Dev call Dec 16, 2024

CraigElder · December 16, 2024, 9:59pm

Vehicle Update

ArduPilot 4.6 issues list

opened 12:01AM - 14 Nov 24 UTC

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.6 testing. Issues for [C…opter/Rover-4.5 issues are here](https://github.com/ArduPilot/ardupilot/issues/26103) **Reports requiring investigation** - [ ] BeagleBoneBlue RC not working with Copter ([discussion](https://discuss.ardupilot.org/t/rc-sbus-works-with-plane-but-not-copter-beaglebone-blue/127540/2)) - [ ] BLHeli SERVO_BLH_RVMASK mapping is achieved through trial and error (xfacta, andyp) - [ ] ESC Telemetry logging issue ([issue](https://github.com/ArduPilot/ardupilot/issues/28807)) - [ ] Takeoff throttle behavior for planes without airspeed sensor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/28775), [PR](https://github.com/ArduPilot/ardupilot/pull/28776)) - [ ] when the user has configured ESC, FFT or RPM notch and has INS_HNTCx_REF=0 then they end up with a fixed notch. We should have an arming check to tell them they need to set the REF to 1.0 (any non-zero value will do actually) https://github.com/ArduPilot/ardupilot/issues/28786 **Confirmed issues** - [ ] Orqa 3030 autopilot config issue ([discussion](https://discuss.ardupilot.org/t/orqa-3030-f450-issue/127483), [PR](https://github.com/ArduPilot/ardupilot/pull/28855)) - [ ] on ICM45686 IMUs the SPI transfer overheads can be overwhelming on some boards, especially those with 3 of that sensor. Some PRs to address: https://github.com/ArduPilot/ardupilot/pull/28672 and https://github.com/ArduPilot/ardupilot/pull/27573 ***Plane Specific Issues*** - None ***Heli Specific Issue*** - [ ] Autotune acceleration limiting is not effective (added by BillG) **Enhancements or Issues that may not be resolved before the stable release** - [ ] AutoTune should have a vehicle specific (or configurable) AngleP max (reported by Tridge) - [ ] add a warning if the GCS system clock and UTC clock on the flight controller differs by over 20s and signing is active, as signing will fail with a 30s difference - [ ] Custom Build Server for CubeOrangePlus with OpenDroneID shows linker error when out of flash ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/4), [discussion2](https://discuss.ardupilot.org/t/copter-custom-firmware-build-issue-with-remote-id-support-latest-not-4-5-7/125177), Issue) - [ ] Add LDRobot LD19 support ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/8), [issue](https://github.com/ArduPilot/ardupilot/issues/28662)) - [ ] need to provide a clearer message to users when the power status flags change, indicating loss of a power source in flight. A statustext at message level CRITICAL I think is warranted, maybe "POWER STATUS CHANGE" ? (Tridge has details) **Wiki issues/enhancement requests ([Wiki To-Do list](https://github.com/ArduPilot/ardupilot_wiki/issues/4274))** - None **Resolved issues** - [x] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 ([PR](https://github.com/ArduPilot/ardupilot/pull/28792)) -- resolved for beta3 - [x] plane takeoff regression since 4.5.x: https://github.com/ArduPilot/ardupilot/issues/28681 -- ready for beta2 - [x] on plane when FENCE_AUTOENABLE=3 and FENCE_ENABLE=0 the fence does not enable when arming if there is a RCn_OPTION set to FENCE. This is a regression from 4.5.x. (Tridge has details) Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] on plane the pre-arm check for being inside polygon fence was lost since 4.5.x. Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] Navio2 GPS not working ([discussion](https://discuss.ardupilot.org/t/rover-4-6-0-beta1-is-available-for-beta-testing/126296/4), [conflicting report that it does work](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/9)) -- fixed by refreshing/resetting firmware - [x] arming at mid-stick question ([discuss](https://discuss.ardupilot.org/t/arming-with-throttle-at-mid-stick/127203)) -- no issue - [x] Crossfire receiver does not reconnect after failsafe ([issue](https://github.com/ArduPilot/ardupilot/issues/28797), [PR](https://github.com/ArduPilot/ardupilot/pull/28805)) -- resolved for -beta2 - [x] Copter AutoTune can produce very low maximum acceleration values ([issue](https://github.com/ArduPilot/ardupilot/issues/28799), [PR](https://github.com/ArduPilot/ardupilot/pull/28800)) -- resolved for -beta2 - [x] memory fragmentation and multiple memory regions mean lua scripting can fail with out of memory error even if you have plenty of free memory. Addressed in https://github.com/ArduPilot/ardupilot/pull/26517 - [x] system time may be unstable when using only first GPS timestamp, consider https://github.com/ArduPilot/ardupilot/pull/24022 or similar fix (Tridge has details) - [x] Plane fences ignored ([issue](https://github.com/ArduPilot/ardupilot/issues/28666)) -- cannot reproduce

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Replace fabsF macro with std::abs call to avoid having float / double mismatch warnings

ArduPilot:master ← katzfey:pr-fix-fabsF-warnings

opened 09:53PM - 15 Nov 24 UTC

katzfey

+6 -6

The fabsF macro is defined as either the float version or double version in ftyp…e.h depending on HAL_WITH_EKF_DOUBLE. If it is defined as the float version and a double is used as the argument then we get a compiler warning in the Qurt build. If those are replaced with std:abs calls then that clears up the warnings since it is overloaded for both floats and doubles.

github.com/ArduPilot/ardupilot

AP_Generator: apply -Os to all cpp files

ArduPilot:master ← peterbarker:pr/generator-os

opened 12:32AM - 21 Nov 24 UTC

peterbarker

+12 -0

``` Board AP_Periph blimp bootloader copter heli iofirm…ware plane rover sub CubeBlack -656 * -664 -656 -664 -664 -656 CubeOrange-periph-heavy * CubeOrangePlus -672 * -664 -672 -672 -672 -664 CubeRedPrimary -32 * -40 -40 -40 -40 -32 Durandal -664 * -672 -664 -672 -672 -664 Hitec-Airspeed * KakuteH7-bdshot -40 * -32 -40 -40 -32 -32 MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-journey -32 skyviper-v2450 * 111

github.com/ArduPilot/ardupilot

Rename airspeed estimate members in AP_AHRS

ArduPilot:master ← peterbarker:pr/rename-dcm-airspeed-methods

opened 12:23AM - 25 Nov 24 UTC

peterbarker

+53 -52

This is a no-compiler-output change designed to clarify which sort of airspeed i…s being used within DCM. It shows up three places where we use the wrong sort of airspeed - within DCM for drift correction and externally via `airspeed_estimate` ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

AP_NavEKFx: apply -O2 to AP_NavEKFx.h

ArduPilot:master ← peterbarker:pr/ek2-dal-header-include

opened 01:05AM - 27 Nov 24 UTC

peterbarker

+4 -3

the core.h file adjusts the optimisation level; use it when including the AP_Nav…EKFx.h header file this should be done consistently across the .cpp files to ensure everything is compiled with the same optimisation level. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * Durandal -80 * -72 -72 -72 -80 -80 Hitec-Airspeed * KakuteH7-bdshot -96 * -88 -88 -88 -88 -88 MatekF405 -72 * -64 -64 -64 -64 -64 Pixhawk1-1M-bdshot -64 -64 -56 -56 -56 -56 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -72 * -64 -64 -64 -64 -64 skyviper-v2450 -64 ```

github.com/ArduPilot/ardupilot

AP_Airspeed: correct compilation when AP_AIRSPEED_AUTO_CAL_ENABLE is …

ArduPilot:master ← peterbarker:pr/cubenode-fix

opened 11:05PM - 14 Dec 24 UTC

peterbarker

+4 -4

…false CubeNode was trying to check a parameter which doesn't exist ``` .…./../libraries/AP_Airspeed/Airspeed_Calibration.cpp: In member function 'void AP_Airspeed::send_airspeed_calibration(const Vector3f&)': ../../libraries/AP_Airspeed/Airspeed_Calibration.cpp:179:23: error: 'class AP_Airspeed_Params' has no member named 'autocal' 179 | if (!param[i].autocal && !calibration_enabled) { | ^~~~~~~ compilation terminated due to -Wfatal-errors. ```

CraigElder · December 17, 2024, 12:47am

Attendee count (max): 16

UTC2301 - ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

ArduPilot 4.6beta2 is out!
Dshot on IOMCU reversal mask question…
- Probably need some documentation around this testing process and the reversal mask
- MissionPlanner support?
  - Need to set parameters indicating reversals are possible before its valid
- Maybe Andy’s done a video? Or would if asked?
Telemetry logging issue?
- In 4.4 the indexes were motor numbers
- In 4.5 and 4.6 they’re the channel numbers
  - Think “forward flight motor” or “heli tail rotor direct-drive motor”
BBB RC not working?
- CPU load?
- Maybe steer people away from it?
  - No longer produced
- Might be worth a note that reducing the scheduler loop rate is worthwhile
Plane takeoff regression
Autotune accel limiting
- Heli or multi?
  - New issue, heli-specific
- No limit on angle-p that autotune can give
  - Sometimes autotune can assign very large angle-ps
    - Eg. 39 or 40
    - This is bad
    - Maybe a 12 to 14 limit
    - Heli already has a limit of 10
  - Existing issue, not a regression
    - Probably since 4.3 or 4.4
Some positive feedback on autotune
- Usually people only complain….
Orca-3030 issue
- Change in manufacturing
- Andy’s fixed
Good to have so much help from people on the beta
Can now run the betas in MissionPlanner SITL!
- Could run latest or stable
- Bob added support for beta

UTC2309 - Replace fabsF macro with std::abs call to avoid having float / double mismatch warnings by katzfey · Pull Request #28642 · ArduPilot/ardupilot · GitHub

Use std::abs in place of fabsF
- We don’t like using the standard library
- Should we godbolt this?
- We don’t want to promote to double accidentally
We prefer to avoid using the std:: library wherever possible

UTC2330 - Plane: ICE: fully move to aux function by IamPete1 · Pull Request #28655 · ArduPilot/ardupilot · GitHub

Fully move to aux function for ICE
Nice change / cleanup
Peter has issues with the pwm member in the auxfunctrigger object
- Will look at it after the call

UTC2342 - AP_Scripting: quadplane terrain avoidance with "can't make that climb" by timtuxworth · Pull Request #28625 · ArduPilot/ardupilot · GitHub

Quadplane terrain avoidance with can’t-make-that-climb
Monitor LIDAR for Plane in auto mode
- Close to terrain, makes avoidance maneuvers
If it works, we’ll bring it in
Tridge is thinking something else
- Smoothly go between forward flight and vtol
  - To achieve the glide slope required
  - Terrible from an efficiency aspect
    - In a typical SLT you’re pitched up to climb, so your lift motors will drag you backwards
- Want to achieve the same thing that Copter can when terrain following
  - Slow down to make the climb
Also has logic around normal fixed wings to loiter-to-alt
Best climb rate is usually given by lowest airspeed, not highest
- Need to be careful not to stall…
- Speedweight on the current use case says height is prioritised absolutely
- Gripe: variable airspeed targeting
  - Adjustable speed-weight in TECS…
LUA modules are kind of problematic
- Users struggle to install them
This one will come back, tridge will work with Tim

UTC0007 - Rename airspeed estimate members in AP_AHRS by peterbarker · Pull Request #28727 · ArduPilot/ardupilot · GitHub

Rename airspeed estimate members
Want to include airspeed_ in things
Can be merged once the rename is done

UTC0007 - AP_Generator: apply -Os to all cpp files by peterbarker · Pull Request #28692 · ArduPilot/ardupilot · GitHub

Apply -Os to all cpp files in generator
merged!

UTC0008 - Correct use of TAS/EAS in DCM backend by peterbarker · Pull Request #28728 · ArduPilot/ardupilot · GitHub

Correct use of TAS/EAS in DCM
- Needs the above one
Will bring it back on Tuesday

UTC0015 - AP_NavEKFx: apply -O2 to AP_NavEKFx.h by peterbarker · Pull Request #28751 · ArduPilot/ardupilot · GitHub

Apply -O2 to all of EKF by rearranging includes
Merged!

UTC0019 - Tools: Frame_params: Added ModalAI Sentinel with IO board by katzfey · Pull Request #28844 · ArduPilot/ardupilot · GitHub

Add a default parameter set for the ModalAI sentinel board
Merged!

UTC0021 - AP_HAL_ChibiOS: ICM42688 for OrqaF405Pro by andyp1per · Pull Request #28855 · ArduPilot/ardupilot · GitHub

OraqF405Pro
Merged!

UTC0022 - AP_Scripting: add bindings for servo telemetry by IamPete1 · Pull Request #28857 · ArduPilot/ardupilot · GitHub

Bindings for servo telemetry
- Costs a lot of flash!
- 1500 bytes
Getting constant frame of data could be rather problematic with these multiple accessors
- Getting a single data structure would be better here

UTC0032 - AP_Airspeed: correct compilation when AP_AIRSPEED_AUTO_CAL_ENABLE is … by peterbarker · Pull Request #28863 · ArduPilot/ardupilot · GitHub

Correct compilation when airspeed calibration enabled is not set on periph
Merged!

UTC0033 - save some log structure flash when features disabled by tridge · Pull Request #28788 · ArduPilot/ardupilot · GitHub

Save bytes by excluding log structures
Peter wants something inverted

UTC0040 - question around quadplane position landing

If we’re in position1 do you ever want to a full approach?
- Yes, you might be in guided position1 and want to come home and do full approach

UTC0044 - close

xfacta · December 17, 2024, 1:44am

I’ve put some info in the related PR, plus messaged Randy and Andy. Anyone can contact me to clarify.
I tried each SERVO_BLH_RVMASK bit to find out which servo or motor it mapped to, and the relationship appears random to me. Previous builds I’ve done using DSHOT without the IOMCU seemed to have a 1:1 relationship (from memory)