Dev Call Dec 18, 2023

CraigElder · December 18, 2023, 10:13pm

Issues & Pull Requests

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

+559 -161

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

AP_Scripting: added external AHRS scripting backend

ArduPilot:master ← tridge:pr-extahrs-scripting

opened 05:29AM - 02 Dec 23 UTC

tridge

+1210 -312

This allows lua scripts to provide the following backends: - external AHRS (po…sition, velocity, attitude etc) - GPS - Baro - Compass - airspeed - IMU It builds on top of #25674 and re-implements the InertialLabs driver as a lua script also builds on: - https://github.com/ArduPilot/ardupilot/pull/25686 - https://github.com/ArduPilot/ardupilot/pull/25685

github.com/ArduPilot/ardupilot

DDS - REP-147 Goal Interface Support for Plane (position only)

ArduPilot:master ← Ryanf55:dds-plane-goal-interface

opened 07:25AM - 07 Dec 23 UTC

Ryanf55

+554 -10

# Purpose This adds DDS support for controlling global position control in LL…H of Plane in alignment with REP-147's proposed [High Level Goal Interface](https://ros.org/reps/rep-0147.html#goal-interface). It relies on [GUIDED](https://ardupilot.org/plane/docs/guided-mode.html) mode in plane. When supplying position, it's intended to be used for in features like "Click to go here" from the GCS. This is NOT a good interface for low-level carrot-on-stick kind of control due to the loitering behavior around the target point. # Assumptions * `map` frame in ROS would be used for this type of control # Limitations * Only plane implements the interface, other vehicles will ignore the command. * Only position control is supported. The ROS interface supports velocity and accel, but it's ignored for now. # Demo In ArduPilot repo: ```bash ./Tools/autotest/sim_vehicle.py -w -v ArduPlane --console --enable-dds --map -DG ``` Run MicroROS Agent ```bash cd ~/ros2_ws . /opt/ros/humble/setup.bash colcon build --packages-up-to ardupilot_sitl . install/setup.bash cd src/ardupilot/libraries/AP_DDS ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml ``` Now, get the plane flying. Once EKF3 is initialized ``` arm throttle mode takeoff ``` Wait a bit for it to start loitering, then switch to guided. ``` mode guided ``` Now, command the drone to head north from CMAC to the [grayhound track](https://www.google.com/maps/place/35%C2%B020'45.6%22S+149%C2%B009'32.5%22E/@-35.3559008,149.1620387,2910m/data=!3m1!1e3!4m4!3m3!8m2!3d-35.345996!4d149.159017?entry=ttu) at -35.345996, 149.159017 with an altitude of 40m above home. You only need to send it once with `--once` because this goal is latching on plane. ``` cd ~/ros2_ws . /opt/ros/humble/setup.bash colcon build --packages-up-to ardupilot_msgs . install/setup.bash ros2 topic pub /ap/cmd_gps_pose ardupilot_msgs/msg/GlobalPosition "{header: {frame_id: map}, latitude: -35.345996, longitude: 149.159017, altitude: 40, coordinate_frame: 6}" --once ``` You'll see a pink and green line appear pointing to the middle of the greyhound track as soon as the first message is published. ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/bfac394b-d2d9-4858-8302-592781c44bcb) After a while, it will do a clockwise loiter at the target location. ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/5d1d9a3d-39b1-42ab-a446-36bf873b111d) If you kill the terminal for publishing, the plane will continue to loiter about the same spot and stay in guided mode. # Future work * Add a click-to-go feature to Foxglove's map panel. * CI through ROS * Handle stale data through timestamps # Considerations This message is honestly poorly designed; I think this needs to have `experimental` topic prefix untill we can work with the ROS TSC and Aerial Working Group on a new one. * `coordinate_frame` has a default value of 0 not represented in the frames of 5,6,11 * `type_make` is pointless, when you could just set fields to NaN. * Even worse, you can't disable `velocity.angular` or `acceleration_or_force.angular` with `type_mask` * If you are sending both target position, velocity and acceleration, but it's a plane with limited control DOF that may conflict, this is ambiguous. * There is no documented frames for velocity and acceleration - is it body, NED, ENU, etc? * And yea, the usual, no altitude datum concept. Absolute can't encode a datum.

github.com/ArduPilot/ardupilot

AC_PID: tidy interface and add logging of resets and I term sets

ArduPilot:master ← IamPete1:pid_rework

opened 07:14PM - 11 Dec 23 UTC

IamPete1

+38 -30

This does some tidying of the interface and adds some logging. - moves `updat…e_i` and `_slew_rate_tau` to protected, this means external code cannot see them, nothing it using them so there is no external change. - removes `get_pid()` and `get_pi()` from the header as the functions are not implemented - updates `get_p`, `get_d` ~~and `get_i`~~ to return the value from `_pid_info` this means there exactly the same values as would be summed and returned from the `update_all` call. Currently P and D are re-calculated and thus skip the application of slew limit and P+D max. I term can be set externally so currently you would not get the same value as was used if there had been a I term set. - `get_ff` is now const this is in line with the other `get_..` methods - `set_integrator` with target, measurement and integrator and `set_integrator` with error and integrator have been removed, there are no users. - Logging flags have been added to show when the controller has been reset and when the I term has been set externally. These are added to the existing flags field so there is no increase in log size.

github.com/ArduPilot/ardupilot

AP_Motors: Heli: RotorControlState to enum class and helper to remove duplication

ArduPilot:master ← IamPete1:heli_rotor_control

opened 03:10AM - 13 Dec 23 UTC

IamPete1

+52 -78

The recent tail clean up means we can remove the spool state to rotor control st…ate conversion that is done for each heli type. This adds a new helper function so we only have to do it in one place. It also moves `RotorControlState` inside `AP_MotorsHeli_RSC` and converts to a enum class. Should be no functional change.

github.com/ArduPilot/ardupilot

ArduPlane: convert parameter TRIM_PITCH_CD to PITCH_TRIM

ArduPilot:master ← timtuxworth:CentiParameters

opened 10:40PM - 13 Dec 23 UTC

timtuxworth

+43 -24

There is a target to do some refactoring of parameters in the 4.5 release. This …is mostly about targeting removing the use of centi-degrees and centimeters in favour of degrees and meters as well as some other parameter cleanups. There is a list documented in this issue: https://github.com/ArduPilot/ardupilot/issues/23580#issuecomment-1520216636 The parameter TRIM_PITCH_CD uses centi degrees. This PR is would replace that with PITCH_TRIM in degrees. This PR refactors all the uses of pitch_trim_cd to use pitch_trim scaled down by 100, which almost always simplifies the code and removes floating point operations, since the code needed degrees anyway. This PR incidentally fixes a bug where TECS is referring to plane.aparm.pitch_trim_cd, but that value was never initialized. This code was added by #22191 . Please be straightforward with feedback, I'd like to learn.

github.com/ArduPilot/ardupilot

Plane: Quadplane: log tailsitter speed scaling in TSIT msg

ArduPilot:master ← IamPete1:tailsitter_logging

opened 01:44AM - 15 Dec 23 UTC

IamPete1

+62 -8

This adds a new tailsitter log message `TSIT`. This allows moving the speed scal…e `Sscl` out of `QTUN`. In addition to that value this also logs the throttle only scale and the disk loading min throttle. For those last two values to be different you need to be not using throttle scaling for speed scale and be using min outflow speed with disk theory. This is currently at full loop rate. As a drive by I also put the "PIQ" message definitions behind `HAL_QUADPLANE_ENABLED` which should save a little flash on boards without quadplane. We might want to add more stuff in the future, but this is a start.

github.com/ArduPilot/ardupilot

AP_Periph: added CAN deadline handling

ArduPilot:master ← tridge:pr-deadline-enable

opened 09:47PM - 15 Dec 23 UTC

tridge

+157 -151

This enables deadlines in libcandard for AP_Periph. It fixes an issue with the C…-RTK2-HP where we would get long GPS deltas when the safety switch was on. The cause was the Fix2 CAN frames being discarded early due to a combination of the low transmit slots on the F4 and the slight increase in traffic with the safety on I suspect this may fix issues with high delta on other boards too ![image](https://github.com/ArduPilot/ardupilot/assets/831867/77af20c3-3493-40f2-a9c1-2323426859ed)

github.com/ArduPilot/ardupilot

Plane:fix auto fence enable in Mode Takeoff

ArduPilot:master ← Hwurzburg:mode_takeoff_fix

opened 02:23PM - 17 Dec 23 UTC

Hwurzburg

+9 -5

fixes bug in Mode takeoff where autoenable occurs immediately after initial phas…e of climb and triggers min alt fence breach....AUTO takeoffs (both fw and VTOL) do not auto-enable until takeoff alt is obtained and mission moves to next item....this does roughly the equivalent addresses https://github.com/ArduPilot/ardupilot/issues/25783

github.com/ArduPilot/ardupilot

ChibiOS: faster millis micros64 implementation

ArduPilot:master ← tridge:pr-faster-millis-micros64

opened 01:30AM - 18 Dec 23 UTC

tridge

+149 -25

This greatly speeds up our time functions @andyp1per this needs testing with …DShot and BDShot, on F4 and H7 H743, 32 bit timer, old code: ``` micros() 0.0622 usec/call micros16() 0.0616 usec/call millis() 0.5189 usec/call millis16() 0.5702 usec/call micros64() 0.2969 usec/call hrt_micros32() 0.2658 usec/call hrt_micros64() 0.2769 usec/call hrt_millis32() 0.4887 usec/call ``` H743, 32 bit timer, new code: ``` micros() 0.0627 usec/call micros16() 0.0616 usec/call millis() 0.2662 usec/call millis16() 0.2787 usec/call micros64() 0.2002 usec/call hrt_micros32() 0.0722 usec/call hrt_micros64() 0.1906 usec/call hrt_millis32() 0.2456 usec/call hrt_millis64() 0.2460 usec/call ``` matekh743 (16 bit timer) old code: ``` micros() 0.3432 usec/call micros16() 0.0618 usec/call millis() 0.5554 usec/call millis16() 0.6051 usec/call micros64() 0.3370 usec/call hrt_micros32() 0.3107 usec/call hrt_micros64() 0.3137 usec/call hrt_millis32() 0.5205 usec/call ``` matekh743 (16 bit timer) new code: ``` micros() 0.1915 usec/call micros16() 0.0622 usec/call millis() 0.2572 usec/call millis16() 0.3009 usec/call micros64() 0.2059 usec/call hrt_micros32() 0.1862 usec/call hrt_micros64() 0.1963 usec/call hrt_millis32() 0.2489 usec/call hrt_millis64() 0.2468 usec/call ``` f405, old: ``` micros() 0.1004 usec/call micros16() 0.1264 usec/call millis() 1.2906 usec/call millis16() 1.3632 usec/call micros64() 0.6696 usec/call hrt_micros32() 0.5704 usec/call hrt_micros64() 0.6454 usec/call hrt_millis32() 1.2894 usec/call ``` f405, new: ``` micros() 0.1008 usec/call micros16() 0.1254 usec/call millis() 0.6922 usec/call millis16() 0.7419 usec/call micros64() 0.4704 usec/call hrt_micros32() 0.1247 usec/call hrt_micros64() 0.4474 usec/call hrt_millis32() 0.6696 usec/call hrt_millis64() 0.6666 usec/call ```

github.com/ArduPilot/ardupilot

EAHRS is performing duplicate temperature compenstation

opened 03:31AM - 18 Dec 23 UTC

Ryanf55

BUG DevCallTopic ExternalAHRS

## Bug report **Issue details** Certain devices exposed through EAHRS, lik…e the MicroStrain7, supply data that is already temperature compenstated. https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/sensor_data/data/mip_field_sensor_scaled_mag.htm https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/sensor_data/data/mip_field_sensor_scaled_accel.htm When the External AHRS driver posts data to sensor libraries, they perform temperature compenstation on it again, as long as `HAL_INS_TEMPERATURE_CAL_ENABLE` is defined, which is based on board size. _Please describe the problem_ This causes double temperature compensation, leading to incorrect values. **Proposed Solution** Add `bool is_temperature_compensated;` to `AP_ExternalARHS::ins_data_message_t`, and then add the necessary hooks in `AP_InertialSensor::handle_external(const AP_ExternalAHRS::ins_data_message_t &pkt)` to stop doing temperature compensation if the supplied value is already temp-compensated. See `ryanf55:eahrs-precompensated-sensors` for a prototype fix (WIP) **Version** master `1e644d56a51806b63dcd68d5e6566ec0f10248fc` **Platform** [ x] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

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

NO DEV CALL NEXT WEEK!

CraigElder · December 19, 2023, 1:43am

Attendee count (max): 19

UTC1100 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

Relay rework to fix parameters
Merged!
Also adds function for relied so they can be looked up by function

UTC1101 - AP_Scripting: added external AHRS scripting backend by tridge · Pull Request #25678 · ArduPilot/ardupilot · GitHub

Scripting backend for ExternalAHRS
Set-ins-data instead of passing a block of data through?
(H7 uarts can do 25Mbit, apparently)
Discussion of cooked IMU data vs uncooked data and how they should flow
Allows you to insert data into various libraries via scripting / external ahrs backend
We have 11 backends now for ExternalAHRS
- We haven’t any results on whether there are better results that internal AHRS yet
- But people are currently doing measurements
- Will be able to do experiments using external FOG with in-built EKF3

UTC1122 - DDS - REP-147 Goal Interface Support for Plane (position only) by Ryanf55 · Pull Request #25722 · ArduPilot/ardupilot · GitHub

Goal interface support for DDS
DDS can now work with LLH
Should we force scripting to control vehicles via ExternalControl?
- Yes
- But don’t break existing users

UTC1131 - AC_PID: tidy interface and add logging of resets and I term sets by IamPete1 · Pull Request #25753 · ArduPilot/ardupilot · GitHub

Tidy interface and log resets of PIDs
Needs Leonard to approve again as changes were made

UTC1137 - AP_Motors: Heli: RotorControlState to enum class and helper to remove duplication by IamPete1 · Pull Request #25767 · ArduPilot/ardupilot · GitHub

RotorControlState becomes enum class
More heli tidying!

UTC1138 - ArduPlane: convert parameter TRIM_PITCH_CD to PITCH_TRIM by timtuxworth · Pull Request #25768 · ArduPilot/ardupilot · GitHub

Convert TRIM_PITCH_CD to TRIM_PITCH_DEG
Should we have the _DEG
Lots of arguments on the PR on this matter!
- And more on the call
We could come back in 5 years and rename to get rid of the _DEG
Should we make the parameters more consistent in naming too?
- E.g. ptch vs pitch?
TRIM_AIRSPEED_CM
- ARSPD_CRUISE?
- Tridge realises he’s inconsistent here as he wants to have better naming on these
- Need to distinguish between this and ARSPD library parameters
Tridge thinks we might be able to do some of the conversion within the parameter library
Convert_centi_parameter
Why does TECS need to know about TRIM_PITCH_CD?
- Looks like current code doesn’t work, so we can just remove it
Tridge will force-push with a cd-conversion thing in AP_Param

UTC1216 - Plane: Quadplane: log tailsitter speed scaling in TSIT msg by IamPete1 · Pull Request #25776 · ArduPilot/ardupilot · GitHub

Logging changes for tailsitters
Move from CTUN
Into TSIT
New tool:
- ArduPilot Hardware Checker
merged!

UTC1221 - Plane: Quadplane: log tailsitter speed scaling in TSIT msg by IamPete1 · Pull Request #25776 · ArduPilot/ardupilot · GitHub

Deadline scheduling for CAN in AP_Periph
Want Sid’s review on it
May improve moving baseline yaw

UTC1224 - Plane:fix auto fence enable in Mode Takeoff by Hwurzburg · Pull Request #25788 · ArduPilot/ardupilot · GitHub

Fix auto-fence-enable in mode-takeoff
Enables above level-alt in mode takeoff
Vs after takeoff mission item in auto modes
Put it on mode exit?
- Symmetry with completing mission item?
- Instant fence breach on mode change problem?
- Maybe just above target alt?
Need to have an option bit to enable the fence once you’re 5m above instead?
Henry thinks we shouldn’t be able to breach min-alt fence until you’ve actually gone above it!
- For Copter too?
- Might already have it and it’s not working?

UTC1239 - ChibiOS: faster millis micros64 implementation by tridge · Pull Request #25790 · ArduPilot/ardupilot · GitHub

Faster millis/micros implementation
IOMCU change was merged
- 4xbdshot on IOMCU now
- Subset of boards only
- Henry will need to work with Andy on the details
- Set BRD parameter to enable dshot on IOMCU
  - Will re-flash the IO firmware
  - You then get bdshot
- Tridge ran across an issue with it this morning
- Boot-time internal error
- Not reverting yet
- Just a timing issue at startup?
- Planes only probably
- Does affect e.g. CubeOrange
- Hex 0x3000
- Tridge and Andy chasing
- Big transfer of mixer
  - Remove mixer would fix it…
Big system-level changes, so please everyone be aware and vigilant
- If you see something say something…
Twice as fast for millis/micros after this PR is merged
Merged!

UTC1240 - EAHRS is performing duplicate temperature compenstation · Issue #25792 · ArduPilot/ardupilot · GitHub

EAHRS is doing temperature compensation twice
- Need to make it optional
- Some sort of enum?
Compass offsets are also problematic

UTC1259 - Copter/AC_Avoidance: option to support "fast waypoints" when using Dijkstras by rmackay9 · Pull Request #25793 · ArduPilot/ardupilot · GitHub

Stop stopping at all waypoints when using Dijkstra’s
SCurves made this problematic
Takes a second or so to calculate
Could get a fence breach after this if the wp was close to the waypoint
Can now cruise around at full speed, no stopping
Need to set an option
No full path calculated for next point
New parameters in cm or cdeg should be labelled as such

UTC0105 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
Time to push out 4.4.4?
- Terrain problem?
  - Treating relative as absolute
- QRTL terrain-following thing with terrain disabled
  - User wiped everything and it’s all working
- Pre-existing issue as it was 4.4.3

UTC0110 - Copter-4.4.4 / Rover-4.4.0 release by rmackay9 · Pull Request #25795 · ArduPilot/ardupilot · GitHub

Copter update
Pwm output on navio+ not working?
- Navigator is working
- Might just be arming switch?
4.4.4. Will probably go out today
Willian’s been testing 4.4.0
- Stable Rover 4.4!
- Still no L1
  - New system or bust

UTC0118 - off the floor

Henry wants help to help Marco

UTC0123 - update on Web Tools with PH

ArduPilot Web Tools
Uses a github API to turn a hash back into a commit anywhere on github
ArduPilot Hardware Checker
New Online magfit tool
- See blog post
New PID review tool
- Experimental
- PH is still working out what it’s useful for
- Add a settling time requested

UTC0138 - fractional loiter-turn support

Integer-only ATM

UTC0140 - no call next week

Xmas day
Should we do New-Year’s day?
- Maybe a quick one?

UTC0140 - close

NO DEV CALL NEXT WEEK!