Dev Call Dec 23, 2024

CraigElder · December 23, 2024, 10:53pm

Vehicle Status

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** - [ ] 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** - [ ] 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** - [ ] ROS2 attitude control + thrust enhancement request ([discussion](https://discuss.ardupilot.org/t/ros2-interface-for-controlling-thrust-and-attitude/127694)) - [ ] 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** - [ ] Orqa 3030 autopilot config issue ([discussion](https://discuss.ardupilot.org/t/orqa-3030-f450-issue/127483), [PR](https://github.com/ArduPilot/ardupilot/pull/28855)) -- resolved for beta3 - [x] BeagleBoneBlue RC not working with Copter ([discussion](https://discuss.ardupilot.org/t/rc-sbus-works-with-plane-but-not-copter-beaglebone-blue/127540/2)) -- user error related to running as a service - [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

LD06: Record only 2deg slices, I was running into drouble on my Pixhawk

ArduPilot:master ← mw46d:ld06

opened 01:36AM - 12 May 24 UTC

mw46d

+347 -49

* Some recording changes were taken from the RPLidar driver code. * Using the …average of the 12 readings/package is not a good idea. Those packages don't describe the same 'angle' for each rotation. So you end up with a lot of different distances per package. I tried to fix things to well-defined 2deg slices and take the minimum reading reported.

github.com/ArduPilot/ardupilot

Plane: ICE: fully move to aux function

ArduPilot:master ← IamPete1:ice_auxfun

opened 11:28PM - 16 Nov 24 UTC

IamPete1

+119 -98

This removes the ICE `STARTCHN_MIN` protections and RC input thresholds instead …moving over to those that are applied to all aux functions. Aux functions do have a min value of 800. https://github.com/ArduPilot/ardupilot/blob/4d75b4477550e3fccb6a1917dd8a49594d3d2c9b/libraries/RC_Channel/RC_Channel.cpp#L1897 This also moves to the aux function threshold values of 1200 and 1800 rather than the 1300 and 1700 that are used now. ICE was also using a longer de-bounce time, 300ms vs 200ms in the RC lib. This could mean a change in behavior for some users. We also loose the low PWM on RC failure protection of `STARTCHN_MIN`. We gain the ability to trigger the aux function directly from the GCS, so if RC dropout was a issue the recommendation would be to use the MAVLink command. I don't really see any other nice way of moving forward. One option would be to add a `STARTCHN_MIN` parameter to the RC_Channel library and apply it to all switches. A second option would be to add another aux function that would be sent from the GCS and would be ignored if the existing option is setup. So you could do RC switch or GCS, but not both.

github.com/ArduPilot/ardupilot

Plane: add Autoland mode

ArduPilot:master ← Hwurzburg:autoland

opened 02:45AM - 29 Nov 24 UTC

Hwurzburg

+297 -14

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 enter the 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 edit: can now be used in QPlane if fw landing option bit set and is a build option, added landing direction offset parameter for when you want the landing to be different direction than takeoff PS: once merged I have a PR to add a mode param to allow the direction to be set on arm if a compass is in use instead of autotakeoffs, or to allow setting takeoff direction in FBWA/MANUAL/STABILIZE takeoffs in addition to autotakeoffs

github.com/ArduPilot/ardupilot

waf: add defaults.parm support to esp32 using ROMFS

ArduPilot:master ← tpwrules:pr/esp32-defaults

opened 04:20AM - 15 Dec 24 UTC

tpwrules

+8 -84

And drop broken remnants of code using apj_tool to do it. Now just load the file… at `libraries/AP_HAL_ESP32/hwdef/<board>/defaults.parm` until we get hwdef.dat support in. According to tridge, apj_tool is deprecated anyway. It's difficult to use because the .bin has an XOR checksum and SHA256 checksum that would have to be patched up. So just switch to using the already-working ROMFS. Tested on the stampfly.

github.com/ArduPilot/ardupilot

AP_BattMonitor: Handle allocating too many analog channels

ArduPilot:master ← WickedShell:wickedshell/analog-channel-management

opened 08:52PM - 19 Dec 24 UTC

WickedShell

+12 -5

If you over allocate the number of analog channels this results in a crash. It's… easy to trigger this if you have voltage only monitors as we still eat up a current input channel, regarless of if we use it. There are only 16 channels at this time on ChibiOS, so if you have 9 voltage only battery monitors you are out. This PR improves that situation by only allocating channels when needed, and in the case where we run out we now set a ConfigError, which on a flight controller is much more friendly then a instant segfault the moment we read a battery monitor. NOTE: on AP_Periph this takes the node off the bus, rather then just sitting in the bootloader. This was consideted acceptable as the current behaviour was to segfault and then sit in the bootloader, unless you made new firmware that limited the number of channels allocated it wasn't possible to recover in this situation anyways. Tested on CubeOrangePlus with plane firmware, as well as on AP_Periph.

github.com/ArduPilot/ardupilot

AP_RangeFinder: tidy defines around bebop rangefinder inclusion

ArduPilot:master ← peterbarker:pr/bebop-define-nicer

opened 05:52AM - 20 Dec 24 UTC

peterbarker

+1 -3

``` Board AP_Periph blimp bootloader copter heli iofirm…ware plane rover sub CubeOrange-periph-heavy * CubeRedPrimary * * * * * * * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * bebop * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

Rename vehicle-specific RC_Channel and GCS_MAVLink files

ArduPilot:master ← peterbarker:pr/rename-files-to-match-classes

opened 02:57AM - 23 Dec 24 UTC

peterbarker

+75 -75

We are somewhat inconsistent with our file naming for these derived classes. …So, for example, we have GCS_Plane and GCS_Copter which contain the classes `GCS_Plane` and `GCS_Copter`, but we use `GCS_Mavlink.h` for both Plane and Copter to hold `GCS_MAVLINK_Plane` and `GCS_MAVLINK_Copter`. This PR renames the RC_Channel and GCS_MAVLink files for the vehicles to be closer to the class names they contain. The class name defines in GCS_MAVLink_Plane.cpp, however, is still `GCS_MAVLINK_Plane` rather than `GCS_MAVLink_Plane`. There are 1500 lines to change to correct the case, and that's going to make backports difficult. Probably something to do closer to the middle of a release cycle.

CraigElder · December 24, 2024, 5:55am

Attendee count (max): 13

UTC2300 - Vehicle updates

Current beta is beta-2
A few issues
- Not many new issues
- Request for Ros2 attitude control using thrust
Probably beta3 after next week
Beta1 was November 13
mid-January would be best we’ve done
- So perhaps end of January

UTC2304 - AP_HAL_ChibiOS: disable SBus output on SkyViper-v2450 by peterbarker · Pull Request #25662 · ArduPilot/ardupilot · GitHub

Disable SBus out on SkyViper-v2450
And other bits and pieces
Merged!

UTC2308 - LD06: Record only 2deg slices by mw46d · Pull Request #27045 · ArduPilot/ardupilot · GitHub

Fix LD06 driver
Fix orientation
Clean up comments
Can be merged after that

UTC2318 - Plane: Merge ArduPlane.cpp and Plane.cpp by peterbarker · Pull Request #27239 · ArduPilot/ardupilot · GitHub

Merge Plane and ArduPlane cpp files
- Need tridge to say whether the NOAA stuff is sufficiently merged

UTC2319 - AP_RangeFinder: allow for more than 327m range by peterbarker · Pull Request #27886 · ArduPilot/ardupilot · GitHub

Rangefinder 327m range
PH is happy with this
Need to fix the new tailsitter rangefinder code
Will bring back in new year

UTC2322 - AHRS: add ability to configure AHRS via mavlink commands by valbv · Pull Request #28485 · ArduPilot/ardupilot · GitHub

Ability to configure the AHRS via mavlink commands
Comments left
Later, Ryan clarified our guesses were correct about behaviour
- Turn off in flight / disable GPS input

UTC2331 - Plane: add Autoland mode by Hwurzburg · Pull Request #28771 · ArduPilot/ardupilot · GitHub

Use RC aux function for ICE
Peter’s OK with it now, but would prefer looking up the channel function rather than adding an entry into the trigger object
Needs tridge

UTC2335 - Plane: add Autoland mode by Hwurzburg · Pull Request #28771 · ArduPilot/ardupilot · GitHub

Autoland mode
Future enhancements are to allow it in manually controlled mode
Need tridge for this one
Now can be compiled out of the build
Flaps issue has been fixed

UTC2342 - AP_Scripting: add bindings for servo telemetry by IamPete1 · Pull Request #28857 · ArduPilot/ardupilot · GitHub

Add bindings for the servo telemetry
- Little structure, can get things from the structure
Magically hides bitmask from the user
- Future will allow you to write into the structure
Still have a race
- If you want to spend time fixing stuff, fix ESC first
Thomas will have another look later

UTC2348 - waf: add defaults.parm support to esp32 using ROMFS by tpwrules · Pull Request #28867 · ArduPilot/ardupilot · GitHub

Add defaults.parm support to esp32 using ROMFS
Merged!

UTC2350 - AP_Math: Add float cast to float version of fabsF by katzfey · Pull Request #28897 · ArduPilot/ardupilot · GitHub

Add float cast to float version of fabsF
Simple cast
Maybe a problem with single-precision EKF but double-precision

UTC0000 - AP_BattMonitor: Handle allocating too many analog channels by WickedShell · Pull Request #28910 · ArduPilot/ardupilot · GitHub

Fix problems around using too many analogue backends
merged!

UTC 0102 - AP_RangeFinder: tidy defines around bebop rangefinder inclusion by peterbarker · Pull Request #28917 · ArduPilot/ardupilot · GitHub

Tidy defines around bebop include
Merged!

UTC 0103 - Add test for scripting flip mode by IamPete1 · Pull Request #28927 · ArduPilot/ardupilot · GitHub

Add test for scripting flip mode
Merged!

UTC 0106 - Plane: remove mode guided pointer comparisons. by IamPete1 · Pull Request #28930 · ArduPilot/ardupilot · GitHub

Remove mode guided pointer comparisons
Need to tridge to approve
Peter approved

UTC 0110 - AP_Scripting: fix outstanding luacheck issues by IamPete1 · Pull Request #28931 · ArduPilot/ardupilot · GitHub

Fix outstanding luacheck issues
Definitely fixed some issues
- But have some been introduced?!
- RateBased sport_aerobatics.lua now has a misnamed variable
Drop the rate based issues
Need Henry to test the script controller script and the rate-based sport_aerobatics.lua

UTC0124 - back to Plane: add Autoland mode by Hwurzburg · Pull Request #28771 · ArduPilot/ardupilot · GitHub

Autoland mode for Plane now tridge is around
Will need to add to XML for flight modes
And pymavlink
Approach and landing waypoints only
Peter to supply bin log

UTC0131 - back to Plane: add Autoland mode by Hwurzburg · Pull Request #28771 · ArduPilot/ardupilot · GitHub

ICE now uses aux opt entirely
Merged!

UTC0134 - back to Plane: remove mode guided pointer comparisons. by IamPete1 · Pull Request #28930 · ArduPilot/ardupilot · GitHub

Remove mode guided pointer comparisons
Tridge isn’t really sure if Plane’s guided mode is really a good starting point for custom modes
Need to sketch out a complex custom mode
- Eg. QRTL
- How would that be done inside a script or ROS or whatnot?
- Sequenced behaviour
There are advantages in having a separate mode for offboard mode vs guided mode
- If offboard goes wrong then you can go back to guided
We need a better name than “offboard” as LUA scripts are onboard
Use the same mode number on each vehicle
Some cool wider discussion on supporting hybrid vehicle types
[12:15 PM]NateMailhot: i think there is a bigger opportunity here for developing outer loops that are the high-level automation where each vehicle has its own bindings

UTC 0131 AP_HAL_QURT: Added support for PWM channels 5 to 8 when using IO board by katzfey · Pull Request #28938 · ArduPilot/ardupilot · GitHub

Merged

UTC 0133 Discussion of a new AP_Periph release with some fixes for networking support