Dev Call Feb 10, 2025

Development Team
1

Release Update

Issues & Pull Requests

2
  • We’re going to make a beta4
    • Randy will do it tomorrow
    • Ultramotion servo PR backport?

UTC1124 - AP_Scripting: mavlink: fix potential deadlock and clean up by tpwrules · Pull Request #29257 · ArduPilot/ardupilot · GitHub

  • Fix potential deadlock and cleanup
    • Holding mutex when LUA raises an exception
  • Needed for 4.6
  • Another in command_int with push-result?
    • Push-result probably doesn’t raise an error, it will just corr[pt the stack
    • Push-string can fail to allocate…
    • Push-integer can’t fail
    • Only need to get generator right once
    • It’s custom bindings you need to worry about…

UTC1133 - Copter: Allow CH6 tuning to change loiter speed by rishabsingh3003 · Pull Request #14188 · ArduPilot/ardupilot · GitHub

  • Change loiter speed via channel 6 tuning knob
  • You do need to be careful with this and accels
  • Low lean angle, high speed is “slippery” feel, as opposed to a viscous feel around with opposite params
  • Merged!

UTC1135 - Move navio2 RC input into AP_RCProtocol by peterbarker · Pull Request #27000 · ArduPilot/ardupilot · GitHub

  • Move RCIO for navio2 and edge down into AP_RCProtocol
  • Only tested on the bench or navio2
  • Merged!

UTC1141 - Plane: log whether throttle is suppressed or not by peterbarker · Pull Request #28906 · ArduPilot/ardupilot · GitHub

  • STAT field
  • 0.6% of a log
  • plot.ardupilot.org really needs to understand bitmasks
    • Can, but only by specifying a mask
  • Just add a suppressed field
    • New PR can be merged after testing

UTC1151 - Plane: Add fwd. throttle cutoff voltage parameter by rubenp02 · Pull Request #29080 · ArduPilot/ardupilot · GitHub

  • Add fwd throttle cutoff voltage parameter
    • Could be done as a script?
  • Can take over manually
  • Merged

UTC1155 - ArduPlane: add climb before turn to AUTOLAND by Hwurzburg · Pull Request #29142 · ArduPilot/ardupilot · GitHub

  • Add climb-before-turn to AUTOLAND mode
  • Might be some edge cases?
  • Lots of SITL testing has been done
  • Does terrain follow
  • There’s now an autotest
    • Flies behind mountain towards West
    • Terrain-follow-autolands back home!
  • New “command-climb state machine state
  • Random +10 to make sure you reach altitude
    • Replaced a -2 on the check
    • Would be nice to be able to tell TECS we want to climb at max rate for a while
      • Takeoff-max or tecs-max
  • So breaking the 400ft ceiling?
    • Climb-min thing
    • Max-alt fence
    • Geofence will get tripped which would RTL so you would climb
      • Only ignores the fence in the last phases of a landing sequence
    • No fence actions for autoland
      • Or battery failsafe
    • Just RC….
    • Autoland only in RC failsafe or mode change
    • But it is in long-event
      • So GCS failsafes will do it
    • Tridge is worried about an infinite loop
  • Merged!

UTC1216 - AR_Motors: fix brushed motor support for omni vehicles by mattp256 · Pull Request #29187 · ArduPilot/ardupilot · GitHub

  • Fix brushed motor support for omni vehicles
  • Just an order of operations issue
  • Looks good but needs Randy
  • 11:21 AM]rmackay9: I’ve merged the omni vehicle PR that I just missed

UTC1217 - AP_Airspeed: disable airspeed auto calibration in specific cases by mduclehcm · Pull Request #29222 · ArduPilot/ardupilot · GitHub

  • Stop airspeed calibration issues caused by prop airflow
  • MergeOnCIPass

UTC1220 - ArduPlane: remove unused verify_RTL code by Hwurzburg · Pull Request #29227 · ArduPilot/ardupilot · GitHub

  • Remove unused verify-rtl code
  • PH says it could be used in the future
  • But Henry points out it is dead code
  • There are probably hidden bugs in here
  • No landing point means it will keep going around to DO_LAND_START…
  • Merged

UTC1221 - AP_Proximity: Hexsoon Radar support by rmackay9 · Pull Request #29235 · ArduPilot/ardupilot · GitHub

  • Add Hexsoon Radar support
  • Exactly the same as the Nano radar protocol
  • Change to “MR72”
  • NRA24 shares same CAN packet
  • There’s a rangefinder and a proximity sensor which speak the same protocol
  • Want to use the same protocol ID so you can max-and-match
  • We’ll have a separate ID for the device but use the same driver
    • Would be rather nicer if the manufacturer would use DroneCAN!

UTC1240 - AP_Proximity: Hexsoon Radar support by rmackay9 · Pull Request #29235 · ArduPilot/ardupilot · GitHub

  • Fix clang compiler warnings
  • Removes some unused variables
  • Can be merged once scripting restart has been tested

UTC1247 - Cotper: RTL correct height for `RTL_ALT_FINAL` > 0 (home vs origin) by IamPete1 · Pull Request #29244 · ArduPilot/ardupilot · GitHub

  • Correct height for RTL_ALT_FINAL
  • Hover-at-home height?
  • Vs LAND_FINAL_ALT in quadplane
  • Should we change it when passing into position controller instead?

UTC0054 - off the floor

  • DevConference tickets are available
    • Get them soon!
  • Converting from ARMING_CHECK to ARMING_DSBLMSK
    • Should we do this?
    • We’ve tried various things, including force-arming
    • Are we forcing the user to jump through hoops unnecessarily?
    • Should we on boot set the arming check back to 1?
    • Thomas wants optional RC support
    • Randy’s convinced, seems OK to him

UTC0119 - close