Dev call Dec 2, 2024

CraigElder · December 2, 2024, 10:58pm

Vehicle Updates

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** - [ ] 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)) - [ ] Custom Build Server for CubeOrangePlus with OpenDroneID shows linker error ([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)) - [ ] 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** - [ ] 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*** - [ ] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 ([PR](https://github.com/ArduPilot/ardupilot/pull/28707)) - [ ] plane takeoff regression since 4.5.x: https://github.com/ArduPilot/ardupilot/issues/28681 - [ ] 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 - [ ] 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 **Enhancements or Issues that may not be resolved before the stable release** - [ ] 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] 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

Plane: support `DO_RETURN_PATH_START` mission item and command

ArduPilot:master ← IamPete1:plane_do_return_path_start

opened 12:08PM - 10 Nov 24 UTC

IamPete1

+46 -9

Adds support for the `DO_RETURN_PATH_START` mission item to plane. Alternate to …https://github.com/ArduPilot/ardupilot/pull/28571 `DO_RETURN_PATH_START` is marks that the vehicle can rejoin the mission at any point after that waypoint and before a landing or a `DO_LAND_START`. The mission will be re-joined on the leg which is closest to the vehicles current location. I had wanted to get rid of `RTL_AUTOLAND` and have a AUTO RTL mode as we do in copter. But I have not got to that yet.

github.com/ArduPilot/ardupilot

AP_InertialSensor: fixed Q calculation for notch filters

ArduPilot:Plane-4.5 ← tridge:pr-notch-init-wrong-Q

opened 05:44AM - 28 Nov 24 UTC

tridge

+23 -10

when doing the notch init() we must use the reference frequency, not the current… frequency. Using the current frequency leaves us with an incorrect value for Q. If the current frequency is below the reference frequency (which shouldn't happen in 4.5, but has been seen in 4.3) then the Q can be much too low and massive phase lag can happen. I am also not 100% certain a low freq in init() can't happen in 4.5.x, the route it came in for the 4.3.x crash logs is quite complex. The way the init() works is we call it continuously up until 30s after boot, then we call it only if the user changes the notch parameters. This means the precise state of the aircraft at the 30s after boot mark is critical. Depending on what is happening to the aircraft at 30s after boot the Q value could be a very long way off. The confirmed vulnerability in 4.5.x is that the current frequency could be well above the reference frequency. For example, the user may be doing a motor test at 30s after boot, which is when we stop the sensors_converging() test, and thus is the last time we call init(). In that case we can end up with a Q which is much larger than the one that should come from INS_HNTCH_FREQ and INS_HNTCH_BW, and thus end up with a filter that produces a lot less attenuation than is desired, potentially leading to instability due to high noise. There are other scenarios that can cause this - for example a motor test of a fwd motor at 30s after boot, or a spurious FFT peak due to someone knocking the aircraft, or the vibration of a IC engine. I've checked, and it is already fixed in 4.6.x

github.com/ArduPilot/ardupilot

Plane: add Autoland mode

ArduPilot:master ← Hwurzburg:autoland

opened 02:45AM - 29 Nov 24 UTC

Hwurzburg

+212 -3

Captures ground course when gnd speed reaches 5m/s as takeoff direction in NAV_T…AKEOFF and Mode Takeoff (if a reliable way to obtain a takeoff direction in other modes is determined, this can be expanded in the future) Currently valid only for fixed wing configuration, quadplane wont enter mode... Upon entry creates a final approach waypoint at parameterized distance and alt from home in the opposite direction of autotakeoff direction, flies to it and does a land exactly like NAV_LAND using full landing code for aborts. (Emulates my UniversalAutoLand LUA script #28591) If a DO_LAND_START sequence(s) exist, will jump to them instead If takeoff direction has not been captured then it will just not enterthe mode If not flying it will not enter the mode Adds it as a long failsafe action (will RTL if no takeoff direction has been captured)...qplane ignores it Includes an autotest

github.com/ArduPilot/ardupilot

add integer bound check

ArduPilot:master ← RamReso:add-integer-bound-check

opened 11:55AM - 01 Dec 24 UTC

RamReso

+5 -1

When sending mavlink command_long messages with some arbitrary parameters, I not…iced random crashes in the simulation. I looked into it and found, that the simulation always crashes, when I send a parameter >215 or <-215 for a coordinate. This was due to a integer over/underflow in the conversion from long to int. I added the necessary checks to the converting function and now I do not longer notice the problem.

CraigElder · December 3, 2024, 12:28am

Attendee count (max): 15

UTC2300 - ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

Vehicle Update
Waiting for Andy to give an approval on AC_Fence: fixed 2 regressions from 4.5.x by tridge · Pull Request #28729 · ArduPilot/ardupilot · GitHub
Take off WIP
Notch filters in plane check that INS_HNTCn_REF is non-zero for ESC,RPM or FFT notches · Issue #28786 · ArduPilot/ardupilot · GitHub
Pre arm check to see if somebody has the notch reference set to 0
Aim for next Beta end of this week

UTC 2325 Plane: support `DO_RETURN_PATH_START` mission item and command by IamPete1 · Pull Request #28574 · ArduPilot/ardupilot · GitHub

Merged

UTC 2330 Plane: fixed takeoff direction with no yaw source by tridge · Pull Request #28730 · ArduPilot/ardupilot · GitHub

Merge on CI Pass

UTC 2335 AP_NavEKF3: added two more EK3_OPTION bits by tridge · Pull Request #28750 · ArduPilot/ardupilot · GitHub

Using time of flight to do positioning
Using different sources but not using the correct EKF Noise value
Lots of discussion about how to present this option to users
Going to hold of until Paul is available to comment

UTC 2355 Plane: support `DO_RETURN_PATH_START` mission item and command by IamPete1 · Pull Request #28574 · ArduPilot/ardupilot · GitHub

No concern about it coming in
Autotest requested

UTC 2400 AP_InertialSensor: adjust the instance if External AHRS is enabled by rishabsingh3003 · Pull Request #28754 · ArduPilot/ardupilot · GitHub

Fixing a bug where External AHRS were replacing one of the internal AHRS instances
May not compile. Changes requested

UTC 2405 AP_InertialSensor: fixed Q calculation for notch filters by tridge · Pull Request #28765 · ArduPilot/ardupilot · GitHub

Bug fix for Filter calculations from 4.3 and 4.5
Should we back port to 4.5? Yes
Will merge into plane. Need to do the double shuffle

UTC 2408 AP_Scripting: ahrs/ekf origin script promoted to an applet by rmackay9 · Pull Request #28770 · ArduPilot/ardupilot · GitHub

Used to set origin using Lat, Long, Altitude
Be nice to set yaw
Should we add to C++ Code?
Merged

UTC 2415 Plane: add Autoland mode by Hwurzburg · Pull Request #28771 · ArduPilot/ardupilot · GitHub

Changes requested

UTC 2420 AP_InertialSensor: stop sensors converging if motors arm by tridge · Pull Request #28783 · ArduPilot/ardupilot · GitHub

Deferred to next week

UTC 2425 5https://github.com/ArduPilot/ardupilot/pull/28790

Comments made in PR