Dev Call Feb 5, 2024

CraigElder · February 5, 2024, 10:58pm

Issues & Pull Requests

github.com/ArduPilot/mavlink

development.xml: RADIO_RC_CHANNELS message

ArduPilot:master ← jlpoltrack:development.xml--RADIO_RC_CHANNELS-message

opened 03:31PM - 06 Dec 23 UTC

jlpoltrack

+26 -0

This PR adds the RADIO_RC_CHANNELS message, and the related enum bitfield. It ex…actly mirrors the upstream PR, [mavlink#1919](https://github.com/mavlink/mavlink/pull/1919). This PR is required for the proposed implemention in the ArduPilot code in this PR: ArduPilot/ardupilot#24577 Comment: This PR is done by @jlpoltrack on behalf of @OlliW42 (since olliw42 already does have a fork of the upstream mavlink repo and thus can't fork this repo here in addition).

github.com/ArduPilot/ardupilot

Filtering: re-work harmonic notch filter freq clamping and disable

ArduPilot:master ← tridge:pr-notch-rework

opened 10:06AM - 02 Nov 23 UTC

tridge

+402 -121

This reworks the harmonic notch setup. Major changes include: - move all clamp…ing decisions down to one place in HarmonicNotchFilter<T>::set_center_frequency - by default disable notch completely when freq is under 50% of min freq - added INS_HNTCH_OPTS bit to use min freq when RPM source stops (for heli governors) - make the double and triple notch clearer, note this changes the spread for harmonics, need to think if that is correct - removed code that initialised frequencies to the min freq, instead rely on update calls - allow harmonic notches to run in quadplanes in fwd flight

github.com/ArduPilot/ardupilot

AP_RCProtocol: add separate define for AP_RCPROTOCOL_DSM_ENABLED

ArduPilot:master ← peterbarker:pr/remaining-rcp-protocols

opened 04:12AM - 01 Feb 24 UTC

peterbarker

+16 -4

``` Durandal * * * * *… * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * * MatekF405 * * * * * * * * Pixhawk1-1M-bdshot * * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

Fix defines around fixed-mag-cal-yaw

ArduPilot:master ← peterbarker:pr/fixed-yaw-cal-fixes

opened 02:01AM - 02 Feb 24 UTC

peterbarker

+38 -20

... also change the main method to return bool not MAV_RESULT. ... also add o…ptions to custom build server. Saves ~2kB when fixed-yaw is removed (this also removes in-flight learning). ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub Durandal 8 8 * 16 16 24 8 8 HerePro * Hitec-Airspeed * KakuteH7-bdshot 16 16 * 16 16 16 16 16 MatekF405 16 16 * 16 16 16 16 16 Pixhawk1-1M-bdshot 16 16 16 16 16 16 16 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 16 16 * 16 16 16 16 16 skyviper-v2450 16 ```

github.com/ArduPilot/ardupilot

AP_HAL: add power status bits to logger metadata

ArduPilot:master ← peterbarker:pr/power-flags-metadata

opened 03:28AM - 02 Feb 24 UTC

peterbarker

+29 -5

``` pbarker@fx:~/rc/ardupilot(pr/power-flags-metadata)$ diff -u LogMessages.rst…{-master,} --- LogMessages.rst-master 2024-02-02 14:04:14.393640400 +1100 +++ LogMessages.rst 2024-02-02 14:40:57.747704313 +1100 @@ -4528,19 +4528,51 @@ System power information -+----------+----+--------------------------------------------------------------------+ -| TimeUS | μs | Time since system startup | -+----------+----+--------------------------------------------------------------------+ -| Vcc | V | Flight board voltage | -+----------+----+--------------------------------------------------------------------+ -| VServo | V | Servo rail voltage | -+----------+----+--------------------------------------------------------------------+ -| Flags | | System power flags | -+----------+----+--------------------------------------------------------------------+ -| AccFlags | | Accumulated System power flags; all flags which have ever been set | -+----------+----+--------------------------------------------------------------------+ -| Safety | | Hardware Safety Switch status | -+----------+----+--------------------------------------------------------------------+ ++----------+---------+-------------------------------------------------------------------------------------------+ +| TimeUS | μs | Time since system startup | ++----------+---------+-------------------------------------------------------------------------------------------+ +| Vcc | V | Flight board voltage | ++----------+---------+-------------------------------------------------------------------------------------------+ +| VServo | V | Servo rail voltage | ++----------+---------+-------------------------------------------------------------------------------------------+ +| Flags | bitmask | System power flags | +| | | Bitmask values: | +| | | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | BRICK_VALID | 1 | main brick power supply valid | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | SERVO_VALID | 2 | main servo power supply valid for FMU | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | USB_CONNECTED | 4 | USB power is connected | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | PERIPH_OVERCURRENT | 8 | peripheral supply is in over-current state | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | PERIPH_HIPOWER_OVERCURRENT | 16 | hi-power peripheral supply is in over-current state | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | CHANGED | 32 | Power status has changed since boot | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | ++----------+---------+-------------------------------------------------------------------------------------------+ +| AccFlags | bitmask | Accumulated System power flags; all flags which have ever been set | +| | | Bitmask values: | +| | | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | BRICK_VALID | 1 | main brick power supply valid | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | SERVO_VALID | 2 | main servo power supply valid for FMU | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | USB_CONNECTED | 4 | USB power is connected | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | PERIPH_OVERCURRENT | 8 | peripheral supply is in over-current state | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | PERIPH_HIPOWER_OVERCURRENT | 16 | hi-power peripheral supply is in over-current state | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | CHANGED | 32 | Power status has changed since boot | | +| | | +----------------------------+----+-----------------------------------------------------+ | +| | | | ++----------+---------+-------------------------------------------------------------------------------------------+ +| Safety | | Hardware Safety Switch status | ++----------+---------+-------------------------------------------------------------------------------------------+ .. _PRTN: ``` While I've added this enumeration, I haven't changed the code to use it as part of this PR. I'd like to do that as it means we don't need the mavlink headers for compiling a peripheral with battery support in it.

github.com/ArduPilot/ardupilot

AP_ExternalAHRS: Populate Microstrain7 orientation from filter

ArduPilot:master ← Ryanf55:microstrain7-use-filter-quaternion

opened 10:20PM - 02 Feb 24 UTC

Ryanf55

+45 -14

# Purpose * Populating AHRS orientation from IMU was not correct, this should b…e populated by the full navigation filter orientation packet. * This requires users to turn on the orientation output on the filter (WIKI needed for which channels to enable in SensorConnect anyways) * I would like this backported to 4.5 as it is a bug to use IMU orientation for EARHS instead of the navigation solution # Testing This needs testing before merge and a comment in the method on what quaternion order the Microstrain packet is in. I assume it's the same as the other packet, but would like to verify on hardware before merge. `./Tools/autotest/autotest.py build.Plane test.Plane.MicroStrainEAHRS7` FYI @CraigElder

github.com/ArduPilot/ardupilot

Parachute: relay pram conversion does not work if chute is diabled.

opened 10:51PM - 02 Feb 24 UTC

IamPete1

BUG DevCallTopic

https://github.com/ArduPilot/ardupilot/pull/25108 moved us from numbered relays …set in libraries to relay functions. In this process param conversion was added to enable the correct functions automatically. However, that function assumes that the parachute lib must be enabled to work. However as discovered in https://github.com/ArduPilot/ardupilot/pull/26128#issuecomment-1924811904 its perfectly possible to have the chute disabled yet have the chute still deploy. This is where enabled is checked in the param conversion: https://github.com/ArduPilot/ardupilot/blob/1e4f597e02cb66e70a9cf0b617335c64d602a2e9/libraries/AP_Parachute/AP_Parachute.cpp#L244 We can't just remove the enable check because then relay 0 on every board would get set to parachute because its the default type. This would override any other functionality that could be using the pin. There is a pre-arm, but again it will only warn about no relay if chute is enabled..... So a user could have working setup with the parachute enable param set to 0, a mission or switch can be used to set enable param to 1 at run time and deploy the chute. They update and will not get the param conversion or pre-arm so there will be no relay, and there chute will not deploy.

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.4.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) - [ ] disable uart reboot checker for non-debug build - [ ] lua scripts sometimes do not start: https://github.com/ArduPilot/ardupilot/issues/25455 - [x] https://github.com/ArduPilot/ardupilot/issues/25157 - [ ] can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height - [ ] scaling of baro gate with height: https://github.com/ArduPilot/ardupilot/issues/25337 - [ ] pitch stick mixing can stall aircraft - [ ] https://github.com/ArduPilot/ardupilot/issues/25283 - [ ] support new DroneCAN ESC status msg - [ ] slow down EFI update in periph - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] add frame to fly to in mavproxy - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [x] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [x] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [x] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [x] 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-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] CubeOrangePlus support for AP 4.2/4.3 (4.4 is OK) -- reported by UAVGarage - [ ] Navio+ PPM input not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-released/107005/17)) - [ ] H743 I2C with 0x70 not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/25508)) - [ ] CRSF option for "RX Battery Sensor" sends telem that conflicts with Yaapu telem (?) ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-beta1-available-for-beta-testing/106076/12)) - [ ] EKF3 external nav is fusing using wrong GPS noise ([issue](https://github.com/ArduPilot/ardupilot/issues/24020)) - [ ] benewake TFminiPlus-I2C timing out with NoData ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-released/105233/56)) - [ ] Lane switching warning (reported by Partner, [issue](https://github.com/ArduPilot/ardupilot/issues/24181)) - [ ] MSP on Matek board ([discussion](https://discuss.ardupilot.org/t/msp-problem-no-gps-comp-and-baro-data/103043)) - [ ] CSRF and Mount Siyi boot loop ([see bottom of this issue](https://github.com/ArduPilot/ardupilot/issues/23815)) - [ ] very short ELRS failsafes ([issue](https://github.com/ArduPilot/ardupilot/issues/23853), [PR](https://github.com/ArduPilot/ardupilot/pull/24170)) - [ ] endless climb with vertical bendy ruler? ([discussion](https://discuss.ardupilot.org/t/rtl-and-auto-mode-working-in-strange-mode/100132/4)) - [ ] Baro TCal not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/21438)) Confirmed issues: - [ ] MP basic tuning needs updating for 4.4 ([discussion](https://discuss.ardupilot.org/t/basic-tuning-grayed-out-options/110149)) - [ ] GSF on Rover not working below 5m/s ([discussion](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/2), [related PR](https://github.com/ArduPilot/ardupilot/pull/23515), [issue](https://github.com/ArduPilot/ardupilot/issues/24183), [PR](https://github.com/ArduPilot/ardupilot/pull/24206)) - [ ] Yaapu reports battery 2 error but only one battery is installed ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/7)) Enhancements or Issues that may not be resolved before the stable release: - [ ] MAVFTP (using MP) of terrain data to SD card takes 25min ([discussion](https://discuss.ardupilot.org/t/terrain-data-loading-on-sd-card-via-mavftp-is-slow/107750), [MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3229), [MAVProxy issue](https://github.com/ArduPilot/MAVProxy/issues/1270)) - [ ] KDECAN not working ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/11)) -- needs backport from 4.5. - [ ] Gremsy ZIO zoom and focus not working ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-mavlink-commands-not-working/103080)) -- needs backport from 4.5 - [ ] MAV_CMD_YAW should accept direction=0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23874)) - [ ] Provide RemoteID support firmware to ease setup ([issue](https://github.com/ArduPilot/ardupilot/issues/24789), [discussion](https://discuss.ardupilot.org/t/offical-copter-release-with-remote-id-support/105543)) - [ ] ADSB on AP_Periph support? ([discussion](https://discuss.ardupilot.org/t/adsb-using-ap-periph-not-connecting/105634), [wiki](https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Periph/README.md), [issue](https://github.com/ArduPilot/ardupilot/issues/24802)) - [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9) - [ ] Enable 10hz PID logging - [ ] RPLidarA2M12 not working ([discussion](https://discuss.ardupilot.org/t/rp-lidar-a3-integration-with-ardupilot/101792/11)) - [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23782)) Resolved issues: - [x] Rover LEDs blinking on Pixhawk 6C ([issue](https://github.com/ArduPilot/ardupilot/issues/25809)) -- RC calibration required - [x] Rover Omni3 frame broken? ([discussion](https://discuss.ardupilot.org/t/rover-4-4-0-beta11-available-for-beta-testing-perhaps-the-last-beta-before-a-stable-release/110137/14), [PR](https://github.com/ArduPilot/ardupilot/pull/25856)) -- fixed for 4.4.5 - [x] Rover overshoots at waypoint ([issue](https://github.com/ArduPilot/ardupilot/issues/23457), [PR](https://github.com/ArduPilot/ardupilot/pull/25623)) - [x] SERVO_FUNCTION = RCIN3Scaled output range incorrect ([discussion](https://discuss.ardupilot.org/t/release-rover-4-4-as-stable-ok/106080/6), [issue](https://github.com/ArduPilot/ardupilot/issues/25524), [PR](https://github.com/ArduPilot/ardupilot/pull/25538)) - [x] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594), [PR may help](https://github.com/ArduPilot/ardupilot/pull/24135)) -- PR merged, no further followup - [x] TKOFF_THR_MAX not actually included in release ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-released/107005/3), [PR](https://github.com/ArduPilot/ardupilot/pull/25514)) - [x] corners less curved? ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-released/105233/77)) -- caused by slight change in default cornering acceleration. - [x] users keep forgetting to set CAM1_TYPE (or CAM_TRIGG_TYPE) ([discussion](https://discuss.ardupilot.org/t/mav-cmd-set-camera-zoom-command-doesnt-work/100613/4)) -- fewer reports recently perhaps because of wiki updates - [x] RockBlock only works with MAVProxy ([discussion](https://discuss.ardupilot.org/t/rockblock-iridium-sbd-and-mission-planner/102728), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/5263)) -- Stephen Dade will raise wiki and MP/QGC issues -- added to wiki for -beta4 - [x] yaw reset from low flying copter passing over bridge (Randy has logs) -- older version of AP, new versions should be a little better - [x] Request to add Custom Build Server support for beta builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/7), [issue](https://github.com/ArduPilot/CustomBuild/issues/54, [PR](https://github.com/ArduPilot/CustomBuild/pull/55))) -- resolved for -beta3 - [x] Gremsy WE not working ([4.4 discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/15), [4.3.7 discussion](https://discuss.ardupilot.org/t/gremsy-pixy-we-not-working-with-4-3-5/99163)) -- Gremsy software issue. Fix from Gremsy coming soon - [x] Siyi A8 ROI not working (reported by Kelly Schrock on facebook, [discussion](https://discuss.ardupilot.org/t/siyi-a8-roi-issue/102091), [PR](https://github.com/ArduPilot/ardupilot/pull/24011)) -- resolved for -beta3 - [x] MatekF405-TE-bdshot only 2 channels working (see Painless360's channel) -- user error - [x] FPV406 watchdog due to cracked SD card ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/48)) -- no logs - [x] Mount serial gimbal param description confusion ([discussion](https://discuss.ardupilot.org/t/ip-cameras-rtsp-mavlink-support/99893/20)) -- fixed for beta3 - [x] serial pass through (for GPS) broken ([issue](https://github.com/ArduPilot/ardupilot/issues/21114), [PR](https://github.com/ArduPilot/ardupilot/pull/23888)) -- fixed in -beta2 - [x] RC loss+regain issue ([PR](https://github.com/ArduPilot/ardupilot/pull/23844)) -- fixed in -beta2 - [x] MP scales set-ekf-origin-here altitude incorrectly ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3083)) -- fixed in MP 1.3.80 build 1.3.8522.19145 - [x] Custom build server broken for Matek405 builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/13)) - [x] CubeOrangePlus not booting due to early memory corruption (reported by rmackay9, investigated by Tridge, PeterB, Sid) - [x] RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall, [PR](https://github.com/ArduPilot/ardupilot/pull/23553)) - [x] Watchdog using CSRF ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/18), [PR](https://github.com/ArduPilot/ardupilot/pull/23648)) -- resolved for beta2

CraigElder · February 6, 2024, 2:47pm

Attendee count (max): 17

UTC1100 - MiniPix: Remove radiolink url and store url by muramura · Pull Request #5625 · ArduPilot/ardupilot_wiki · GitHub

Remove RadioLink URLs
Not complying with our license…
We did receive a PR from them to add support for another board
Peter wants to hold it off for a couple of weeks
Their new board PR Henry will look at
Revisiting this in 2 weeks

UTC1112 - development.xml: RADIO_RC_CHANNELS message by jlpoltrack · Pull Request #343 · ArduPilot/mavlink · GitHub

RADIO_RC_CHANNELS
Peter will merge once he’s happy with it
Hamish raised some questions

UTC1113 - Filtering: re-work harmonic notch filter freq clamping and disable by tridge · Pull Request #25442 · ArduPilot/ardupilot · GitHub

Rework of harmonic notch filter freq clamping
PH wants more logging
- … of some sort
- Current logging is less useful than it was
- We’ve never logged the frequencies we’re notching at
  - We don’t log the harmonics
    - Glaring bug wasn’t visible when the harmonics got stuck at high frequencies
  - To log all the harmonic would be terrible
Maybe modify the filter tool to show what’s happening with v2 filtering?
Option bit for verbose logging?
- 1st harmonics of first notch?
PH and Leonard are happy with this apart from the logging
Tridge will talk to Andy about his things

UTC1145 - AP_Proximity: Add support for MR72 CAN by rishabsingh3003 · Pull Request #25801 · ArduPilot/ardupilot · GitHub

MR72 CAN Proximity sensor
Sensor IDs can be a bit of an issue if you want multiple proximity sensors of hte same type
- Would need to change other libraries…
- Node_id is a better name?
Some unfortunate naming of variables, Randy has left a comment and wants a follow-up PR
merged!

UTC1158 - hwdef: remove bad hwdef lines by peterbarker · Pull Request #26105 · ArduPilot/ardupilot · GitHub

Remove bad hwdef lines
Merged!

UTC1158 - Extend use of AP_BATTERY_ENABLED by peterbarker · Pull Request #26106 · ArduPilot/ardupilot · GitHub

Remove compilation blocks dependent on AP_BATTERY_ENABLED
Merged!

UTC1201 - Plane: move pilot throttle output up to control modes by IamPete1 · Pull Request #26108 · ArduPilot/ardupilot · GitHub

Move pilot throttle output up to control modes
Merged!

UTC1202 - Move can_mgr.init call up to AP_Vehicle by peterbarker · Pull Request #26109 · ArduPilot/ardupilot · GitHub

Move can_mgr.init up to AP_Vehicle
Merged!

UTC1206 - Provide base-class implementation of guided_mode_request function by peterbarker · Pull Request #26112 · ArduPilot/ardupilot · GitHub

Provide base class implementation of guided_mode_request
Part of a larger cleanup
Merged!

UTC1208 - AP_RCProtocol: add separate define for AP_RCPROTOCOL_DSM_ENABLED by peterbarker · Pull Request #26113 · ArduPilot/ardupilot · GitHub

Add separate define for DSM_ENABLED
Merged!

UTC1209 - AP_JSON: added JSON parsing library by tridge · Pull Request #26114 · ArduPilot/ardupilot · GitHub

JSON parsing
Come back to this one

UTC1210 - Fix defines around fixed-mag-cal-yaw by peterbarker · Pull Request #26126 · ArduPilot/ardupilot · GitHub

Fix defines around fixed-mag-cal-yaw
Merged!

UTC1211 - AP_HAL: add power status bits to logger metadata by peterbarker · Pull Request #26127 · ArduPilot/ardupilot · GitHub

Add power status bit to logger metadata
Merged!

UTC1213 - AP_ExternalAHRS: Populate Microstrain7 orientation from filter by Ryanf55 · Pull Request #26131 · ArduPilot/ardupilot · GitHub

Populate AHRS orientation from filter
Bugs!
Can be backported
Merged!

UTC1215 - Parachute: relay pram conversion does not work if chute is disabled. · Issue #26132 · ArduPilot/ardupilot · GitHub

Relay parameter conversion doesn’t work if chute is disabled
You will lose your relay when you update!
See if the parameter is in storage

UTC1222 - AP_BattMonitor: added temperature reading to INA2xx driver by tridge · Pull Request #26134 · ArduPilot/ardupilot · GitHub

Add temperature reading to INA2xx driver
Board only
… but many, many amps are going through this on some vehicles
Merged!

UTC1126 - hwdef: add ASP5033 airspeed in minimal builds by Hwurzburg · Pull Request #26136 · ArduPilot/ardupilot · GitHub

Add ASP5033 in minimal builds
Merged!

UTC1127 - Allow using virtual environment on Ubuntu Jammy when running install-prereqs-ubuntu.sh · Issue #26137 · ArduPilot/ardupilot · GitHub

Allow using venv on ubuntu Jammy?
Peter’s OK with the concept so long as it doesn’t break existing flow

UTC1131 - Copter: improved follow at close distances by tridge · Pull Request #26138 · ArduPilot/ardupilot · GitHub

Improve Copter follow at close distances
Scaling the followed vehicle’s velocity according to P gain, which is bad!
Leonard’s got some really nice code coming in in the same area
Duplicate PR was created 2 days later: Copter: Excluded target velocity from slowdown calculations in FOLLOW mode by Georacer · Pull Request #26142 · ArduPilot/ardupilot · GitHub
- Who spotted a bug in tridge’s code
- Which tridge fixed this-morning……
- See if we can get this other guy to approve tridge’s
  - Or get the other author to fix up his PR?

UTC1144 - board_types.txt: reserve 1410 for RadiolinkPIX6 by peterbarker · Pull Request #26140 · ArduPilot/ardupilot · GitHub

Reserve 1410 for RadioLink
merged!

UTC1145 - Dds yaw control plane by Ryanf55 · Pull Request #26143 · ArduPilot/ardupilot · GitHub

DDS yaw control for Plane
Some interactions with other parties

UTC1153 - AP_Scripting: Add example for RPM Failsafe action by rishabsingh3003 · Pull Request #26146 · ArduPilot/ardupilot · GitHub

Add scripting example for RPM failsafe action
Just switches to RTL
Some stylistic questions around the script
Need to make sure parameter table ID doesn’t conflict
A few renames to make

UTC1154 - Copter/Rover update

Willian wants another Rover 4.4 release
Not much in 4.5
- Parachute conversion issue
- Stuck-thread and logging-failed thing
- SiyiA8 issues?
  - Prearm check?
  - Camera firmware version problem
    - 0.2.3 is latest version
    - Incorrect detection
    - Maybe just reporting?
    - Perhaps a non-enforcing pre-arm?
Firmware update problematic for CubePilot Here4
- GPS-for-yaw
- Don’t try to use uCenter for update or you will lose that feature!
- Product differentiation thing?!
- … if there’s a bug in the uBlox firmware a user might choose between living with the bug or gps-for-yaw
Important time fix on Linux
- Long-standing bug
- 4.5.0beta2 will get this

UTC0011 - Plane update

No real news on Plane Beta yet

UTC0012 - AP_Custom?

Maybe AP_GenericVehicle?
AP_CustomVehicle
AP_EmptyVehicle
Uploading scripts to custom build server

UTC0016 - AP_JSON: added JSON parsing library by tridge · Pull Request #26114 · ArduPilot/ardupilot · GitHub

Discussion about JSMN vs standard-library
- Creates AP_JSON thing
- But still uses std::map, std::vector and std::string
  - It would be nice to have the standard library things
  - We’ve shied away because of:
    - Exceptions
    - Memory allocations behind your back
  - Peter doesn’t want to do anything in SITL-on-hw which we won’t do on a real vehicle
- Exceptions?
  - We do have “raise” in our current builds
  - …scripting calls it on an error path
    - Which tridge hopes can never happen
  - abort() can end up with a raise
  - And _abort and _raise_r
Since we can use the standard library already Peter’s removing his Jsmn-based thing
Add some blacklist stuff?
Might be able to use the euler library?
If we can get raise out of our binary then we can guarantee no exceptions are being raised
Would need to wrap abort()

UTC0052 - off the floor

Reno isn’t happening
Almost certainly Japan this year

Attendee count (max): 17

UTC1100 - MiniPix: Remove radiolink url and store url by muramura · Pull Request #5625 · ArduPilot/ardupilot_wiki · GitHub

UTC1112 - development.xml: RADIO_RC_CHANNELS message by jlpoltrack · Pull Request #343 · ArduPilot/mavlink · GitHub

UTC1113 - Filtering: re-work harmonic notch filter freq clamping and disable by tridge · Pull Request #25442 · ArduPilot/ardupilot · GitHub

UTC1145 - AP_Proximity: Add support for MR72 CAN by rishabsingh3003 · Pull Request #25801 · ArduPilot/ardupilot · GitHub

UTC1158 - hwdef: remove bad hwdef lines by peterbarker · Pull Request #26105 · ArduPilot/ardupilot · GitHub

UTC1158 - Extend use of AP_BATTERY_ENABLED by peterbarker · Pull Request #26106 · ArduPilot/ardupilot · GitHub

UTC1201 - Plane: move pilot throttle output up to control modes by IamPete1 · Pull Request #26108 · ArduPilot/ardupilot · GitHub

UTC1202 - Move can_mgr.init call up to AP_Vehicle by peterbarker · Pull Request #26109 · ArduPilot/ardupilot · GitHub

UTC1206 - Provide base-class implementation of guided_mode_request function by peterbarker · Pull Request #26112 · ArduPilot/ardupilot · GitHub

UTC1208 - AP_RCProtocol: add separate define for AP_RCPROTOCOL_DSM_ENABLED by peterbarker · Pull Request #26113 · ArduPilot/ardupilot · GitHub

UTC1209 - AP_JSON: added JSON parsing library by tridge · Pull Request #26114 · ArduPilot/ardupilot · GitHub

UTC1210 - Fix defines around fixed-mag-cal-yaw by peterbarker · Pull Request #26126 · ArduPilot/ardupilot · GitHub

UTC1211 - AP_HAL: add power status bits to logger metadata by peterbarker · Pull Request #26127 · ArduPilot/ardupilot · GitHub

UTC1213 - AP_ExternalAHRS: Populate Microstrain7 orientation from filter by Ryanf55 · Pull Request #26131 · ArduPilot/ardupilot · GitHub

UTC1215 - Parachute: relay pram conversion does not work if chute is disabled. · Issue #26132 · ArduPilot/ardupilot · GitHub

UTC1222 - AP_BattMonitor: added temperature reading to INA2xx driver by tridge · Pull Request #26134 · ArduPilot/ardupilot · GitHub

UTC1126 - hwdef: add ASP5033 airspeed in minimal builds by Hwurzburg · Pull Request #26136 · ArduPilot/ardupilot · GitHub

UTC1127 - Allow using virtual environment on Ubuntu Jammy when running install-prereqs-ubuntu.sh · Issue #26137 · ArduPilot/ardupilot · GitHub

UTC1131 - Copter: improved follow at close distances by tridge · Pull Request #26138 · ArduPilot/ardupilot · GitHub

UTC1144 - board_types.txt: reserve 1410 for RadiolinkPIX6 by peterbarker · Pull Request #26140 · ArduPilot/ardupilot · GitHub

UTC1145 - Dds yaw control plane by Ryanf55 · Pull Request #26143 · ArduPilot/ardupilot · GitHub

UTC1153 - AP_Scripting: Add example for RPM Failsafe action by rishabsingh3003 · Pull Request #26146 · ArduPilot/ardupilot · GitHub

UTC1154 - Copter/Rover update

UTC0011 - Plane update

UTC0012 - AP_Custom?

UTC0016 - AP_JSON: added JSON parsing library by tridge · Pull Request #26114 · ArduPilot/ardupilot · GitHub

UTC0052 - off the floor

UTC0054 - close