Dev Call Feb 13, 2023

Plane: mode allows arming return string allowing quadplane mode checks tidy

ArduPilot:master ← IamPete1:plane_mode_arming_tidy

opened 06:55PM - 02 Feb 23 UTC

+52 -31

Moves mode based arming checks to be in one place. It does mean that the Quadpla…ne checks move from pre-arm to arm, so you will not be shouted at until you try and arm, but they can all be resolved by a mode change so I think thats OK. RTL is now never armable, currently none quadplanes are allowed to arm in RTL. If there is a good reason for this we can preserve that behavior, I couldn't think of one. We move to the same arming fail message as copter. Currently its just `"Mode does not allow arming" now we get for example "RTL mode not armable".

ChibioOS: hwdef: CUAV-X7: correct 6.6v ADC scale factor

ArduPilot:master ← IamPete1:CUAV-X_pin_18_scale

opened 12:53PM - 05 Feb 23 UTC

+1 -1

Corrects the 6.6v pin scale factor, bug reported on discord. https://discord.com…/channels/674039678562861068/780728024756781056/1071757983937216522 Of course there is the usual dilemma about whether or not its safe to correct the bug and mess up peoples parameters..... I suspect this pin is very rarely used.

StorageManager: add compile define to favor more mission points

ArduPilot:master ← magicrub:pr/mission_eeprom_realloc

opened 07:09PM - 07 Feb 23 UTC

+39 -1

This introduces build option STORAGE_ALLOCATION_FAVOR_MISSION which increases St…orage space allocates for Mission items and reduces allocation of Params, Fence and Rally points. This is an opt-in feature and only effects targets with 16k+ space. Zero code size change. For platforms with HAL_STORAGE_SIZE 32768, AP_Mission::num_commands_max() roughly triples from 600ish to 1800ish. A nice follow-on PR would wrap all the StorageManager::StorageTypes so that if that feature is removed then it wouldn't allocate memory to it. Examples: ```StorageFence``` needs AP_FENCE_ENABLED ```StorageRally``` needs HAL_RALLY_ENABLED ```StorageBindInfo``` needs HAL_RCINPUT_WITH_AP_RADIO ```StorageCANDNA``` needs HAL_ENABLE_LIBUAVCAN_DRIVERS ```StorageParamBak``` is only allocated on targets with 32k and is otherwise wasting program flash space, needs disable compile option

Plane: use Guided mode under the hood for tricks on a switch

ArduPilot:master ← IamPete1:plane_tricks_use_guided

opened 02:49AM - 08 Feb 23 UTC

+155 -72

Tricks now switch to guided for the duration of the trick. Guided pretends to be… the previous mode so the user does not notice. This allows us to untangle tricks from other modes. This is a step towards allowing guided to pretend to be "custom mode X" as set from scripting. The addition of guided sub modes makes it easier to support a wider range of guided commands in the future. The next step after this will be for auto to have a guided submode that it uses for tricks so all the trick support is contained within guided. The current offboard guided and guided attitude commands could also be moved into a guided submode in the future. This does work, but I have not tested extensively.

Add Rockblock Satellite modem support

ArduPilot:master ← stephendade:satcom2

opened 04:54AM - 08 Feb 23 UTC

stephendade

+1317 -15

This is a (better) replacement for #21068, requiring far fewer modifications to …the ArduPilot c code - "Less c, more Lua". For bonus points, this also adds an example of encoding and decoding MAVLink packet in pure Lua. This PR adds support for sending & receiving very basic MAVLink telemetry via a RockBlock SBD satellite modem. It will allow for literal worldwide telemetry coverage for any vehicle fitted with the aforementioned modem. The modem bandwidth is very low (~50 bytes per 20sec or so), so I've deliberately limited what can be sent and when (1 HIGH_LATENCY2 packet every 20 sec). Requires https://github.com/stephendade/rockblock2mav at the GCS end to send and receive packets. Tested with a real vehicle and modem.

AP_BattMonitor: verify MPPT writes

ArduPilot:master ← magicrub:pr/mppt_callback

opened 08:09PM - 08 Feb 23 UTC

+64 -7

A problem exists where you can not manually enable/disable the DroneCAN MPPTs, o…nly event driven via boot or arm/disarm events. It is send-and-forget so if for some reason that enable/disable power message is not received by the MPPT it will stay in that power state until another event. This PR implements a callback to check for a confirmation response from the MPPT. If not received, it will retry setting the state at 1Hz. Uses 176 bytes flash.

AP_BattMonitor: Allow manual control of MPPT power on/off state via new param

ArduPilot:master ← magicrub:pr/mppt_enable_param

opened 08:16PM - 08 Feb 23 UTC

+35 -0

Current DroneCAN MPPT driver power ONN/OFF state is entirely event driven (boot …on arm/disarm events). There is no way to manually set it on or off, for example, during flight. The PR adds a new param BATTx_MPPT_EN which shows the state of the mppt and if you change that then it sets the MPPT's state to that. Disabled on <=1 MB boards. Uses 80 bytes flash on CubeOrange. This is a follow on to PR https://github.com/ArduPilot/ardupilot/pull/22868 .

Missions: Enhanced JUMP_TAG

ArduPilot:master ← magicrub:pr/jump_tag_enhanced

opened 10:54PM - 08 Feb 23 UTC

+202 -4

This extends PR https://github.com/ArduPilot/ardupilot/pull/22421 to give it a c…oncept of an active jump tag for scripting. Logic: - we execute a DO_JUMP_TAG and jump to that tag's mission index (which completes immediately like a DO_JUMP) - Set active flag to true - start executing next NAV command, flag stays true - start executing next NAV command, flag set to false Basically, if you do a DO_JUMP_TAG then while executing the NAV you can know that you've started or triggered some sort of event. See included lua script that uses a few tags to: - know when we're starting to fly over the runway to start sampling lidar distance data - know when we're done to get an avg 'true' altitude compared to baro - offset baro altitude by that averaged alt - check the wind and decide to continue with current landing pattern or jump to the alternate/reversed pattern/direction

AP_Scripting: add luacheck lua linter CI, and fix all current warnings

ArduPilot:master ← IamPete1:lua_CI

opened 08:01PM - 09 Feb 23 UTC

+202 -281

Adds a luacheck config and then uses that as part of CI meaning CI will fail for… bad lua. EG these are all the warnings on current master [Total: 1105 warnings / 0 errors in 127 files](https://github.com/IamPete1/ardupilot/actions/runs/4137833751/jobs/7153492319) Not a complete check yet as this currently ignores globals, some extra config is needed to tell luacheck about the extra bindings we have. https://github.com/ArduPilot/ardupilot/issues/15014 I have fixed all the warnings in our current scripts. Mostly by just fixing them but in some-cases adding `-- luacheck: ignore`. I have globally turned off some white space checks, and a line length check. I have not tested any of the fixes, if there is a desire for significant testing I would prefer that we just add ignores everywhere and then fix them one at a time as we update scripts. Luacheck docs: https://luacheck.readthedocs.io/en/stable/index.html You can run locally with `luacheck */ --config libraries/AP_Scripting/tests/luacheck.lua` to check everything. Or for example `luacheck libraries/AP_Scripting/examples/simple_loop.lua --config libraries/AP_Scripting/tests/luacheck.lua` to check a particular file.

AP_Compass: add and use AP_COMPASS_IST8310_ENABLED

ArduPilot:master ← peterbarker:pr/AP_COMPASS_IST8310_ENABLED

opened 05:03AM - 10 Feb 23 UTC

peterbarker

+20 -3

I've convinced `size_compare_branches.py` to squash `__LINE__` to a consistent v…alue, so now we get consistent builds regardless of ineffective pragma changes: ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CUAV_GPS 0 Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M * * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 -1264 ``` `CUAV_GPS` uses one of these. Its build differs here because of the libcanard build randomness.

Rangefinder: add param OPTIONS to apply Earth frame rotation to sensor

ArduPilot:master ← magicrub:pr/rangefinder_frame

opened 08:22PM - 13 Feb 23 UTC

+47 -5

As-is, there is no change in behavior. If RNGFNDx_OPTIONS = 1 then the data from… your sensor will be rotated to earth frame via ```AP::ahrs().get_rotation_body_to_ned().c.z```. It's possible that this should only be done if orient is ROTATION_PITCH_270 but for now it applies that rotation on any rangefinder sensor with that option bit set. This should allow better copter hover/follow-terrain and more useful GCS data which in many cases is assuming down-facing is earth-frame anyways.

CursorOnTarget: add basic position announcement

ArduPilot:master ← magicrub:pr/CoT

opened 08:48PM - 13 Feb 23 UTC

+310 -0

Cursor On Target is the native language of ATAK. This adds basic position ann…ouncement. There's also a WIP branch of [pr/CoT_in](https://github.com/magicrub/ardupilot/tree/pr/CoT_in) on top of this branch where I'm experimenting with parsing in-bound CoT data using an open-source small-footprint static memory xml parser called [yxml](https://dev.yorhel.nl/yxml).

Plane

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) - [ ] add waf docs target? - [ ] 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