key - [x] reduce debug output to console - [x] remove mavlink xml files from "assistant_setup" directory - [ ] improve voice recording (currently always 5sec, should always "listen" or use threshold to turn off) Some references: - [OpenAI Assistant API](https://platform.openai.com/docs/api-reference/assistants) - [OpenAI Assistant Playground](https://platform.openai.com/playground)

github.com/ArduPilot/ardupilot

Plane: fix bug in RTL_AUTOLAND with rally points

ArduPilot:master ← robertlong13:plane_rally_rtl_bug

opened 04:32PM - 12 Apr 23 UTC

robertlong13

+1 -0

After loading the rally point, `ModeRTL:navigate` checks if rally altitude has b…een reached before `altitude_error_cm` gets updated: What this means is that with `RTL_AUTOLAND = 1`, if RTL is entered near a rally point, it will skip straight to the landing sequence instead of climbing to the rally point's altitude first. Instead of the fix in this PR, is there a reason we don't update this variable inside of `Plane::set_target_altitude_location`? That would seem to be the better place to do it, but I wasn't 100% sure. There are multiple places where we set the altitude error variable immediately after this function: https://github.com/ArduPilot/ardupilot/blob/50eaa1cc549cfbaa877d165255f68037459f3c3e/ArduPlane/mode_guided.cpp#L88-L89 https://github.com/ArduPilot/ardupilot/blob/5c3d464754c1be40fdaffed355a59a27e033cdc2/ArduPlane/mode_qrtl.cpp#L199-L200

github.com/ArduPilot/ardupilot

AP_Relay: Refactor to support RELAYx_FUNCTION

ArduPilot:master ← WickedShell:wickedshell/relay_function

opened 10:29PM - 26 Sep 23 UTC

WickedShell

+563 -160

This refactors the AP_Relay library as proposed on the dev call yesterday. Th…ings that stand out from the refactoring: - You can now have per pin defaults. This is something I've been desperate for, because a number of our devices need opposite polarity. I've actually handled this in the past with inverters, but it's still frustrating. - Each relay is hidden as an enable parameter, so you don't see/notice the cost of the extra default/function parameters unless you are using a given relay - There was a small edge case before where changing a pair of relays one after the other (such as what we have to do in ICE), would result in logging just the first change, this now will catch both of these, but still rate limits logging. - In order to walk through the parameters, you need to have an update call, but this is part of what made the logging handling above better. - If a relay has a key feature assigned to it (say in this case ignition), a GCS user can't accidentally send the wrong relay command and turn off their ignition. This is actually a very significant win for my use cases. I have some relay outputs that scripts currently control, and the user has been known to try and toggle them with the relay interface in MP, which has resulted in very erroneous (and semi dangerous output). If we add some scripting functions to the list this entire failure mode disappears. Downsides: - If you are using all 6 relays then you will be viewing more parameters then before. As we start to refactor away various libraries to use this interface we should see that reduced. - Initial setup is a bit more complicated because changing the function is an enable parameter, necessitating a param download. Things missing as currently presented: - [x] Parameter conversion - [x] Need to correct that the params currently show up as `RELAY_X_FUNCTION` and the like. That's straightforward. I haven't done the work to do parameter conversion yet, I wanted to present a prototype that is working with a CubeOrangePlus on the bench, with a oscilloscope hooked up to the outputs. Pin states were toggled using both the `relay` and `engine` commands in `MAVProxy`.

github.com/ArduPilot/ardupilot

quadplane: mode_rtl: don't RTL during ground-idle

ArduPilot:master ← robertlong13:pr/ground_rtl_qland

opened 01:00AM - 16 Nov 23 UTC

robertlong13

+7 -0

Similar to how we handle guided waiting for takeoff, we should treat RTL as QLan…d when the autopilot is confident that it is not flying. This is common when on the ground in QHover or QLoiter waiting to visually confirm all props are spinning. We don't want an errant switch flip to trigger a transition to forward flight. Original description of this PR below: > Similar to how we handle guided waiting for takeoff, we should treat RTL as QLand when the desired spool state is `GROUND_IDLE`. This should only occur on the ground. This is common when on the ground in QHover or QLoiter waiting to visually confirm all props are spinning. We don't want an errant switch flip to trigger a transition to forward flight. > > This can also happen in QStabilize when airmode is disabled and the stick is all the way down, but that shouldn't really happen in flight, and if it does, it is brief enough that it would be unlikely to be happening during an RTL trigger. Even if it does, QLand is not the worst thing in the world for that edge-case.

github.com/ArduPilot/ardupilot

AP_HAL: clean up UART driver storage/access and legacy ordering

ArduPilot:master ← tpwrules:ap-hal-uart-cleanup

opened 02:33AM - 21 Nov 23 UTC

tpwrules

+437 -546

Eliminates UB and saves 108 bytes on CubeOrangePlus. See commits for details. … No functional change. I did test this on a real board and confirm using a GPS that the port ordering is the same. Remaining shadows of the legacy ordering: * TCP port numbers on SITL (changing will break users) * ESP32 UART indices (can't test, don't want to fiddle with) * SITL and Linux command line arguments (removing will break users)

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

+254 -114

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

Copter: Use RTL_CLIMB_MIN in cone slope.

ArduPilot:master ← lthall:20231128_RTL_MinRTL_CLIMB_MIN

opened 10:56PM - 28 Nov 23 UTC

lthall

+3 -7

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

AP_Scripting: Add filtering of incoming CAN frames

ArduPilot:master ← EosBandi:Scripting_can_filtering

opened 12:56AM - 05 Dec 23 UTC

EosBandi

+57 -2

Add filters to the CAN buffer; mask is bitwise ANDed with the frame ID and compa…red to value. If not match, frame is not put to the receiving buffer -- By default, no filters are added, and all frames are buffered, writing is not affected by filters -- Maximum number of filters is 8 per buffer. -- You can open as many buffers per driver as you want (every get_device() call creates a new buffer) Usage : - driver:add_filter(mask, value) add a generic filted - driver:add_DroneCAN_filter(message ID) to add filter for a DroneCan message. Peter Hall rewrote my original version to a fully configurable, multi-buffer filter, so it is basically his code... Use cases: On a shared bus non-handled frames can be filtered out, making processing relevant frames easier and requiring less buffer and slower script update. Can add script driver for composite DroneCAN devices with custom or experimental messages without the need for processing the frames that a non-script driver already handles. (Processing a single 1Hz custom message from a GPS/MAG device with maximum buffer size requires 5ms update time without filtering. A slower update or smaller buffer causes drop of messages)

github.com/ArduPilot/ardupilot

Plane: allow takeoff setting expected in manual and move landing override up

ArduPilot:master ← IamPete1:plane_manual_landing

opened 05:54PM - 10 Dec 23 UTC

IamPete1

+14 -9

One functional change to allow take off expected to be set in manual. This will …only happen if not flying armed and either high throttle or a throw is detected. Mode enter now updates flight stage. This would usually happen at 10Hz in the `update_alt` call or in `setup_glide_slope` which RTL already calls as part of its enter. With the flight stage race removed we can be sure that we will never be in `FlightStage::LAND` in manual mode. This means the landing servo override can be moved up with no change in behavior. I have also renamed `set_servos_controlled` to `set_throttle`.

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: - [ ] MP basic tuning needs updating for 4.4 ([discussion](https://discuss.ardupilot.org/t/basic-tuning-grayed-out-options/110149)) - [ ] 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

CraigElder · December 12, 2023, 7:00pm

Attendee count (max): 14

UTC2300 - Integrate IQUART Serial Protocol and Motor Control by vertiq-jordan · Pull Request #25699 · ArduPilot/ardupilot · GitHub

Iquart serial protocol and motor protocol
Pulse control
Large amounts of code
We do want this
Where do we enable this?
- Custom build server only?
Want to start small here
- Get it working with the minimum
PH thinks it should be maybe 500 lines to parse
Lots of rework required in Heli as there’s no collective with this sort of system
- Need to handle variable rotor speed
- Virtual swashplate
- Tail rotor required…

UTC2319 - Nokov Indoor Optical Tracking System

Nokov motion capture system
We did a blog post
Should Henry update blog post with differences?
Do we want to integrate to Wiki?

UTC2327 - Add OpenAI compatible Chat module by rmackay9 · Pull Request #1278 · ArduPilot/MAVProxy · GitHub

New MAVProxy module integrating with OpenAI
Ask AI to control your vehicle….
Some minor things around requirements.txt
Will have it work by default on Windows but not for other platforms
Some problems getting an API key….
- A bit clunky
- $22/month
- Funding request made….
Want to do ppp on the mavesp modules
Tridge wants to do a LLM on an ArduPilot server

UTC2346 - AP_HAL: clean up UART driver storage/access and legacy ordering by tpwrules · Pull Request #25589 · ArduPilot/ardupilot · GitHub

Clean up UART ordering stuff
Need to keep the old letters around because of people’s startup script

UTC2350 - Plane: fix bug in RTL_AUTOLAND with rally points by robertlong13 · Pull Request #23458 · ArduPilot/ardupilot · GitHub

Fix bug in rtl_autoland with rally points
Merged!

UTC2358 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

Refactor to support RELAYx_FUNCTION
Peter to look after call

UTC0006 - https://github.com/ArduPilot/ardupilot/pull/25354

Add files for Airvolute DCS2
6-port ethernet switch!
Double-connector for CubeRed
Hwdef for onboard FMU
Very interesting board!

UTC0012 - quadplane: mode_rtl: don't RTL during ground-idle by robertlong13 · Pull Request #25553 · ArduPilot/ardupilot · GitHub

Don’t RTL during ground idle
- Testing props are spinning in qloiter
Based on heuristics, which is bad
If we’re in a q-mode perhaps we could do this sort of thing
If we’re not in unlimited and in a q mode we could q-land
Narrower scope required for the behaviour
- Perhaps option bit

UTC0022 - AP_Motors: Heli: Single: rework tail rotor handling by IamPete1 · Pull Request #25603 · ArduPilot/ardupilot · GitHub

Rework tail rotor handling
Merged!

UTC0022 - Copter: Use RTL_CLIMB_MIN in cone slope. by lthall · Pull Request #25660 · ArduPilot/ardupilot · GitHub

Use RTL-climb-min within cone slope
Merged!

UTC0025 - AP_Scripting: Add filtering of incoming CAN frames by EosBandi · Pull Request #25703 · ArduPilot/ardupilot · GitHub

Add CAN filters from scripting
Merged!

UTC0033 - New standard tunes for Holybro QAV250 and X500v2 by andyp1per · Pull Request #25717 · ArduPilot/ardupilot · GitHub

Standard tunes for QAV250 and X500v2
May want to use sub-directories
Merged!

UTC0035 - AC_AutoTune: add and use header guards by peterbarker · Pull Request #25725 · ArduPilot/ardupilot · GitHub

Add header guards to AC_AutoTune
Merged!

UTC0037 - Add and use AP_RSSI_ENABLED by peterbarker · Pull Request #25726 · ArduPilot/ardupilot · GitHub

Add an use AP_RSSI_ENABLED
Merged!

UTC0037 - Correct compilation when GCS library not available by peterbarker · Pull Request #25730 · ArduPilot/ardupilot · GitHub

Correct compilation when GCS library not available
We should add a separate library for send_text
Merged!

UTC0041 - Fix compilation with RC_Channels not available by peterbarker · Pull Request #25731 · ArduPilot/ardupilot · GitHub

Fix compilation with RC_Channels not available
Merge on CI pass

UTC0044 - AP_Scripting: correct compilation when AP_RTC is compiled out by peterbarker · Pull Request #25757 · ArduPilot/ardupilot · GitHub

Fix compilation with AP_RTC is compiled out
MergeOnCIPass

UTC0046 - Plane: allow takeoff setting expected in manual and move landing override up by IamPete1 · Pull Request #25745 · ArduPilot/ardupilot · GitHub

Allow takeoff setting expected in manual and move landing override up
Rework and tidy
Merged!

UTC0051 - AP_DAL: remove tmp_location from global namespace by peterbarker · Pull Request #25748 · ArduPilot/ardupilot · GitHub

Remove tmp_location from global namespace
Merged!

UTC0053 - Plane update

4.4.4 beta1 went out
- No reports yet….
4.5 is going to be a big release
- Networking!
- Might not get to param conversion
  - Want to do all of them together
  - PSC scale would be nice, says tridge
    - Leonard’s not so keen

UTC0107 - Copter update

Very little feedback on 4.4.4beta1
Some good feedback on Rover

UTC0109 - off the floor

Conference organisation is underway for Reno
- AI might be a thing….
  - AI safe landing?

Attendee count (max): 14

UTC2300 - Integrate IQUART Serial Protocol and Motor Control by vertiq-jordan · Pull Request #25699 · ArduPilot/ardupilot · GitHub

UTC2319 - Nokov Indoor Optical Tracking System

UTC2327 - Add OpenAI compatible Chat module by rmackay9 · Pull Request #1278 · ArduPilot/MAVProxy · GitHub

UTC2346 - AP_HAL: clean up UART driver storage/access and legacy ordering by tpwrules · Pull Request #25589 · ArduPilot/ardupilot · GitHub

UTC2350 - Plane: fix bug in RTL_AUTOLAND with rally points by robertlong13 · Pull Request #23458 · ArduPilot/ardupilot · GitHub

UTC2358 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

UTC0006 - https://github.com/ArduPilot/ardupilot/pull/25354

UTC0012 - quadplane: mode_rtl: don't RTL during ground-idle by robertlong13 · Pull Request #25553 · ArduPilot/ardupilot · GitHub

UTC0022 - AP_Motors: Heli: Single: rework tail rotor handling by IamPete1 · Pull Request #25603 · ArduPilot/ardupilot · GitHub

UTC0022 - Copter: Use RTL_CLIMB_MIN in cone slope. by lthall · Pull Request #25660 · ArduPilot/ardupilot · GitHub

UTC0025 - AP_Scripting: Add filtering of incoming CAN frames by EosBandi · Pull Request #25703 · ArduPilot/ardupilot · GitHub

UTC0033 - New standard tunes for Holybro QAV250 and X500v2 by andyp1per · Pull Request #25717 · ArduPilot/ardupilot · GitHub

UTC0035 - AC_AutoTune: add and use header guards by peterbarker · Pull Request #25725 · ArduPilot/ardupilot · GitHub

UTC0037 - Add and use AP_RSSI_ENABLED by peterbarker · Pull Request #25726 · ArduPilot/ardupilot · GitHub

UTC0037 - Correct compilation when GCS library not available by peterbarker · Pull Request #25730 · ArduPilot/ardupilot · GitHub

UTC0041 - Fix compilation with RC_Channels not available by peterbarker · Pull Request #25731 · ArduPilot/ardupilot · GitHub

UTC0044 - AP_Scripting: correct compilation when AP_RTC is compiled out by peterbarker · Pull Request #25757 · ArduPilot/ardupilot · GitHub

UTC0046 - Plane: allow takeoff setting expected in manual and move landing override up by IamPete1 · Pull Request #25745 · ArduPilot/ardupilot · GitHub

UTC0051 - AP_DAL: remove tmp_location from global namespace by peterbarker · Pull Request #25748 · ArduPilot/ardupilot · GitHub

UTC0053 - Plane update

UTC0107 - Copter update

UTC0109 - off the floor

UTC0111 - close