Dev Call Feb 17, 2025

Vehicle Release Update

Issues & Pull Requests

Attendee count (max): 17

UTC1100 - Remove legacy attribute: display="bitmask" by hamishwillee · Pull Request #383 · ArduPilot/mavlink · GitHub

  • Remove legacy display= bitmask
  • Inferred by the using the field type
  • This would break dump_message_verbose
    • We can infer display=bitmask for those things that have enumerations
  • There are places upstream where flags are defined by a vendor
    • We display as hex
    • Could add custom_flag_1, custom_flag_2

UTC1120 - ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

  • 4.6 issues list
  • Beta4 has been merged onto the beta branch
  • Copter, Rover and Tracker
  • Tridge will tag Plane this-morning
  • No new issues brought up for Plane that tridge is aware of
  • Bill is putting a lot of effort into looking at the potential regression in oscillation
    • Modelling behaviour is tough for this vehicle
    • We may be able to say we can’t resolve the issue completely
    • We did gain a sysid implementation for Plane out of it
    • And a chirp system for ESCs which came back with a low frequency 2Hz cut-off for these ESCs!
      • We may discover very low effective cut-offs on the motor/prop combinations
      • Just need ESCs with feedback
      • Somewhat asymmetric
        • Braking vs accelerations, probably
      • Racing quad was getting 10Hz symmetric
      • Tridge will bring a PR to emulate this stuff in SITL
      • … and the chirp lua script
      • Maybe a custom-build-server thing would be good
    • Bill did find some oscillations but of a different sort
    • We’ve failed to find any convincing evidence there’s a regression
    • Maybe Leonard’s “it is right on the edge” and a low sample size means we can put this issue aside
    • Autotest run system ID on vehicle and compare the transfer function of the known solid representation of the vehicle
  • Still a couple of issues that should be cleared up
    • Reboot loop after enabling scripting
  • Holybro M10 user is still having issues
    • We want a log
    • Nessie has an M10 on it
    • Thomas reports he has several
    • Bzgnzss
    • Bidir is working on this GPS
  • Throttle issue on Plane George looked at and stated it was a desired change
  • SPI transfer overhead overwhelming
    • Everything marked for backporting has been merged
  • This is probably the last beta

UTC1144 - Move rudder arming up into RC_Channel library by peterbarker · Pull Request #16091 · ArduPilot/ardupilot · GitHub

  • Make rudder arming code consistent
  • Need to look at PH’s comment

UTC1147 - Disable angle/Alt-hold based avoidance by default by rishabsingh3003 · Pull Request #29041 · ArduPilot/ardupilot · GitHub

  • Disable alt-hold based avoidance by default
    • Still available from custom build server
  • non-GPS avoidance
    • It was never good

UTC1152 - Plane: Fixed formulas for load factor and roll, also corrected _TASmin in AP_TECS accordingly by IamPete1 · Pull Request #29101 · ArduPilot/ardupilot · GitHub

  • Fixed formulas for load factor and roll
  • Non-functional change
  • Just corrects to use the standard definitions
  • Merged!

UTC1153 - AP_TECS: Fix flare height demand when using a rangefinder by rubenp02 · Pull Request #29230 · ArduPilot/ardupilot · GitHub

  • Fix flare height demand when using a rangefinder
  • Needs logs and/or autotest
  • Probably right

UTC1158 - AP_Proximity: Hexsoon Radar support by rmackay9 · Pull Request #29235 · ArduPilot/ardupilot · GitHub

  • Hexsoon / nanoradar
  • “Radarcan” protocol name
  • Can be merged once duplication has been fixed

UTC0001 - AP_Frsky_D: Enhanced, add power, time, temperature, acceleration etc by Paku- · Pull Request #29278 · ArduPilot/ardupilot · GitHub

  • Frsky d telemetry
  • Let’s have D off by default then we can add this in

UTC0003 - ArduPlane:add AUTOLAND AUX Function by Hwurzburg · Pull Request #29279 · ArduPilot/ardupilot · GitHub

  • Several people asked for this
  • Option to enter autoland via an aux function
  • Can be merged once problems fixed

UTC0007 - AP_GPS: fixed the check for disabling CONFIG_RATE_SOL config by tridge · Pull Request #29320 · ArduPilot/ardupilot · GitHub

  • Potential fix for M9 GPS problem
  • SOL is absolutely ancient
    • We started to use PVT message instead
    • PR fixes testing of config-rate-sol

UTC0011 - Add Autoland batt fs action by Hwurzburg · Pull Request #29281 · ArduPilot/ardupilot · GitHub

  • Batt fs action for autoland
  • No-climb enforced
  • Discussion around climbing
    • Above-home vs terrain
  • Tridge doesn’t like the current behaviour
    • 120m above ground when you enter
    • Then you hit failsafe and break your legal limit
  • Also climbing with battery failsafes…. Not usually good
    • We will anyway
  • in-RTL and in-landing sequence concerns
  • Maybe we should trigger autoland after doing an RTL where we entered the RTL because of a battery failsafe?
    • Make it configurable?

UTC0019 - Add Autoland fence action by Hwurzburg · Pull Request #29280 · ArduPilot/ardupilot · GitHub

  • Autoland fence action
  • Did we want to modify the climb?
    • If you breach the max-alt fence you probably don’t want to climb!
  • Re-entering autoland should definitely not run the entry code again
    • There are checks for this

UTC0030 - Avoid use of OwnPtr in MaxsonarI2CXL driver by peterbarker · Pull Request #29287 · ArduPilot/ardupilot · GitHub

  • Stop MaxsonarI2CXL driver using ownptr
  • Merged!

UTC0034 - Mark many functions for storage in external flash by peterbarker · Pull Request #29290 · ArduPilot/ardupilot · GitHub

  • Mark a bunch of functions as INITFUNC
    • Only called at board startup
  • Marking everything as in-external and then coming back and marking stuff as not?
    • Thomas says that approach has caused pain on ESP32
  • Can be merged after comments have been added

UTC0050 - Tools: AP_Periph: SIM: servo telem move to one indexed by IamPete1 · Pull Request #29291 · ArduPilot/ardupilot · GitHub

  • Fix for servo telemetry indexing
  • Merged!
  • Dronecan servo output parameters results in same logged fields

UTC0051 - AP_NavEKF3: elevate compass change statustext alert by rishabsingh3003 · Pull Request #29299 · ArduPilot/ardupilot · GitHub

  • Elevant compass change statustext alert
  • CRITICAL is too much
  • Switching compass is pretty common
  • Really need to work out whether switching to the other is a good idea or not
    • Innovation heck for compass switch
    • Calculate what innovation would have been
  • Could be notice?
    • Need to know what it looks like in MissionPlanner

UTC0101 - AP_NavEKF3: revert to primary compass on ground by rishabsingh3003 · Pull Request #29300 · ArduPilot/ardupilot · GitHub

  • Switch back to original compass when on ground
  • This should be done in the same way we do lanes
    • Ie. based on armed rather than onGround heuristic
  • Need to worry about the magically updating offsets
  • We do like the thing of going back to default state

UTC0111 - RC_Channel: Document EKF lane switch and yaw reset aux functions. by IamPete1 · Pull Request #29301 · ArduPilot/ardupilot · GitHub

  • Some documentation fixes
  • can be merged after “trigger” is removed

UTC0112 - Extend hwdef system to Linux HAL by peterbarker · Pull Request #29303 · ArduPilot/ardupilot · GitHub

  • Extend hwdef system to Linux HAL
  • Just need Willian’s approval

UTC0124 - AP_Filesystem: FATFS: drop tty check logic by tpwrules · Pull Request #29307 · ArduPilot/ardupilot · GitHub

  • Drop tty check logic
  • Magic 0, 1 and 2
  • If something calls fprintf stderr someone could write something to stderr
    • Via posix_compat?
  • Merged!

UTC0133 - AP_Compass: throw away all samples which aren't acceptable in thinning by peterbarker · Pull Request #29312 · ArduPilot/ardupilot · GitHub

  • Discard all bad samples in compass calibrator rather than just accepting bad ones off the end of the list
  • Could just not do the last one

UTC0145 - off the floor

  • DroneCAN in LUA
    • Wait for a PR on that
  • Libcandard fix is important
    • Race condition reprobe dronecan GPS small probabliliy you will fault
      • Thread priorities might mean it can’t happen

UTC0147 - close