Dev Call Feb 20, 2023

CraigElder · February 20, 2023, 10:40pm

Issues & Pull requests

github.com/ArduPilot/ardupilot

Plane: Auto takeoff roll-limits to use TKOFF_LVL_ALT

ArduPilot:master ← magicrub:pr/takeoff_lvl_alt

opened 01:39AM - 20 Feb 21 UTC

magicrub

+14 -9

This is another step closer to unifying AUTO-takeoff and Mode TAKEOFF so that th…e params are shared and, thus, less confusing. Existing behavior: Mode TAKEOFF: - On takeoff, keep wings level until you reach TKOFF_LVL_ALT (default 20) or if altitude is completed when reaching TKOFF_ALT. - Desired Roll restriction is removed immediately. Mode AUTO-takeoff - Keep wings level until 5m. - Allow normal full roll range at 15m. - Scale the limit between those altitudes New behavior that mode methods will share: - Keep wings level until TKOFF_LVL_ALT (default 10). - Allow normal full range at MIN(TKOFF_LVL_ALT*2,TKOFF_ALT). - Scale the limit between those altitudes

github.com/ArduPilot/ardupilot

Dds prototype

ArduPilot:master ← arshPratap:ddsPrototype

opened 03:53PM - 15 Jun 21 UTC

arshPratap

+2131 -0

Hello Ardupilot community! This PR is work in progress and consists of the prot…otype code that aims to provide DDS functionality to Ardupilot for effective communication with ROS2 and Native DDS implementations Added 2 IDL files - A simple Num idl to test the xrce dds functionality - AP_INS idl file for sending INS info Added the eProsima XRCE Client lib as submodule Provides Ardupilot an XRCE client to communicate with DDS/ROS2 through : Serial(Main focus) UDP(Only for testing,to be removed in final version) Current Issues - [x] Have tested the code through serial communication and sometimes it is found that data is not properly flushed out in the serial ports resulting in communication to XRCE agent being cut.Working on implementing a function to take care of this issue. - [x] Have doubts related to setting up the build system to install the XRCE Client from the necessary submodules Thanks !

github.com/ArduPilot/ardupilot

Demonstrate broken mission state machine

ArduPilot:master ← peterbarker:pr/fly-mission-twice

opened 07:04AM - 03 Sep 21 UTC

peterbarker

+23 -0

autotest: add test for flying mission twice back-to-back This simply creates …and uploads a trivial mission (takeoff, fly north 20m, RTL, and then attempts to fly it twice back-to-back. It also takes advantage of `AUTO_OPTIONS` of 3. The vehicle arms OK for the second mission but never takes off. Related to https://github.com/ArduPilot/ardupilot/pull/18527 - that one is worse. ``` AT-0019.7: Drained 9 messages from mav (10313.862295/s) AT-0019.8: Motors ARMED AT-0019.8: wait for waypoint ranges start=3 end=3 AT-0019.8: WP 0 (wp_dist=0 Alt=584.06), current_wp: 0,wpnum_end: 3 AT-0020.0: WP 0 (wp_dist=0 Alt=584.05), current_wp: 0,wpnum_end: 3 AT-0020.1: WP 0 (wp_dist=0 Alt=584.05), current_wp: 0,wpnum_end: 3 AT-0020.3: WP 0 (wp_dist=0 Alt=584.05), current_wp: 0,wpnum_end: 3 AT-0020.4: WP 0 (wp_dist=0 Alt=584.04), current_wp: 0,wpnum_end: 3 AT-0020.6: WP 0 (wp_dist=0 Alt=584.04), current_wp: 0,wpnum_end: 3 AT-0020.7: WP 0 (wp_dist=0 Alt=584.04), current_wp: 0,wpnum_end: 3 AT-0020.9: WP 0 (wp_dist=0 Alt=584.04), current_wp: 0,wpnum_end: 3 AT-0020.9: AP: Disarming motors AT-0021.0: WP 0 (wp_dist=0 Alt=584.04), current_wp: 0,wpnum_end: 3 AT-0021.2: WP 0 (wp_dist=0 Alt=584.05), current_wp: 0,wpnum_end: 3 ```

github.com/ArduPilot/ardupilot

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

ArduPilot:master ← magicrub:pr/rangefinder_frame

opened 08:22PM - 13 Feb 23 UTC

magicrub

+32 -2

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.

github.com/ArduPilot/ardupilot

CursorOnTarget: add basic position announcement

ArduPilot:master ← magicrub:pr/CoT

opened 08:48PM - 13 Feb 23 UTC

magicrub

+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).

github.com/ArduPilot/ardupilot

Mission: added support for mission storage on microSD

ArduPilot:master ← tridge:pr-mission-sdcard

opened 09:56AM - 14 Feb 23 UTC

tridge

+492 -36

This adds BRD_SD_MISSION parameter which is a size in kilobytes of microSD stora…ge for missions. The storage is appended to the normal internal storage. With this at the current maximum of 64k we can store 4367 waypoints. The 64 limit comes from our StorageManager API being limited to uint16 addresses. That could be changed in the future to allow for a lot more memory to be used for mission items. This also adds a handy lua script for creating a spiral mission to test large missions. Here is a 4367 WP mission ![image](https://user-images.githubusercontent.com/831867/218701444-21c77369-8775-470a-8f4a-d41ecd711013.png) Tested in SITL and on a QiotekZealotH743 autotest added that checks a 4368 WP mission correctly survives a reboot One thing worth discussing is the time it takes for a mission scan. In AP_Arming::mission_checks() we scan the entire mission multiple times. The worst case is when each item is found right at the end of the mission (as a failure skips the remaining tests). Each 1k WPs takes 3.9ms to scan on a H743. So worst case for 4368 WP is 106ms, which would make the EKF unhappy. I think we need to move these checks to a different thread The same problem applies in flight with things like searching for DO_LAND_START. That would take about 18ms, which is several loops. I think again we need to move that logic to a thread, with the result cached in AP_Mission. Maybe IO thread for both? update: I've added an optimisation to AP_Mission that makes scanning much faster, now a full scan of 4368 WPs on H743 takes 3.8ms, down from 18ms If we added a scan() function inside StorageManager I suspect we could make it several times faster again

github.com/ArduPilot/ardupilot

AP_Scripting: luacheck: check globals

ArduPilot:master ← IamPete1:SCR_CI_Globals

opened 08:18PM - 15 Feb 23 UTC

IamPete1

+54 -5

Adds checking of globals, everything passes already. Was able to do it by parsin…g the existing docs. Prevents stuff like this: ``` gcs:not_a_method() gcs = 10 ``` I wasn't able to get parsing of emus from the docs to work, so I have just added them manually, there are only 13. This still has all the built in methods. So for example `print('foo')` is not a error. Luacheck is not return type aware, so we don't get any checking of userdata or ap-objects. So I can still: ``` foo = uint32_t(0) foo:bar() ``` The VS-Code extension that uses the current docs actually is return type aware and catches stuff like the above. I might poke about and see if we can use what ever it does in CI.

github.com/ArduPilot/ardupilot

AP_Camera: frontend/backend split and support for 2 cameras

ArduPilot:master ← rmackay9:cam-multi

opened 06:16AM - 17 Feb 23 UTC

rmackay9

+1332 -663

This restructures the AP_Camera library into our regular frontend/backend split …which provides these advantages: 1. easier to add support for new cameras 2. easier support of multiple cameras (this PR adds support for a 2nd camera but adding even more is trivial) The changes include: - New backend classes created for Servo, Relay, SoloGimbal, Mount and MAVLink - Most parameters are moved into a new AP_Camera_Params class. parameter conversion is done for these params - CAM_TRIGG_TYPE becomes CAM1_TYPE - CAM_DURATION becomes CAM1_DURATION. Note change of scale from deci-seconds to seconds - CAM_MIN_**INTERVAL** becomes CAM1_**INTRVAL**_MIN. Note change of scale from milliseconds to seconds. Also missing "E" - CAM_**FEEDBACK**\_PIN and POL become CAM1_**FEEDBAK**_PIN and POL (Note missing "C") - CAM_SERVO_ON, CAM_SERVO_OFF, CAM_RELAY_ON become CAM**1**_SERVO_ON, CAM**1**_SERVO_OFF, CAM**1**_RELAY_ON - CAM_TYPE is removed because the "BMMCC" support is included in the Servo backend - AP_Camera becomes the frontend with new accessors that accept the instance. In practice these are not fully utilised because the existing vehicle code still calls the original methods (which then calls the new methods but passes in the primary instance) - Small autotest change for Plane There are some known issues: - The Relay backend always uses the 1st Relay meaning if both CAM1 and CAM2 are Relay they will conflict - [do-digicam-control messages](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L1143) with shutter_cmd > 0 should not have other args (e.g. zoom, focus, etc) because these args will be set to zero before being forwarded on by the MAVLink backend to all components. This has been fairly extensively tested in SITL and lightly tested on a desktop CubeOrange. Tests included: 1. ensuring parameter conversion worked correctly for all parameters 2. servo and relay stayed open for the correct amount of time 3. feedback pin worked correctly 4. auto-only and roll-max features worked correctly 5. logging and feedback to GCS worked correctly 6. do-set-cam-trigg-dist mission command worked correctly Here's a screen pic of SITL setup with two cameras, one with trigger distance of 10m, the other 20m. If you look closely you can see every other camera icon is actually two overlapping icons. ![image](https://user-images.githubusercontent.com/1498098/219576764-ce4960c1-d8ad-435e-a1b1-1e0e11a760a7.png) Here's a screen shot of the param conversion testing ![mp-param-conversion](https://user-images.githubusercontent.com/1498098/219577464-e17369c4-70d1-488d-8620-32523a61e439.png) This has not been flown on a real vehicle. Some additional testing still remains: - [x] test the Mount backend can control a camera in a gimbal (e.g. Siyi A8, ViewPro) - [ ] test the mount-poi script still works - [ ] check MP and QGC correctly handle the CAM format change

github.com/ArduPilot/ardupilot

Add defines for remaining compasses

ArduPilot:master ← peterbarker:pr/all-remaining-compasses

opened 08:19AM - 19 Feb 23 UTC

peterbarker

+153 -13

Finish off these compass defines. No changes except where expected. Note tha…t if we specify a compass in a hwdef then we also enable that driver now in the hwdef.h ``` Board AP_Periph blimp copter heli iofirmware plane rover sub AIRLink * * * * * * ARKV6X * * * * * * ARK_GPS * ARK_RTK_GPS 0 AeroFox-Airspeed 0 AeroFox-PMU * AtomRCF405NAVI * * * * * * BeastF7 * * * * * * BeastF7v2 * * * * * * BeastH7 * * * * * * BeastH7v2 * * * * * * BirdCANdy * C-RTK2-HP 0 CUAV-Nora * * * * * * CUAV-Nora-bdshot * * * * * * CUAV-X7 * * * * * * CUAV-X7-bdshot * * * * * * CUAV_GPS 0 CUAVv5 * * * * * * CUAVv5-bdshot * * * * * * CUAVv5Nano * * * * * * CUAVv5Nano-bdshot * * * * * * CarbonixF405 * CarbonixL496 * CubeBlack * * * * * * CubeBlack+ * * * * * * CubeBlack-periph * CubeGreen-solo * CubeOrange * * * * * * CubeOrange-ODID * * * * * * CubeOrange-SimOnHardWare * CubeOrange-bdshot * * * * * * CubeOrange-joey * * * * * * CubeOrange-periph * CubeOrange-periph-heavy * CubeOrangePlus * * * * * * CubeOrangePlus-bdshot * * * * * * CubePilot-CANMod 0 CubePurple * * * * * * CubeSolo * CubeYellow * * * * * * CubeYellow-bdshot * * * * * * DevEBoxH7v2 * * * * * * DrotekP3Pro * * * * * * Durandal * * * * * * Durandal-bdshot * * * * * * F35Lightning * * * * * * F4BY * * * * * * FlyingMoonF407 * * * * * * FlyingMoonF427 * * * * * * FlywooF745 * * * * * * FlywooF745Nano * * * * * * FoxeerH743v1 * * * * * * FreeflyRTK * G4-ESC 0 H757I_EVAL H757I_EVAL_intf HerePro * Hitec-Airspeed 0 HitecMosaic * HolybroG4_Compass * HolybroG4_GPS 0 HolybroGPS * JHEMCU-GSF405A * * * * * * JHEMCU-GSF405A-RX2 * * * * * * KakuteF4 * * * * * * KakuteF4Mini * * * * * * KakuteF7 * * * * * * KakuteF7-bdshot * * * * * * KakuteF7Mini * * * * * * KakuteH7 * * * * * * KakuteH7-bdshot * * * * * * KakuteH7Mini * * * * * * KakuteH7Mini-Nand * * * * * * KakuteH7v2 * * * * * * MambaF405-2022 * * * * * * MambaF405US-I2C * * * * * * MambaF405v2 * * * * * * MambaH743v4 * * * * * * MatekF405 * * * * * * MatekF405-CAN * * * * * * MatekF405-STD * * * * * * MatekF405-TE * * * * * * MatekF405-Wing * * * * * * MatekF405-Wing-bdshot * * * * * * MatekF405-bdshot * * * * * * MatekF765-SE * * * * * * MatekF765-Wing * * * * * * MatekF765-Wing-bdshot * * * * * * MatekH743 * * * * * * MatekH743-bdshot * * * * * * MatekH743-periph * MatekL431-Airspeed * MatekL431-BattMon * MatekL431-DShot 0 MatekL431-EFI 0 MatekL431-GPS 0 MatekL431-HWTelem * MatekL431-Periph 0 MatekL431-Proximity * MatekL431-Rangefinder * MatekL431-bdshot 0 MazzyStarDrone * * * * * * Nucleo-G491 0 Nucleo-L476 * Nucleo-L496 * NucleoH743 NucleoH755 OMNIBUSF7V2 * * * * * * OmnibusNanoV6 * * * * * * OmnibusNanoV6-bdshot * * * * * * PH4-mini * * * * * * PH4-mini-bdshot * * * * * * Pix32v5 * * * * * * PixC4-Jetson * * * * * * PixPilot-V3 * * * * * * PixPilot-V6 * * * * * * PixSurveyA1 * * * * * * PixSurveyA2 * * * * * * Pixhawk1 * * * * * * Pixhawk1-1M * * * * * * Pixhawk1-1M-bdshot * * * * * * Pixhawk4 * * * * * * Pixhawk4-bdshot * * * * * * Pixhawk5X * * * * * * Pixhawk6C * * * * * * Pixhawk6X * * * * * * Pixhawk6X-ODID * * * * * * Pixracer * * * * * * Pixracer-bdshot * * * * * * Pixracer-periph 0 QioTekZealotF427 * * * * * * QioTekZealotH743 * * * * * * R9Pilot * * * * * * ReaperF745 * * * * * * SITL_arm_linux_gnueabihf * * * * * * SITL_x86_64_linux_gnu * * * * * * SPRacingH7 * * * * * * Sierra-F405 0 Sierra-F412 0 Sierra-F9P * Sierra-L431 0 SkystarsH7HD * * * * * * SkystarsH7HD-bdshot * * * * * * SuccexF4 * * * * * * Swan-K1 * TBS-Colibri-F7 * * * * * * VRBrain-v51 * * * * * * VRBrain-v52 * * * * * * VRBrain-v54 * * * * * * VRCore-v10 * * * * * * VRUBrain-v51 * * * * * * ZubaxGNSS * airbotf4 * * * * * * bbbmini * * * * * * blue * * * * * * crazyflie2 * * * * * * edge * * * * * * erlebrain2 * * * * * * f103-ADSB 0 f103-Airspeed * f103-GPS 0 f103-HWESC 0 f103-QiotekPeriph * f103-RangeFinder * f103-Trigger 0 f303-GPS * f303-HWESC 0 f303-M10025 * f303-M10070 * f303-MatekGPS 0 f303-PWM 0 f303-TempSensor 0 f303-Universal * f405-MatekAirspeed 0 f405-MatekGPS 0 fmuv2 * * * * * * fmuv3 * * * * * * fmuv3-bdshot * * * * * * fmuv5 * * * * * * iomcu * iomcu_f103_8MHz * luminousbee4 * * * * * * luminousbee5 * * * * * * mRo-M10095 0 mRoControlZeroClassic * * * * * * mRoControlZeroF7 * * * * * * mRoControlZeroH7 * * * * * * mRoControlZeroH7-bdshot * * * * * * mRoControlZeroOEMH7 * * * * * * mRoNexus * * * * * * mRoPixracerPro * * * * * * mRoPixracerPro-bdshot * * * * * * mRoX21 * * * * * * mRoX21-777 * * * * * * mindpx-v2 * * * * * * mini-pix * * * * * * modalai_fc-v1 * * * * * * navigator * * * * * * navio * * * * * * navio2 * * * * * * obal * * * * * * omnibusf4 * * * * * * omnibusf4pro * * * * * * omnibusf4pro-bdshot * * * * * * omnibusf4pro-one * * * * * * omnibusf4v6 * * * * * * pxf * * * * * * pxfmini * * * * * * revo-mini * * * * * * revo-mini-bdshot * * * * * * revo-mini-i2c * * * * * * revo-mini-i2c-bdshot * * * * * * revo-mini-sd skyviper-f412-rev1 * skyviper-journey * skyviper-v2450 -3136 sparky2 * * * * * * speedybeef4 * * * * * * speedybeef4v3 * * * * * * thepeach-k1 * * * * * * thepeach-r1 * * * * * * ```

github.com/ArduPilot/ardupilot

AP_Scripting: fix PWMSource deletion crash

ArduPilot:master ← IamPete1:Scipring_PWMSource_fix

opened 02:02PM - 20 Feb 23 UTC

IamPete1

+57 -12

This fixes a crash caused by deleting the scripting `PWMSource` object. The obje…ct registers a interrupt callback, so when its deleted the callback points to nothing and we crash. This moves to handle in a similar way to `i2c` Scripting not the script keeps the object and give the script a pointer to it. This means we can delete it properly if we need to. This does limit the number of `PWMSource` objects to 4, but I think that OK (we can change to more is we need to).

Plane

github.com/ArduPilot/ardupilot

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? - [ ] mission on sdcard - [ ] 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

github.com/ArduPilot/ardupilot

Copter/Rover-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] KDECAN not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22952), [discussion](https://discuss.ardupilot.org/t/kdecan-telemetry-not-working-in-4-3-series-firmware/96730)) - [ ] internal error on takeoff ([discussion](https://discuss.ardupilot.org/t/consistently-getting-internal-error-0x100000-i-57-flow-of-ctrl/95839)) - [ ] Rover-4.4.0 with RTK UM980 doesn't find GPS ([discussion](https://discuss.ardupilot.org/t/about-rtk-module-supporting/95348)) - [ ] waiting for terrain data in stabilize mode with ter_pend = 0 ([discussion](https://discuss.ardupilot.org/t/prearm-waiting-for-terrain-data-i-couldnt-get-rid-of-the-error/95415/19)) - [ ] trajectory discrepancy in Non-GPS ([discussion](https://discuss.ardupilot.org/t/huge-trajectory-tracking-error-when-using-position-velocity-typemask/95483)) - [ ] baro drift before takeoff leads to flip ([discussion](https://discuss.ardupilot.org/t/barometer-drift-before-takeoff/95436)) - [ ] balancebot not protecting backwards? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta5-available-for-beta-testing/93379/7)) Copter specific issues (confirmed to be real) - [ ] Copter do-change-speed mission command not working after takeoff command ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) -- existing issue in 4.2 as well Rover specific (confirmed to be real) - [ ] RoverS-Curves don't track a straight line as well as L1 ([issue](https://github.com/ArduPilot/ardupilot/issues/22183)) - [ ] internal error when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta2-has-been-released/91551/3)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) GCS specific issues (confirmed to be real) - [ ] Mission Planner needs updates for MNT1_ param name changes ([Plane user issue](https://github.com/ArduPilot/ardupilot/issues/21989), [Copter](https://discuss.ardupilot.org/t/gimbal-configuration-is-not-possible/93396/11)) Wiki related requests: - none Enhancement Requests (may or may not be done) - [ ] Servo pitch+yaw gimbal should use pitch servo to correct yaw when vehicle is rolled 90deg ([discussion](https://discuss.ardupilot.org/t/gimbal-poi-feature/92234/7), [enhancement request](https://github.com/ArduPilot/ardupilot/issues/22440)) -- future enhancement --- Resolved Issues - [x] duplicate log FMT messages ([issue](https://github.com/ArduPilot/ardupilot/issues/22662), [PR](https://github.com/ArduPilot/ardupilot/pull/22670)) -- resolved in master - [x] Gremsy driver sending gimbal feed-forward values when vehicle is disarmed and pilot provides yaw input ([PR](https://github.com/ArduPilot/ardupilot/pull/22604)) -- resolved for 4.3.4 - [x] Surface Tracking oscillation with US-D1 lidar ([discussion](https://discuss.ardupilot.org/t/massive-amounts-of-noise-on-us-d1-radar-rangefinder-leads-to-erratic-altitude-hold/93132)) - [x] Surface Tracking using raw lidar instead of filt or interpolated leads to momentary fast climb ([PR](https://github.com/ArduPilot/ardupilot/pull/22611)) -- resolved for 4.3.4 - [x] Internal Error I:917 ([discussion1](https://discuss.ardupilot.org/t/internal-errors-0x100000-l-917-flow-of-ctr/87033/3), [discussion2](https://discuss.ardupilot.org/t/internal-errors-0x100000-i-921-flow-of-ctr-twitching-motion-in-loiter-during-forward-flight/93126), [discussion3](https://discuss.ardupilot.org/t/prearm-internal-errors-0x100000-l-921-flow-of-ctrl/93986), [PR](https://github.com/ArduPilot/ardupilot/pull/22298)) -- resolved for Copter-4.3.3-rc1 - [x] gimbal yaw jumps to far left when RC input > 1700 ([issue](https://github.com/ArduPilot/ardupilot/issues/22225), [PR](https://github.com/ArduPilot/ardupilot/pull/22442)) -- resolved for 4.3.3-rc1 - [x] baro alt error 5808m ([discussion1](https://discuss.ardupilot.org/t/copter-4-3-1-rc1-available-for-beta-testing/93378/7), [discussion2](https://discuss.ardupilot.org/t/prearm-error-gps-alt-error-5850m-see-baro-alterr/94099/3)) -- needed to set BARO_OPTIONS = 1 - [x] Kakute H7 V2 config error ([discussion](https://discuss.ardupilot.org/t/holybro-kakute-h7-v2-config-error-ins-unable-to-initialise-driver/92003)) -- resolved for 4.3.0-beta3 - [x] Arming check for slow loop rate triggering during motor test and compassmot ([issue](https://github.com/ArduPilot/ardupilot/issues/22388), [PR to revert for 4.3](https://github.com/ArduPilot/ardupilot/pull/22413)) - [x] message rates from a file not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22361), [PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4820)) -- wiki dev docs were wrong, fixed with PR - [x] slow param download with Pixracer on 4.3 vs 4.2 ([discussion](https://discuss.ardupilot.org/t/slow-parameter-loading-in-4-3/94075/3)) -- cannot reproduce, no response to request for logs - [x] AHRS and GPS differ pre-arm when doing non-GPS nav ([issue](https://github.com/ArduPilot/ardupilot/issues/22383), [PR](https://github.com/ArduPilot/ardupilot/pull/22393)) -- resolved for 4.3.3-rc1 - [x] SBus output not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14)) -- could not reproduce, receiver outputting SERIAL_CONFIG_8E1I instead of SERIAL_CONFIG_8E2I - [x] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) -- no logs, cannot progress - [x] Sporty takeoff ([discussion](https://discuss.ardupilot.org/t/feedback-and-assistance-with-new-takeoff-behaviour/94121)) -- change in behaviour, Leonard says param changes fix it - [x] prearm RNGFND1_PIN=103, set SERVO3_FUNCTION=-1. ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14), [PR](https://github.com/ArduPilot/ardupilot/pull/22375)) -- resolved for Copter-4.3.3 - [x] boot fails if too many dshot LEDs ([issue](https://github.com/ArduPilot/ardupilot/issues/22263), [discussion](https://discuss.ardupilot.org/t/problem-in-copter-4-3-with-the-subsytem-led-preventing-the-drone-from-startup/93992)) -- classified by Andy as an enhancement request. - [x] Siyi A8 mount always unhealthy ([discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/30), [PR](https://github.com/ArduPilot/ardupilot/pull/22313)) -- resolved for 4.3.1 - [x] AutoTune gains not loaded during pilot testing ([PR](https://github.com/ArduPilot/ardupilot/pull/22193)) -- resolved for 4.3.2 - [x] Solo gimbal not pointing down past 45 deg ([issue](https://github.com/ArduPilot/ardupilot/issues/22190)) -- RC6_TRIM issue - [x] Gimbal yaw-reset after pitch changed ([issue](https://github.com/ArduPilot/ardupilot/issues/22095)) -- QGC gimbal control issue - [x] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) -- user frame issue. - [x] Gremsy gimbal overloaded with high update rate of vehicle attitude messages ([PR](https://github.com/ArduPilot/ardupilot/pull/22151)) -- resolved for 4.3.1-beta1 - [x] User can't find Benewake H30 lidar ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/5)) -- not on sale yet - [x] SkyViper Journey broken (4.0.8 works, >4.1 does not) ([issue](https://github.com/ArduPilot/ardupilot/issues/21932), [PR](https://github.com/ArduPilot/ardupilot/pull/22134)) -- resolved for 4.3.1-beta1 - [x] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [x] Rover S-Curve tuning instructions ([wiki](https://ardupilot.org/rover/docs/rover-tuning-navigation.html)) - [x] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771), [PR](https://github.com/ArduPilot/ardupilot/pull/21830)) -- resolved for beta2 - [x] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) -- resolved for 4.3.0-beta2 - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · February 21, 2023, 2:07am

Attendee count (max): 20

UTC1102 - Demonstrate broken mission state machine by peterbarker · Pull Request #18561 · ArduPilot/ardupilot · GitHub

Fly mission back-to-back doesn’t work in master
Contradiction?
- Can’t run missions while we’re disarmed in auto and have them auto-restart like this?
  - The DO_COMMANDS?

UTC1121 - Dds prototype by arshPratap · Pull Request #17779 · ArduPilot/ardupilot · GitHub

Hundreds of topics is vast amounts of flash
Revive the PR but with no topics
- Use LUA binding to handle topics
- Structure packing and unpacking would be done in LUA
- Core DDS protocol would be in the C++
- Subdirectory in APS_Scripting for additional topics
- Access any data LUA can access
- Adds flexibility to expand
- many, many topics
  - Standard topics for UAVs
  - Can’t support all in the C++
    - And adds a large barrier to entry
- Keep existing structure but remove “standard topics”
- Queue of requests to pass into the LUA script for “please provide this topic”
- Crc in C++ code
- Payload done in LUA script
MicroROS
- Need to know what the flash cost is….
ROS developers are already developing in C++
- Not in LUA
- They know Python and C++
- ArduPilot C++ isn’t normal C++
- The base LUA topics should provide enough of an example to allow hacking
- What sorts of rates will be possible through LUA?
  - Tridge thinks “lots”
Offboard estimators aren’t a good idea….
- Can’t bind tightly enough to the IMU data
Lua-pack for packing and unpacking library data

UTC1142 - Plane: add takeoff param TKOFF_GND_PITCH by magicrub · Pull Request #16677 · ArduPilot/ardupilot · GitHub

Add takeoff param TKOFF_GND_PITCH
What do you want your elevator to do?
Car-launches
This PR allows you to specify a pitch
- Master specifies 5-degrees up
- Tom wants neutral or down
Adds option to set integrator
- To a specified percentage of trim
- Use option to set trim instead?
Avoid premature rotation
Also snap-detach from vehicle
TECS tuning might have caused the premature rotation
Setting integrator on rate controller is problematic when you’re trying to achieve an angle trim
Goal is downforce on vehicle until rotate speed hit
GND_PITCH is a good change
- Other stuff will be removed

UTC1153 - Plane: Auto takeoff roll-limits to use TKOFF_LVL_ALT by magicrub · Pull Request #16678 · ArduPilot/ardupilot · GitHub

We have numbers where we limit roll
This parameterises those numbers
Linear interpolation between LEVEL_ROLL_LIMIT and LEVEL_ROLL_LIMIT*2

UTC0000 - AP_UAVCAN: add option to send GPS by magicrub · Pull Request #19687 · ArduPilot/ardupilot · GitHub

Add option to send GPS out
Pass-through from e.g. serial GPS into UAVCAN
We shouldn’t pass stale data
Stop sending aux
Send yaw separately
Latencies?
- 10s of ms probably doesn’t matter

UTC0010 - add support for mavlink in-progress message by peterbarker · Pull Request #22317 · ArduPilot/ardupilot · GitHub

Add support for mavlink in progress message
MergeOnCIPass
Was flight tested

UTC0011 - Add support for JUMP_TAG mission items by magicrub · Pull Request #22421 · ArduPilot/ardupilot · GitHub

Support for JUMP_TAG mission
Examples added
Get-index-of-jump-tag could be expensive?
- Tridge has a patch later in the call for it
Tridge is happy with the structure
CI tests need to pass

UTC0016 - AP_Dal: populate missing fields `learn_offsets_enabled` and `ekf_type` by IamPete1 · Pull Request #22781 · ArduPilot/ardupilot · GitHub

Populate missing fields learn_offsets_enabled and ekf_type
Needs in-flight testing still

UTC0018 - AP_Motors: move Thrust Linearization functions and variables to own class by IamPete1 · Pull Request #22787 · ArduPilot/ardupilot · GitHub

Move thrust linearization functions and variables to own function
Needs some flight testing

UTC0023 - AP_OSD:add aspect ratio correction for DisplayPort by Hwurzburg · Pull Request #22901 · ArduPilot/ardupilot · GitHub

Add aspect ratio correction for DisplayPort
Merged

UTC0024 - Plane: move acro and training stablisation into mode classes by IamPete1 · Pull Request #22908 · ArduPilot/ardupilot · GitHub

Move acro and training stabilisation into mode classes
Lots of testing now done
Training mode on addiction X doesn’t work well
- Flips through to other side!
- Very high roll rates with very high limits
Merged!

UTC0025 - Rangefinder: add param OPTIONS to apply Earth frame rotation to sensor by magicrub · Pull Request #22916 · ArduPilot/ardupilot · GitHub

Add param options to apply earth-frame rotation
True-agl via rangefinder data
Rangefinder options bit to change behaviour
Distance sensor message needs an appropriate frame rather than reporting as pitch-270

UTC0041 - CursorOnTarget: add basic position announcement by magicrub · Pull Request #22917 · ArduPilot/ardupilot · GitHub

Cursor on target
Add basic position announcement
Why not LUA?
“ATAC”
Again, messages in LUA, parsing in C++?
XML generation in C++ is kind of awful
XML parsing in next PR
Generally using XML parser in C++ and use LUA to interpret results
There are a lot of ATAC messages!
GCS assistance in getting LUA functionality onto vehicles is a problem
Doing this ”properly” in LUA comes off as “amateur”?
- Copter dead-reckoning in SITL
  - Not enough heap-size
Can of worms
AP_ATAC word seem to make more sense than AP_CursorOnTarget
Tridge thinks we should look at XML libraries but then send CursorOnTarget out as a LUA script

UTC0106 - Mission: added support for mission storage on microSD by tridge · Pull Request #22921 · ArduPilot/ardupilot · GitHub

Storage of missions in SD cards
ROMFS missions?
We’re overflowing onto the SD card
What happens if you change the SD card?
- You will have a partial, invalid mission
- MIS_TOTAL parameter will say there’s a bunch of
This is off by default

UTC0124 - Add AUX_FUNC::BATTERY_MPPT_ENABLE for MPPT enable override by magicrub · Pull Request #22965 · ArduPilot/ardupilot · GitHub

Mppt enable override
Will move battery_mppt_enable

UTC0134 - RC_Channel:Add mag cal switch by Hwurzburg · Pull Request #22924 · ArduPilot/ardupilot · GitHub

Compass cal on switch
No more reboot
Merged!

UTC0135 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
4.3.4beta2 went out
Important fix which only affected Plane relating to setting of home when the EKF is unhappy with the GPS
Another bug in LUA found
- PWMSource in GPIO
  - No destructor
  - Interrupt can still go off, corrupting your memory
Need to be careful about anything which can attach interrupts
- Need to detach on free!

UTC0043 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

New rcs are out there
No big issues apart from those mentioned
Guided-mode yaw handling can be problematic
- Nothing new
KDENCAN still stuffed?

UTC0048 - close

UTC0049 - DevTeam members: apply for travel funding to conference now!

rfriedman · February 21, 2023, 3:49am

Thanks for capturing the meeting notes and inviting me to my first dev call. Also, thanks for all the guidance on the DDS prototype Looking forward to getting this rolling.