Issues & Pull Requests
I’ve just released plane 4.0.2beta2. This is a minor change over beta1. Changes are:
fixed error on AHRS level trim in preflight calibration
fixed handling of SB without BUSY on I2Cv1 devices
update bootloaders to be more robust to unexpected data
If I get some good reports in and no new issues in the next few days then I expect to release 4.0.2, hopefully by the end of the week.
10:33PM - 12 Oct 19 UTC
This is a list of issues discovered during Copter-4.0 testing that we should resolve before the official release:
twitch when "IMU...
05:28AM - 07 Oct 19 UTC
This is a list of bugs and features that have been reported as part of Rover's 4.0 beta testing (category on...
Attendee count (max): 26
https://github.com/ArduPilot/ardupilot/pull/12431, Simulate motor noise in the gyros and accels.
https://github.com/ArduPilot/ardupilot/pull/12810, Implement support for the RunCam protocol
Allows control of the OSD menu using RC sticks
Do we want to use the same OSD controls as Beta flight which uses throttle down, yaw right which is close to our arming gesture
Discussed 2x2 position switch setup vs a single 3-pos switch. The two controls required are Video On/Off and OSD menu control
Discussion of how we can remove requirement to add duplicate code into each vehicle when adding a new feature like this. Options include adding parameters at the recently added Parent vehicle class level. Tridge to work with Andy to apply this to this PR.
Andy to add _TYPE parameter, _OPTIONS parameter to allow choice of 2-pos or 3-pos switch controls
https://github.com/ArduPilot/ardupilot/pull/11886, In-flight dynamic FFT analysis
Learns the frequencies and Bandwidth that should be input to the Dynamic Harmonic Notch
Tridge would like this implemented on QuadPlane (not hard requirement?)
CPU & Memory cost depends upon the compile-time-option, “FFT length”. This can be 32 to 256 on most boards, 1024 (or higher?) on H7 boards
Has been run on Pixracer, Omnibus, KakuteF7
Has minimum and maximum limits on frequency
Tridge asks that this is also added to the Vehicle class and that the logging be made general (i.e. not copter specific)
Tridge, Randy to do technical review. Run algorithm by Leonard
Randy to test on an IRIS
https://github.com/ArduPilot/ardupilot/pull/13050, Tools: align ci gcc with environment gcc on arm
This saves about 9k of flash on Copter
We need to be sure that we’ve done our last Copter-3.6.x release because Copter-3.6.x is the last version that can be built on NuttX and NuttX doesn’t build on 6 (it only builds on 4.9)
Randy/Tridge to warn Jaxxer that if they want to do another 3.x stable release they will need to work with Tridge to do this
https://github.com/ArduPilot/ardupilot/pull/13047, Copter: improve terrain following during RTL
Discussion re param rename of TERRAIN_FOLLOW to RTL_ALT_TYPE
Randy to think about this rename a bit more
https://github.com/ArduPilot/ardupilot/pull/13035, AP_BattMonitor: SMBus batteries get cycle-count
https://github.com/ArduPilot/ardupilot/pull/13027, SITL: include ahrs_orientation in airspeed calculation Randy’s
https://github.com/ArduPilot/ardupilot/pull/13024, AP_Avoidance/AP_Proximity: simplification and efficiency improvements
Major point of contention was the use of EKF-origin-offsets instead of Locations in the Object Database and the issues this will cause when we come back to re-integrate this with Plane. Randy says he’s happy to change it back to Locations but is keen to get it working now for Copter/Rover and thinks this PR is a step towards that
Lengthy discussion on limitations of BendyRuler and why it performs better in Plane vs Copter and Rover. Points include estimation errors play a larger role in vehicles that move slowly. Randy thinks that it might be an improvement to change BendyRuler to produce a path rather than a safe direction.
Randy wished that more developers were available to help with the object avoidance features
https://github.com/ArduPilot/ardupilot/pull/13009, GCS_MAVLink: add mask to send_textv, use it for the GCS_MAVLINK send_text PeterB’s
https://github.com/ArduPilot/ardupilot/pull/12997, Use core as instance number when logging EKF data
This will have an impact on all the GCSs which will need to be modified to allow logging based on instance.
Peter to raise a PR for MAVProxy
https://github.com/ArduPilot/ardupilot/pull/12869, Plane: update tailsitter speedscaling logic
Couple of fixes re parameter descriptions
MarkW to ping Tridge once done and we will merge to master so it can get more testing before the next release
https://github.com/ArduPilot/ardupilot/pull/12868, ArduPlane: added RC option for LOITER mode
PeterHall & Tridge to squash commits down
https://github.com/ArduPilot/ardupilot/pull/12829, Copter: Pilot RC stick control of Circle mode radius, rate, & direction PierreK’s
https://github.com/ArduPilot/ardupilot/pull/10581, Probe for rm3100 Tridge’s Plane Release update,
Plane 4.0 release
Randy’s Copter’s update,
Want to include PeterB’s fix to the NMEA output feature
The current plan is to release Copter-4.0.0-rc3 for beta testing today (17-Dev-2019), intensively beta test it over the next week and then if all goes well release it as soon 24-Dec-2019
Randy’s Rover update,