Dev Call Dec 17, 2022

CraigElder · December 19, 2022, 10:31pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_GPS: added support for Unicore GPS modules with AGRICA

ArduPilot:master ← tridge:pr-um982

opened 05:14AM - 22 Nov 22 UTC

tridge

+887 -243

This adds support for Unicore GPS modules such as the UM982 which can provide si…ngle module, dual antenna moving baseline yaw It also supports GPS vertical velocity and velocity accuracy, bringing it up to par with other GNSS module drivers like UBLOX @WickedShell I've added clarification to the GPS_MB offset parameters that it is from the slave (2nd) antenna to the base (primary) antenna. I believe that matches what SBF does but please check For dual antenna GPS yaw set: - GPS_TYPE = 25 - GPS_MB1_TYPE = 1 - GPS_MB1_OFS_X = distance from 2nd antenna to main antenna in body frame X axis (forwards) - GPS_MB1_OFS_Y = distance from 2nd antenna to main antenna in body frame Y axis (right) - GPS_MB1_OFS_Z = distance that main antenna is below the 2nd antenna This has not been test flown yet bug: NMEA time parsing is off by 3 days, also in SITL: Sun Nov 20 10:59:57 2022 (Wed Nov 23 17:59:32 2022) update: time command on NMEA is fixed, we were trying to use a zero ITOW test flown 18th Dec 2022 on a Striver-Mini quadplane

github.com/ArduPilot/ardupilot

AP_AHRS: use active EKF type for origin and crtl limits

ArduPilot:master ← tridge:pr-origin-ekf-type

opened 01:00AM - 10 Dec 22 UTC

tridge

+55 -14

this fixes a "climb away" in quadplanes when AHRS_EKF_TYPE=2 and EK2_ENABLE=0. T…he user has ARMING_CHECK=5390 to disable key arming checks, and the plane flew on DCM as the configured EKF wasn't enabled. This resulted in AHRS::get_origin() returning false as it couldn't ask EKF2 for the origin (as EKF2 was not enabled or instantiated) The result was an incorrect calculation for target height during the descent stage of QRTL, resulting in a climb away until the user took over The fix involves several changes: - if the configured EKF type cannot provide an origin then use the active EKF type if we are armed. We don't do this while disarmed as the vehicle code may use the boolean result of get_origin() to determine if the EKF is initialised or not (see for example set_home() in copter). - if DCM does not have a yaw source (only compass currently) then when not in fly forward don't do the fallback to DCM. This copes with quadplanes with no compass - for the update problem from 4.1.x and earlier, some vehicles may have AHRS_EKF_TYPE=2 but have EK2_ENABLE=0 and EK3_ENABLE=1. This can easily happen if the user has ever set AHRS_EKF_TYPE and then updates to 4.2.x or later. For this special case we auto-set AHSR_EKF_TYPE=3 test flown on a 4+1 quadplane, CubeOrange and on a Jumper-Xiake800

github.com/ArduPilot/ardupilot

Plane: tiltrotor: add throttle scaling for vectored yaw

ArduPilot:master ← IamPete1:tilt_throttle_yaw_scale

opened 07:21PM - 10 Dec 22 UTC

IamPete1

+30 -8

This adds throttle scaling to vectored yaw tilt-rotors. It uses the same scaling… method as tailsitters. There scale range is hard coded to the same as the default range for tailsitters (where we have parameters for min and max). So will reduce gains to half at high throttle and double at low throttle. At hover throttle they remain 1 so no change in behavior. We may want to change the max scale factor to 1 so gains are never increased at low throttle, thus making oscillation unlikely. Only yaw is scaled, the roll input used at high tilt angles is not changed. It also now sets the yaw limit flags if either tilt is at its limit, this prevents I wind up. https://youtu.be/W760-G-N7_I

github.com/ArduPilot/ardupilot

Plane: move adjust_altitude_target functionality to per mode functions

ArduPilot:master ← IamPete1:plane_attitude_target_per_mode_rework

opened 01:36PM - 11 Dec 22 UTC

IamPete1

+67 -45

A none functional re-work of the `adjust_altitude_target` function, moving funct…ionality down into the existing per-mode `update_target_altitude` function. This simplifys code by keeping mode specific functionality in mode files. The if's for fbwb, cruise, loiter and guided have been moved down. The remaining functionality is then moved to the base `Mode` class. Currently this is left in `altitude.cpp` to minimize the diff (just lots of `plane.` due to the namespace change), but it should be moved into `mode.cpp` in the future.

github.com/ArduPilot/ardupilot

GCS_MAVLink: provide and use iterator for mavlink backends (remove internal_error)

ArduPilot:master ← peterbarker:pr/gcs-iterator

opened 06:11AM - 15 Dec 22 UTC

peterbarker

+79 -39

Creates an iterator which can be used to cross each of the backends without worr…ying about `num_gcs()` vs `MAVLINK_COMM_NUM_CHANNELS` Each additional use of the iterator reduces the code size, which is kind of cool. ``` Board AP_Periph blimp copter heli plane rover sub Durandal -136 -136 -128 -120 -168 -200 Hitec-Airspeed 0 KakuteH7-bdshot -96 -128 -136 -88 -120 16 MatekF405 -64 -72 -80 -112 -80 16 Pixhawk1-1M -32 -64 -80 -128 -56 -96 f103-QiotekPeriph 0 f303-Universal 0 revo-mini -56 -152 -144 -136 -80 -48 skyviper-v2450 -48 ```

github.com/ArduPilot/ardupilot

AP_Airspeed: Periph: remove usage of hidden params and remove tuber order

ArduPilot:master ← IamPete1:airspeed_periph_flash_savings

opened 11:45AM - 15 Dec 22 UTC

IamPete1

+62 -13

Extract/precursor to https://github.com/ArduPilot/ardupilot/pull/22297. The goal… its to save a bunch of flash on periph so we feel less bad about costing lots in the param split in https://github.com/ArduPilot/ardupilot/pull/22297. This removes usage of params that are already hidden from the user and also hides tube order.

github.com/ArduPilot/ardupilot

Position Control Limit Handling

ArduPilot:master ← lthall:20221217_PosControl_Limit_Handling

opened 02:55AM - 17 Dec 22 UTC

lthall

+57 -46

This PR improves the handling of limits in the position controller and clarifies… some of the code. 1. Fixes problem where limits can result in the aircraft overshooting the stopping point. This was seen during a landing where the aircraft becomes limited during the early deceleration phase. This slides the stopping point past the intended altitude resulting in a possible "hard landing". 2. Moves the removal of ignore_descent_limit from input_vel_accel_z to land_at_climb_rate_cm (a better name would be nice). This simplifies the use of input_vel_accel_z for the vast majority of use cases and clarifies the use of land_at_climb_rate_cm. 3. A few efficiency clean ups 4. Math library changes to support 1. 5. Math library changes to prevent limits from altering the velocity vector direction.

github.com/ArduPilot/ardupilot

AC_WPNav: Add corner acceleration limit parameter

ArduPilot:master ← lthall:20221217_WPNav_Corner_Acceleration_Limit

opened 03:04AM - 17 Dec 22 UTC

lthall

+25 -6

This PR lets the user explicitly define the cornering acceleration limit differe…nt to the acceleration/deceleration limit. This follows a history of: 1. Setting it equal to the acceleration/deceleration limit. People wanted to go faster around corners. 2. Setting it to the lean angle. Not always possible due to wind resulting in compromised path following and complaints of overly aggressive behaviour in sharp corners. This lets the user choose. This PR also changes the sanity check introduced in this PR: https://github.com/ArduPilot/ardupilot/pull/17673 This form checks that both the old value and new value are positive rather than just the old value. I would like to discuss exactly how we should handle these limits and sanity checks. In particular should we: 1. decrease the acceleration parameter if the lean angle would not let us achieve that acceleration, 2. keep the parameter setting but use the maximum acceleration that the aircraft may achieve.

github.com/ArduPilot/ardupilot

AP_GPS: use only when HDT heading is available

ArduPilot:master ← tatsuy:pr-nmea-yaw-condition

opened 05:15AM - 17 Dec 22 UTC

tatsuy

+2 -2

Septentrio modules send HDT empty messages before getting correct heading. When… AP receives it, EKF yaw is aligned. This PR changes to discard empty HDTs and processes only those that contain values. Before ![image](https://user-images.githubusercontent.com/16643069/208226232-b9e8c713-ce45-4a68-a901-35bc8e017e5e.png) EKF3 yaw is aligned soon after EKF3 tilt alignment complete. After ![image](https://user-images.githubusercontent.com/16643069/208226297-e171ed2e-4e3a-4170-adf1-75a1795aaad2.png) EKF3 yaw is aligned after GPS yaw is set. Tested with CubeBlack+mosaic-H. Note: When ARMING_REQUIRE=0 is set, EKF Failsafe is not cleared forever. After this changes, the problem with EKF Failsafe has also been fixed. If I use THS instead of HDT, it also fixed this problem.

github.com/ArduPilot/ardupilot

AP_WindVane: add Arduino script and readme to allow conection to Bluetooth wind-vane

ArduPilot:master ← IamPete1:Bluetooth_windvane_scirpt

opened 10:03PM - 18 Dec 22 UTC

IamPete1

+271 -0

This adds a script allowing a [Seeed XIAO](https://wiki.seeedstudio.com/XIAO_BLE…/) (or other Arduino compatible nRF52) to be used as a adapter for a Calypso [Ultrasonic Portable Mini wind meter](https://calypsoinstruments.com/shop/product/cmi1022-ultrasonic-portable-mini-wind-meter-73). This is a very small and light wind vane with a self-contained battery so no wiring is needed up the mast. The XIAO connects over Bluetooth and outputs NMEA. The script does also report battery level over NMEA but we need some AP enhancements to deal with that. Shared serial ports and a scripting battery backend. In the mean time the XIAO will flash its LEDs at you when the battery gets low. Script is not really related to the main AP code base, but we do have such things in one or two other places, for [example](https://github.com/ArduPilot/ardupilot/tree/master/Tools/Pozyx/IndoorLoiter). I could also put this somewhere else, probably a new personal repo.

github.com/ArduPilot/ardupilot

Copter: Fix Auto Takeoff when complete_alt_cm is current altitude

ArduPilot:master ← lthall:20221220_TakeoffCompleteTest

opened 02:37PM - 19 Dec 22 UTC

lthall

+5 -6

This PR fixes a bug that happens if the aircraft is told to take off to the curr…ent altitude. Previously this line: bool reached_altitude = (copter.pos_control->get_pos_target_z_cm() - auto_takeoff_start_alt_cm) >= ((auto_takeoff_complete_alt_cm + terr_offset - auto_takeoff_start_alt_cm) * 0.90); Would always simplify down to : (0) >= ((0 + terr_offset) * 0.90); so it would pass or fail based on the terrain altitude. The new approach bases the height threshold to above 1% of the stopping distance below the target altitude.

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.3.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) - [ ] random voltages with voltage pin -1 - [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-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] balancebot not protecting backwards? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta5-available-for-beta-testing/93379/7)) Copter specific issues (confirmed to be real) - [ ] gimbal yaw jumps to far left when RC input > 1700 ([issue](https://github.com/ArduPilot/ardupilot/issues/22225), [PR](https://github.com/ArduPilot/ardupilot/pull/22442)) - [ ] Internal Error I:917 ([discussion1](https://discuss.ardupilot.org/t/internal-errors-0x100000-l-917-flow-of-ctr/87033/3), [discussion2](https://discuss.ardupilot.org/t/internal-errors-0x100000-i-921-flow-of-ctr-twitching-motion-in-loiter-during-forward-flight/93126), [discussion3](https://discuss.ardupilot.org/t/prearm-internal-errors-0x100000-l-921-flow-of-ctrl/93986)) - [ ] Gremsy driver sending gimbal feed-forward values when vehicle is disarmed and pilot provides yaw input - [ ] Copter do-change-speed mission command not working after takeoff command ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) -- existing issue in 4.2 as well Rover specific (confirmed to be real) - [ ] RoverS-Curves don't track a straight line as well as L1 ([issue](https://github.com/ArduPilot/ardupilot/issues/22183)) - [ ] internal error when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta2-has-been-released/91551/3)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) GCS specific issues (confirmed to be real) - [ ] Mission Planner needs updates for MNT1_ param name changes ([Plane user issue](https://github.com/ArduPilot/ardupilot/issues/21989), [Copter](https://discuss.ardupilot.org/t/gimbal-configuration-is-not-possible/93396/11)) Wiki related requests: - none Enhancement Requests (may or may not be done) - [ ] Servo pitch+yaw gimbal should use pitch servo to correct yaw when vehicle is rolled 90deg ([discussion](https://discuss.ardupilot.org/t/gimbal-poi-feature/92234/7), [enhancement request](https://github.com/ArduPilot/ardupilot/issues/22440)) -- futgure enhancement --- Resolved Issues - [x] Kakute H7 V2 config error ([discussion](https://discuss.ardupilot.org/t/holybro-kakute-h7-v2-config-error-ins-unable-to-initialise-driver/92003)) -- resolved for 4.3.0-beta3 - [x] Arming check for slow loop rate triggering during motor test and compassmot ([issue](https://github.com/ArduPilot/ardupilot/issues/22388), [PR to revert for 4.3](https://github.com/ArduPilot/ardupilot/pull/22413)) - [x] message rates from a file not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22361), [PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4820)) -- wiki dev docs were wrong, fixed with PR - [x] slow param download with Pixracer on 4.3 vs 4.2 ([discussion](https://discuss.ardupilot.org/t/slow-parameter-loading-in-4-3/94075/3)) -- cannot reproduce, no response to request for logs - [x] AHRS and GPS differ pre-arm when doing non-GPS nav ([issue](https://github.com/ArduPilot/ardupilot/issues/22383), [PR](https://github.com/ArduPilot/ardupilot/pull/22393)) -- resolved for 4.3.3-rc1 - [x] SBus output not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14)) -- could not reproduce, receiver outputting SERIAL_CONFIG_8E1I instead of SERIAL_CONFIG_8E2I - [x] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) -- no logs, cannot progress - [x] Sporty takeoff ([discussion](https://discuss.ardupilot.org/t/feedback-and-assistance-with-new-takeoff-behaviour/94121)) -- change in behaviour, Leonard says param changes fix it - [x] prearm RNGFND1_PIN=103, set SERVO3_FUNCTION=-1. ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14), [PR](https://github.com/ArduPilot/ardupilot/pull/22375)) -- resolved for Copter-4.3.3 - [x] boot fails if too many dshot LEDs ([issue](https://github.com/ArduPilot/ardupilot/issues/22263), [discussion](https://discuss.ardupilot.org/t/problem-in-copter-4-3-with-the-subsytem-led-preventing-the-drone-from-startup/93992)) -- classified by Andy as an enhancement request. - [x] Siyi A8 mount always unhealthy ([discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/30), [PR](https://github.com/ArduPilot/ardupilot/pull/22313)) -- resolved for 4.3.1 - [x] AutoTune gains not loaded during pilot testing ([PR](https://github.com/ArduPilot/ardupilot/pull/22193)) -- resolved for 4.3.2 - [x] Solo gimbal not pointing down past 45 deg ([issue](https://github.com/ArduPilot/ardupilot/issues/22190)) -- RC6_TRIM issue - [x] Gimbal yaw-reset after pitch changed ([issue](https://github.com/ArduPilot/ardupilot/issues/22095)) -- QGC gimbal control issue - [x] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) -- user frame issue. - [x] Gremsy gimbal overloaded with high update rate of vehicle attitude messages ([PR](https://github.com/ArduPilot/ardupilot/pull/22151)) -- resolved for 4.3.1-beta1 - [x] User can't find Benewake H30 lidar ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/5)) -- not on sale yet - [x] SkyViper Journey broken (4.0.8 works, >4.1 does not) ([issue](https://github.com/ArduPilot/ardupilot/issues/21932), [PR](https://github.com/ArduPilot/ardupilot/pull/22134)) -- resolved for 4.3.1-beta1 - [x] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [x] Rover S-Curve tuning instructions ([wiki](https://ardupilot.org/rover/docs/rover-tuning-navigation.html)) - [x] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771), [PR](https://github.com/ArduPilot/ardupilot/pull/21830)) -- resolved for beta2 - [x] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) -- resolved for 4.3.0-beta2 - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · December 20, 2022, 5:38pm

Attendee count (max): 18

UTC2300 - mavproxy_misc.py: use MAV_CMD_REQUEST_MESSAGE for AUTOPILOT_VERSION by peterbarker · Pull Request #1115 · ArduPilot/MAVProxy · GitHub

MAVProxy
Use get-message command rather than version_request to get copy of message
Merged!

UTC2301 - AP_Baro: auto-set field elevation from origin by tridge · Pull Request #20867 · ArduPilot/ardupilot · GitHub

Set field elevation from origin
Merged!

UTC2304 - AP_NavEKF2/3: do not check the second range finder if RANGEFINDER_MAX_INSTANCES is 1 by tatsuy · Pull Request #20917 · ArduPilot/ardupilot · GitHub

Fix rangefinder second instance in EKF
Merged

UTC2305 - Payload Place by lthall · Pull Request #22258 · ArduPilot/ardupilot · GitHub

Payload place
Need Randy, who is not on the call

UTC2307 - AP_GPS: added support for Unicore GPS modules with AGRICA by tridge · Pull Request #22261 · ArduPilot/ardupilot · GitHub

Unicore GPS support
There’ll be a follow-up with rm3100
We have a corpus of logs from different GPS modules now
Interesting problem with zero-length-strings in NMEA parser
- Might have problem in other NMEA parsers?
- Convert to NaN for flag value?
Up to feature level with f9p but supports dual-antenna-for-yaw
- Apparently DJI are also using these now?!
Seems to do RTK fixes quite well
Won’t get yaw without RTK fix
- F9ps will give you moving-baseline without RTK
Would be nice to have a good communication path with unicore
AMSL model is different between f9p and unicore
- Wsg84 ellipsoid is same
Shame we use amsl
Wgs84 is better defines
There are ublox settings for the model to use
Mean sea level mode is different
Merged!

UTC2324 - AP_AHRS: use active EKF type for origin and crtl limits by tridge · Pull Request #22373 · ArduPilot/ardupilot · GitHub

Use active EKF type for origin and control limits
Fix for poor configuration where arming checks are disabled
People are disabling arming checks when they really, really shouldn’t be
Merged

UTC2335 - Plane: move adjust_altitude_target functionality to per mode functions by IamPete1 · Pull Request #22380 · ArduPilot/ardupilot · GitHub

Adjust_altitude_target functionality to per-mode
Merged!

UTC2337 - hwdef: added MatekL431-BattMon support by tridge · Pull Request #22382 · ArduPilot/ardupilot · GitHub

MatekL431 battmon support
CAN-connected battery connector
Removing the capacity param?
- It’s misleading for users at the moment
Not a smart-battery-maker, just a CAN-connected power power brick
Merged!

UTC2345 - GCS_MAVLink: provide and use iterator for mavlink backends (remove internal_error) by peterbarker · Pull Request #22411 · ArduPilot/ardupilot · GitHub

Iterator for mavlink backends
Custom iterator is new - do we really want a new pattern?
Randy doesn’t like the new pattern
Tridge will look at this further

UTC2409 - AP_Airspeed: Periph: remove usage of hidden params and remove tube order by IamPete1 · Pull Request #22416 · ArduPilot/ardupilot · GitHub

Remove usage of hidden parameters and remove tube order on AP_Periph
Merged!

UTC0010 - autotest: removed deprecated distutils by tridge · Pull Request #22425 · ArduPilot/ardupilot · GitHub

Remove old use of distutils.copytree
Was very annoying when using tab-completion for tests
Merged!

UTC0014 - Position Control Limit Handling by lthall · Pull Request #22428 · ArduPilot/ardupilot · GitHub

Position control limit handling
Fixes for overshooting landings
- Caused by propellor stall
  - 50kg aircraft descending at 10m/s
    - So not a problem for most people
- After this If you get limited the trajectory will continue to decelerate
Extended to horizontal control
- “Prioritise stopping over elegantly flying into a tree”
Is the API correct here?
- Quadplane is already calling the function now being used
Needs to be tested on ship-landing-abort
Some test suites would be nice
- Leonard doesn’t have a lot of time to do this
Limits are a bit weird
- Leonard thinks of the limits as a 3D unit vector which points in the direction of the limit
Currently if you hit the limit it locks in and doesn’t shift back towards zero
- Limits would stop you increasing or correlating target velocity which could stop you braking
Tridge will start a little test suite

UTC0038 - Tuning for position controller angle max by lthall · Pull Request #22429 · ArduPilot/ardupilot · GitHub

Pass in position controller angle max parameter on a tuning knob
Useful for when doing stringing power lines
Should probably be an rc channel option instead

UTC0046 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Beta is going well
Final will be out in next day or two
Would be nice to get some feedback!

UTC0047 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

No Randy for Copter update

UTC0047 - AC_WPNav: Add corner acceleration limit parameter by lthall · Pull Request #22431 · ArduPilot/ardupilot · GitHub

Add parameter for corner accel limit
Need Randy
Units will need to be checked on interfaces
People Want to go around corners faster
- Something was put in place, but it was too much
- So add a parameter
A few issues with preserving values of older parameters
Need to get rid if the drive-by set-and-save-ifchanged

UTC0048 - Copter: Fix Auto Takeoff when complete_alt_cm is current altitude by lthall · Pull Request #22445 · ArduPilot/ardupilot · GitHub

Correct auto takeoff altitude when already at altitude