Dev Call Feb 27, 2023

CraigElder · February 27, 2023, 10:31pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Use simulated i2c-connected ToshibaLED for graphical LED display

ArduPilot:master ← peterbarker:pr/notify-toshibaled-uses-SIM_RGBLED

opened 02:20AM - 27 Feb 23 UTC

peterbarker

+154 -65

This incorporates the bugfix from https://github.com/ArduPilot/ardupilot/pull/23…044 which leds simulated SerialLEDs work. This change means the SITL layer does the displaying of the ToshibaLED state, rather than a special backend in `libraries/AP_Notify`. This means the data must travel over the simulated serial bus and then be displayed by the simualted ToshibaLED. This new structure will allow for graphical simulation of i2c-connected LEDs other than ToshibaLED, which should aid development. All tested in SITL, including the SerialLED stuff which works post-afore-mentioned bugfix. The SerialLED stuff should also probably move down to the SITL directory at some stage - but that would require creation of a `SITL::SIM_ProfiLED` class.

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: replace NO_FASTBOOT with AP_FASTBOOT_ENABLED (NFC)

ArduPilot:master ← peterbarker:pr/AP_FASTBOOT_ENABLED

opened 10:22PM - 26 Feb 23 UTC

peterbarker

+12 -8

This is just a rename for `NO_FASTBOOT` to `AP_FASTBOOT_ENABLED`. Looking at …this, it's unclear to me how the iofirmware gets `has_watchdog_safety_off` correct. It relies on `persistent_data.safety_state` - but we load/save this state using `get_rtc_backup` - and that functionality is gated on `NO_FASTBOOT` in master (which iomcu turns off). ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * Hitec-Airspeed 0 KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M * * * * * * * f103-QiotekPeriph 0 f303-Universal 0 iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

HAL ChibiOS: Interrupt storm pin retry

ArduPilot:master ← IamPete1:interupt_storm_reset

opened 01:40PM - 22 Feb 23 UTC

IamPete1

+84 -9

ISR flood code can trigger at boot if the connected device is not yet powered. O…nce fully powered the only way to clear the internal error (and get the function to work) is to soft reboot the flight controller. Instead this waits 10 seconds and has another go at enabling. Currently only the `PWMSource` path will allow re-enable on a `set_pin` call. In order to re-enable the vehicle must be disarmed and have waited 10 seconds since last ISR or disarm. It then will re-enable the interrupt. ISR flood is no longer a internal error if disarmed. There is a new arming check to prevent arming if a pin is disabled due to a flood. #20609 Some example messages: ``` Button: retrying pin 50 after ISR flood ISR flood on pin 50 PreArm: Pin 50 disabled (ISR flood) ```

github.com/ArduPilot/ardupilot

AP_Scripting: fix PWMSource deletion crash

ArduPilot:master ← IamPete1:Scipring_PWMSource_fix

opened 02:02PM - 20 Feb 23 UTC

IamPete1

+64 -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).

github.com/ArduPilot/MAVProxy

Fix for MAV_CMD_DO_SET_ROI_LOCATION issue

ArduPilot:master ← Puni2001:master

opened 04:05AM - 12 Feb 23 UTC

Puni2001

+18 -15

@rmackay9, This pull request resolves the issue with the MAV_CMD_DO_SET_ROI_LOCA…TION command in the simulated vehicle SITL instance. According to the MAVLink docs, the latitude and longitude fields should be in 1e7 form, however, the firmware and also MAVProxy implemented this feature with float numbers, causing the simulated vehicle SITL instance to immediately stop working. This pull request changes the code so that the lat, lon, and alt fields are correctly specified in 1e7 form, ensuring that the simulated vehicle SITL instance will function correctly. **Changes Made** The cmd_set_roi function was updated to convert the lat, lon fields to int and multiply them by 1e7 before sending the **MAV_CMD_DO_SET_ROI_LOCATION** command. **Types of changes** Bug fix

github.com/ArduPilot/MAVProxy

fix re-request forever bug

ArduPilot:master ← magicrub:rerequest_forever_bug

opened 07:08PM - 16 Feb 23 UTC

magicrub

+11 -3

If partial WP re-request fails then request all. This happens where there's miss…ion transactions done by other GCSs using the same link and MAVProxy gets confused. This simply checks to see if it happened 5 times and it so just starts a whole new wp fetch to start over it's state machine. Users like me have been suffering from this for YEARS. Luckily it's open source so I can fix it myself :) Open-source FTW!!! Closes https://github.com/ArduPilot/MAVProxy/issues/700 and https://github.com/ArduPilot/MAVProxy/issues/918

github.com/ArduPilot/ardupilot

Add AUX_FUNC::BATTERY_MPPT_ENABLE for MPPT enable override

ArduPilot:master ← magicrub:pr/mppt_enable_param2

opened 10:49PM - 17 Feb 23 UTC

magicrub

+41 -5

This replaces PR https://github.com/ArduPilot/ardupilot/pull/22869 (adding param… to turn on/off MPPT) This is on top of PR https://github.com/ArduPilot/ardupilot/pull/22964 (param and MPPT optimize) This adds a new AUX_FUNC::BATTERY_MPPT_ENABLE to allow an easy method to enable/disable an MPPT at any time. Uses 280 Bytes of flash on CubeOrange

github.com/ArduPilot/ardupilot

Plane: takeoff to xtrack to virtual wp ahead instead of heading-hold

ArduPilot:master ← krausaerospace:pr/takeoff_xtrack

opened 06:10PM - 24 Jun 20 UTC

magicrub

+21 -4

On plane auto-takeoff, current implementation is a simple heading hold which get…s pushed by the wind. This PR will generate a virtual waypoint 10km ahead and xtrack to it. All the usual low-altitude roll limits still apply. I'm not sure if this is something we should hard-code enabled, or use a param (TKOFF_OPTIONS?) Test: AUTO mode with 2 waypoints: 1) takeoff of alt=100m pitch=2deg (to exaggerate the problem on SITL) 2) Any NAV point. (For my tests I used a LOITER_UNLIMITED, alt=100) SITL params: SIM_WIND_DIR=270 SIM_WIND_SPD=10 ![image](https://user-images.githubusercontent.com/4782875/85609385-dc4a3380-b60a-11ea-8954-8b805a27a954.png) Above is existing heading-hold behavior ![image](https://user-images.githubusercontent.com/4782875/85609437-eb30e600-b60a-11ea-92c9-5db8e35472d2.png) Above is new wp xtrack behavior

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 - [ ] AHRS_TRIM_XY over 7.5 deg interferes with landing detector - [ ] 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 28, 2023, 2:27pm

Attendee count (max): 18

UTC1101 - Dev Call Feb 27, 2023

Mark field as bitmask
Merged!

UTC1102 - Fix for MAV_CMD_DO_SET_ROI_LOCATION issue by Puni2001 · Pull Request #1149 · ArduPilot/MAVProxy · GitHub

Deprecation not going to happen right now
- Float is good enough for a lot of location commands
But recommendation is fine
- As command_int is better
There are commands like NAV_SCRIPTING which really, really do need all of the values to be floating point, so COMMAND_LONG is here to stay

UTC1112 - AC_Attitude:Add TKOFF/LAND Only Weathervaning option by Hwurzburg · Pull Request #23043 · ArduPilot/ardupilot · GitHub

Att takeoff/landing-only weathervaning
Fixes copter where you can’t have weathervaning only in takeoff/landing regime
Two different implementations
We’ll go with another enumeration value rather than a random options bit

UTC1114 - AC_Attitude:add TKOFF/LAND only weathervane option by Hwurzburg · Pull Request #23054 · ArduPilot/ardupilot · GitHub

Alternative to above
Merge-on-ci-pass

UTC1115 - AP_HAL_ChibiOS:add Invensensev3 IMU support in MatekF405-Wing by MATEKSYS · Pull Request #23052 · ArduPilot/ardupilot · GitHub

Invensensev3 in MatekF405-Wing
Some concerns over feature removal
Peter will work with Matek on this one

UTC1123 - Use simulated i2c-connected ToshibaLED for graphical LED display by peterbarker · Pull Request #23045 · ArduPilot/ardupilot · GitHub

Move simulation of ToshibaLED down into SITL library
Merged!

UTC1124 - AP_HAL_ChibiOS: replace NO_FASTBOOT with AP_FASTBOOT_ENABLED (NFC) by peterbarker · Pull Request #23041 · ArduPilot/ardupilot · GitHub

Replace NO_FASTBOOT with AP_FASTBOOT_ENABLED
Why did CI work?
- iomcu_f103_8MHz shouldn’t have compiled
Should really use tools/script rather than having shell scripts
Tridge wants to drop gcc-6

UTC1133 - AHRS: fixed earth frame accel with significant AHRS trim by tridge · Pull Request #23034 · ArduPilot/ardupilot · GitHub

Earth-frame accel fix
For stable final branches?
Tridge wants to discuss with Randy

UTC1133 - LED Output Thread by andyp1per · Pull Request #23019 · ArduPilot/ardupilot · GitHub

Create LED Output thread
Unconditionally starting thread - good?
- Create it dynamically?
- Super-high-loop-rates and nothing happens with LEDs after this?
Allows for longer LED chains without interference
4.5 feature

UTC1138 - Move OSD minimised features to minimize_features.inc by peterbarker · Pull Request #23013 · ArduPilot/ardupilot · GitHub

Move more minimize_features stuff into minimize_features.inc
Merged!

UTC1140 - HAL ChibiOS: Interrupt storm pin retry by IamPete1 · Pull Request #23004 · ArduPilot/ardupilot · GitHub

Interrupt storm pin retry
ISR flood code can trigger at boot if the connected device is not yet powered
Users Should really have a hardware pull-up or pull-down
Why are pull-ups pull-downs not working?
- Buffer on the CubeOrange means our pull-ups/downs aren’t working?
Adds a retry
Some discussion on neater ways to do this
Reenables when disarmed
Need to log when we deal with the floods
Can get “ringing” on camera triggers sometimes
Pete will look at this further

UTC1159 - AP_Scripting: fix PWMSource deletion crash by IamPete1 · Pull Request #22983 · ArduPilot/ardupilot · GitHub

If scripting deletes PWM source object then AP would crash
This fixes that
We disabled the feature in 4.3.4

UTC0005 - AP_Motors: add throttle output logging. by IamPete1 · Pull Request #22948 · ArduPilot/ardupilot · GitHub

Add motors throttle output logging
Boost is the key here
We don’t log the boost factor
- If AP_Motors decides to do a boost we wouldn’t record it

UTC0006 - Implement assisted autorotation for Heli’s by bnsgeyer · Pull Request #22871 · ArduPilot/ardupilot · GitHub

Implement assisted autorotation
User still has to control the lateral directional axis
Autopilot controls speed and vertical velocity all the way to touchdown, including flare
Some stylistic things
PH wants some guided stuff moved around
Rangefinder needs to be at a higher rate!
- Complementary filter would be better
- Missing samples can ruin your day
- Combine rangefinder with ahrs z-pos
  - Uses EKF/inertialsensors to extrapolate and interpolate
- Filtering terrain height?
  - Filter where the ground is…
  - EKF does offer you the HAGL
    - That’s logged and Bill will check logs
      - No study has really been done on whether this product should be used

UTC0018 - AP_Motors: Matrix: mixer simplification by IamPete1 · Pull Request #22854 · ArduPilot/ardupilot · GitHub

Motors matrix simplification
Probably one for Randy and Leonard
Rearranges some of the maths to make it easier to understand
Updated example and a shell script
For 4.5 now?

UTC0020 - Allow flashing autopilot from file-on-SD-card by peterbarker · Pull Request #21474 · ArduPilot/ardupilot · GitHub

No need to wait for external flash support
Merged!

UTC0026 - AP_Dal: populate missing fields `learn_offsets_enabled` and `ekf_type` by IamPete1 · Pull Request #22781 · ArduPilot/ardupilot · GitHub

Populate missing fields in DAL
Merged!

UTC0027 - Plane: takeoff to xtrack to virtual wp ahead instead of heading-hold by magicrub · Pull Request #14679 · ArduPilot/ardupilot · GitHub

Use a virtual waypoint rather than a fixed heading
Fly towards waypoint rather than a heading
Allows cross-tracking
Ryan doesn’t really like this
- Ryan thinks the takeoff should be setup correctly
- On takeoff if your COG is bad bad things happen?
- If you want consistency of takeoffs then set your takeoff altitude very, very low
- Tracking along runways is another important place for this sort of thing
- Takeoff has a latitude/longitude
  - But lat/lng can be zero/zero
  - Missionplanner doesn’t show waypoint location so hard to manipulate
    - … no, apparently this has now been fixed!
- Use mission planning rather than changing from course to waypoint
- This code is probably slightly better than what’s in master
- Tridge thinks having the takeoff waypoint location correct is the correct way to do this
- Capturing a ground course at runtime is going to be inconsistent
- lat/lng would used for course only, not climb rates!
- Prearm check that you’re generally point in the right direction

UTC0047 - AP_UAVCAN: add option to send GPS by magicrub · Pull Request #19687 · ArduPilot/ardupilot · GitHub

Option to send CAN GPS messages from AP
A define for the functionality would be good
Tridge things this is a 4.5 change
- And on top of Sid’s libcanard

UTC0055 - Jump Tags: add scripting hooks and examples by magicrub · Pull Request #23000 · ArduPilot/ardupilot · GitHub

More jump tag stuff!
More function comments required
Example is great
merged!

UTC0100 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
New beta
Arace found some tilt-quadplane problems in master which have been patched
4.3 stable rudder-arm fix went in
- Throttle-wait init
- Will be in 4.3.4
- The earth-frame accel one should probably go in
We need to make sure users can test 4.2 betas, that sort of thing
Notifications for beta releases should be more persistent in MissionPlanner?
Earth-frame bug?
- AHRS trims > 6 degrees are rare
- Deformation of foam is sufficient in some cases!
  - In-built foam can deform!
- Landing detector may never fire
- Same code as in EKF2
Circle-to-land fixes….
- Probably 4.4
Throttle control in airbraking for SLT isn’t as good as it could be
- Shouldn’t ever speed vehicle up

UTC0113 - conference stuff

Some travel slots for DevTeam funding are available
- So if you’d like a funded trip down to Canberra, put your hand up
  - Ping tridge
Book your accommodation
The AirBNB still has a place
If you’re coming we need to know numbers for catering
We’re pre-paying for catering
- We must know the numbers or you may find you just don’t eat!
If there are any constraints on your schedule for your talk let tridge know as he’s current; scheduling

UTC0117 - ROS2 stuff

Tridge and Arsh and RyanF are going to have a chat

Attendee count (max): 18

UTC1101 - Dev Call Feb 27, 2023

UTC1102 - Fix for MAV_CMD_DO_SET_ROI_LOCATION issue by Puni2001 · Pull Request #1149 · ArduPilot/MAVProxy · GitHub

UTC1112 - AC_Attitude:Add TKOFF/LAND Only Weathervaning option by Hwurzburg · Pull Request #23043 · ArduPilot/ardupilot · GitHub

UTC1114 - AC_Attitude:add TKOFF/LAND only weathervane option by Hwurzburg · Pull Request #23054 · ArduPilot/ardupilot · GitHub

UTC1115 - AP_HAL_ChibiOS:add Invensensev3 IMU support in MatekF405-Wing by MATEKSYS · Pull Request #23052 · ArduPilot/ardupilot · GitHub

UTC1123 - Use simulated i2c-connected ToshibaLED for graphical LED display by peterbarker · Pull Request #23045 · ArduPilot/ardupilot · GitHub

UTC1124 - AP_HAL_ChibiOS: replace NO_FASTBOOT with AP_FASTBOOT_ENABLED (NFC) by peterbarker · Pull Request #23041 · ArduPilot/ardupilot · GitHub

UTC1133 - AHRS: fixed earth frame accel with significant AHRS trim by tridge · Pull Request #23034 · ArduPilot/ardupilot · GitHub

UTC1133 - LED Output Thread by andyp1per · Pull Request #23019 · ArduPilot/ardupilot · GitHub

UTC1138 - Move OSD minimised features to minimize_features.inc by peterbarker · Pull Request #23013 · ArduPilot/ardupilot · GitHub

UTC1140 - HAL ChibiOS: Interrupt storm pin retry by IamPete1 · Pull Request #23004 · ArduPilot/ardupilot · GitHub

UTC1159 - AP_Scripting: fix PWMSource deletion crash by IamPete1 · Pull Request #22983 · ArduPilot/ardupilot · GitHub

UTC0005 - AP_Motors: add throttle output logging. by IamPete1 · Pull Request #22948 · ArduPilot/ardupilot · GitHub

UTC0006 - Implement assisted autorotation for Heli’s by bnsgeyer · Pull Request #22871 · ArduPilot/ardupilot · GitHub

UTC0018 - AP_Motors: Matrix: mixer simplification by IamPete1 · Pull Request #22854 · ArduPilot/ardupilot · GitHub

UTC0020 - Allow flashing autopilot from file-on-SD-card by peterbarker · Pull Request #21474 · ArduPilot/ardupilot · GitHub

UTC0026 - AP_Dal: populate missing fields `learn_offsets_enabled` and `ekf_type` by IamPete1 · Pull Request #22781 · ArduPilot/ardupilot · GitHub

UTC0027 - Plane: takeoff to xtrack to virtual wp ahead instead of heading-hold by magicrub · Pull Request #14679 · ArduPilot/ardupilot · GitHub

UTC0047 - AP_UAVCAN: add option to send GPS by magicrub · Pull Request #19687 · ArduPilot/ardupilot · GitHub

UTC0055 - Jump Tags: add scripting hooks and examples by magicrub · Pull Request #23000 · ArduPilot/ardupilot · GitHub

UTC0100 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0113 - conference stuff

UTC0117 - ROS2 stuff

UTC0119 - close