Dev Call Jan 13, 2020 2300 UTC

CraigElder · January 13, 2020, 11:00pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_Mission: Added mission rewind on resume

ArduPilot:master ← Gone4Dirt:mission-resume-wp-offset

opened 09:34PM - 08 Jan 20 UTC

Gone4Dirt

+201 -8

This PR gives users the option to set an automatic rewind on mission resume. Up… to 6 waypoint commands can be rewound on resuming a mission. This aids fixed-wing aircraft to resume a mission, attain the correct heading, and roll wings level before reaching the WP in which the mission was interrupted, creating a seamless resume when surveying. As an additional 'low-hanging fruit' this PR also gives users the option to ignore DO_DIGICAM_COMMANDs whilst the aircraft is in the 'resume state'. This will aid in preventing duplicate images from being taken whilst resuming. No additional parameters have been created. Mission rewind is achieved by seting MIS_RESTART to values between -1 and -6. Ignore DO_DIGICAM_COMMANDs is achieved by setting MIS_OPTION's second bit. The image below illustrates the features working: ![image](https://user-images.githubusercontent.com/34512430/72017606-f14e2880-325d-11ea-9ad8-e17900e4b827.png)

github.com/ArduPilot/ardupilot

AP_Logger: fix locking issues, log wrapping and status messages

ArduPilot:master ← andyp1per:pr-flash-fix-fix

opened 10:06PM - 05 Jan 20 UTC

andyp1per

+25 -14

This is a follow-up to https://github.com/ArduPilot/ardupilot/pull/13130 I was …getting hangs in chip erase which lead to corrupted logs. This PR fixes this problem. It also shortens some of the status messages so that they can be seen. Tests done: - [x] Start and stop logs using LOG_DISARMED, check logs list ok - [x] Allow logs to wrap so that indexing no longer starts at 1, check logs list ok - [x] Allow a single log to wrap itself, check listing works ok and log can be downloaded - [x] Chip erase works and logging will work again afterwards - [x] Pull the power during chip erase and make sure it restarts - [ ] Chip erase and then check that logs can be written once again without rebooting All pass except the last one. So if you erase the chip you need to reboot to get logging to work again. This seems like a small inconvenience and nothing actually breaks in all these tests

SITL gyros, fix sample rate and gyro time by andyp1per · Pull Request #13169 · ArduPilot/ardupilot · GitHub

It makes the SITL sensors behave much more like real sensors by creating a separate instance for each gyro/accel pair. With this I can write a perfect FFT test for my FFT PR, without it it breaks all sorts of assumption in the INS backend code. The code is also simpler done this way. (it does not create a thread which I know tridge didn’t want).
It fixes the SIM_VIB_FREQ simulation to use a consistent time period, without which you get all sorts of random harmonics in an FFT
It stops the backend rate being set to the sensor rate. None of our real sensors do this and doing it again breaks assumptions in various places. You can still do sensor rate logging because we simulate that correctly now.

github.com/ArduPilot/ardupilot

ROVER?: Compass Calibration silently fails if enabled compass is not present

opened 06:29PM - 13 Jan 20 UTC

jmachuca77

BUG

### Bug report **Issue details** When using only a UAVCAN compass (USE_COMPA…SS 0, USE_COMPASS2 0, USE_COMPASS3 1, COMPASS_PRIMARY 3), and the compass is not detected, Mag Calibration does not start, but there is no indication anything failed. **Version** ROVER 4.0.0 release **Platform** Not sure if this is only on Rover, might be on other platforms too. [ ] All [ ] AntennaTracker [ ? ] Copter [ ? ] Plane [ X ] Rover [ ? ] Submarine **Hardware type** Tested using Here2 on UAVCAN with CubeBlack and CubeOrange

github.com/ArduPilot/ardupilot

AP_BLHeli: allow mixed type connection and stop motors if connection lost

ArduPilot:master ← IamPete1:blheli_2

opened 09:53PM - 12 Jan 20 UTC

IamPete1

+55 -27

This is two bug fixes for BLHeli suite connection following up from https://gith…ub.com/ArduPilot/ardupilot/pull/13058 If a mix of reversible and normal motors are connected it now reports 0 pwm allowing BLHeli suite to connect, and disables motor test functionality. This is because in this situation BLHeli suite is expecting all reversible ESC's so will output 1500 on all channels, this will be 50% throttle on normal motors. (I have not tested if motor test would work in this situation in anycase) This also implements a 1 second connection time out when motors are active, currently if you pull the usb during a motor test it just leaves the motor at whatever pwm it was at, this now writes 1000 for normal and 1500 for reversible to the outputs on time out.

github.com/ArduPilot/ardupilot

AP_AdvancedFailsafe: Add triggering AFS by aux input pin

ArduPilot:master ← Pedals2Paddles:afsinput

opened 02:35AM - 12 Jan 20 UTC

Pedals2Paddles

+46 -5

This will allow an external device to trigger the advanced failsafe termination …by pulling an aux input pin high or low. Also in this PR, I have enabled AFS in copter (maybe temporarily) since that's where a use case recently came up. However I can pull that out into a separate PR if needed. The most obvious use for this that recently came up is for an external parachute controller. This will allow the external chute controller to trigger AFS cutting the motors when it pops the chute. Any other external failsafe or deadman can utilize this to. I still cannot figure out how to set an aux pin high or low in SITL to test this, and I don't have hardware available to test it for real with. If someone can show me how to do that, that'd be great.

github.com/ArduPilot/ardupilot

AP_Scripting: Support UART drivers

ArduPilot:master ← WickedShell:wickedshell/scripting-uart

opened 08:49PM - 08 Jan 20 UTC

WickedShell

+427 -53

This was something I said I'd take on awhile ago, and then didn't get to for a b…it. This allows a script to access a UART driver and read/write from it. There are some future enhancements to make this be more then just a byte by byte read/write, but the basic functionality does work. `uint32_t`'s are also less frustrating to use in scripts now, more details below. To do this the generator has gained the new concept of an `ap_object`. This is just a name I've assigned to a userdata which ArduPilot actually manages the memory for. (Userdatas are typically garbage collected by Lua, in this case all we are doing is storing a pointer back to the actual object which already exsists in ArduPilot. Normally you would use a light userdata for this, but I wanted to have a metatable which required the full userdata). `ap_object`s support pretty much everything a normal `userdata`/`singleton` supports, except they can not be a nil punned argument anywhere. Another change included with this is that the `uint32_t` as arguments was frustrating me as overly strict. For example the call of `begin` on a serial port requires a `uint32_t` to indicate the baud rate. The way master current works is you actually have to do: ``` lua port:begin(uint32_t(115200)) ``` This is primarily frustrating as it is basically just a cast hint, but being a dynamic language you tend to forget about the casting until you need it, at which point the program then stops. This is also unfortunate as it serves to allocate a new object that we then promptly use once and forget about, which increases memory pressure. I've changed the generator so that anywhere we want a `uint32_t` as an argument we will automatically cast it into a `uint32_t` without any allocations. This is a small quality of life improvement, but should make the boxed numerics a lot less frustrating to deal with. I haven't gone back and tested any of the other scripts, but it is on my to do list. Finally it's probably fairly obvious but I added a new serial protocol of 28 for scripting use of a serial port. This was tested using a green cube, on Telem 2 with both a FTDI cable and a loopback cable plugged in.

github.com/ArduPilot/ardupilot

Copter: Changed autorotation fltmode name to clarify for heli

ArduPilot:master ← Gone4Dirt:rename-autorotation-fltmode

opened 09:30AM - 01 Jan 20 UTC

Gone4Dirt

+6 -6

This PR is in response to the wiki issue here: https://github.com/ArduPilot/ard…upilot_wiki/issues/2388 It is evident that some users are confused by "autorotation" flight mode, as seen here: https://discuss.ardupilot.org/t/autorotate-systemid/50624 In an attempt to clarify that the mode is for trad helicopters I have changed the mode name to "Heli_Autorotate". This is in addition to adding more info on the fltmode wiki page.

github.com/ArduPilot/ardupilot

Remove default cases within AP_AHRS_NavEKF methods

ArduPilot:master ← peterbarker:pr/ekf-default-cases

opened 02:10AM - 13 Dec 19 UTC

peterbarker

+300 -237

This forces each method to specify behaviour for each EKF type. Most places the… `default:` case wasn't actually used as all options were specified. This will be useful when we want to compile out EKF2, which is often used as the default. Defaulting to EKF2 is not a great look anyway, as a new method may forget to add an EKF3 case and we may devolve to running EKF2 code - which may not even be enabled. Also strongly-type the result of `ekf_type` - the relevant enumeration didn't appear to exist when that method was initially created. Also use enum-class for the enumeration type. It does mean you have to check against `EKFType::None` rather than negating e.g. `active_EKF_type()`. Made usual case of `get_ekf_type` more efficient - where we have a value of 0, 2 or 3. `getLastPosNorthEastReset`, `getLastVelNorthEastReset`, `getLastPosDownReset` now no longer return EKF2's values in the case EKF_TYPE is `EKFType::None` Pre-existing: various methods in here should probably call the methods on all relevant EKF types - `setTakeoffExpected`, for example. - would make logs more relatable between them

github.com/ArduPilot/ardupilot

DJI ID BEACON to others

opened 01:34AM - 16 Nov 19 UTC

closed 01:12AM - 14 Jan 20 UTC

roque-canales

https://www.dropbox.com/s/v4lkyr2kdp8ukvx/DJI%20Remote%20Identification%20Whitep…aper%203-22-17.pdf?dl=0 DJI propose to governments FAA this “open” uas remote identification protocol that will become soonly mandatory for use uas. Does anyone here have more information to this protocol? Its based on 2.4ghz so maybe connecting little esp to pixhawk we can dev low cost solution that enables all ardupilot UAV with this new requirement ? Idea is to not affect users from non dji uavs!

github.com/ArduPilot/ardupilot

Copter: Add GCS failsafe arming check, tones, and lights

ArduPilot:master ← Pedals2Paddles:gcs_notify

opened 03:49PM - 07 Nov 19 UTC

Pedals2Paddles

+63 -10

This adds the GCS failsafe to the AP_Notify library tones and lights. For the m…ost part, it's doing the same lights as the radio failsafe. There are only so many blinks and colors, so I just has use the same thing as the radio. Open to better ideas on this. This also adds the GCS failsafe to the AP_Arming library pre-arm checks. You will get pre-arm warnings if the failsafe is active, and it will not arm. The GCS failsafe is disabled by default in master now, and presumably will be defaulted to disabled in Copter 4.0.1 as well. So this shouldn't cause a major undesired annoyance now. _As a reminder, if no GCS has ever been connected, the GCS failsafe remains inactive._ **At this time, it appears copter is the only vehicle that will utilize this**. Other vehicle types are not setting the new notify flag yet. The notify flag didn't exist until recently anyway. So if other vehicle types wish to do this too, they would need to start setting the new AP_Notify flag for GCS failsafe.

github.com/ArduPilot/ardupilot

Wait until heartbeat packets received to enable GCS failsafe

opened 02:33PM - 15 Oct 19 UTC

mwrightE38

Plane

### Feature request When using the GCS failsafe I think it's logical to wait …until receiving a heartbeat packet to activate. On plane servos can be stressed while waiting to establish a connection. With some higher end radios there is a longer boot sequence. If GCS failsafe is RTL and RTL to autoland is being used it's possible for the WP number to be set to the beginning of a landing sequence. If the user doesn't catch the WP change before takeoff it could cause an issue. **Describe the solution you'd like** I think it seems logical that the autopilot would be waiting to receive a heartbeat packet before assuming a heartbeat packet has been lost as you really can't lose something you've never had. It's easy to get around this with throttle FS by powering on the transmitter prior to power on but you really can't get around it with the GCS failsafe. **Describe alternatives you've considered** Can be fixed by commenting out this line of code which I'm really not sure what it's here for. https://github.com/ArduPilot/ardupilot/blob/8bfab6d2f2e9a4a1d9a942d092ce3b3afba5b095/ArduPlane/system.cpp#L233 I think the only thing it effects besides GCS failsafe is Advanced failsafes? The Advanced failsafe would go off if there was 10 seconds without a heartbeat. Usually it takes longer than 10 seconds to connect even with an RFD or 3dr radio. Is this used because of the failsafe pin option? The only other thing this could possibly be doing is giving the GPS 7 more seconds to get a fix? In talking with @OXINARF He suggested that this is intended behavior from a copter point of view and I understand that perspective as it follows the way other failsafes work. He suggested other options could be an arming check. This could be checking if current WP is 0 or 1 or a non flying aircraft isn't inside a landing sequence. I'd agree with this being a good middle ground option. Stressing servos isn't as detrimental as a quadplane being set to the wrong waypoint due to operator error from a q-mode. **Platform** [ ] All [ ] AntennaTracker [ X] Copter [ X ] Plane [ X] Rover [ ] Submarine

Plane

Copter

github.com/ArduPilot/ardupilot

Copter: 4.0 issues list

opened 10:33PM - 12 Oct 19 UTC

rmackay9

Copter

This is a list of issues discovered during Copter-4.0 testing: Common support… problems: - [ ] users can't figure out which barometer is being used ([discussion](https://discuss.ardupilot.org/t/external-baro-sensor-on-can/51390/6)) - [ ] users can't figure out if Oneshot or DShot are working ([discussion](https://discuss.ardupilot.org/t/oneshot125-42-blhelis/51462), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2474), [discussion2](https://discuss.ardupilot.org/t/pixhawk-4-holybro-arducopter-3-6-9-4-0-1rc3-no-control-over-two-motors-in-an-x8-with-dshot/51480), [possible improvement](https://github.com/ArduPilot/ardupilot/pull/13409)) - [ ] two reports of barometer glitches on CubeOrange ([discussion](https://discuss.ardupilot.org/t/barometer-glitch-inducing-ekf-primary-change/51345)), one report on Pixhawk-2.4.8 ([discussion](https://discuss.ardupilot.org/t/copter-instantly-released-itself-from-30m/53368)) Regressions from 3.6.x: - [ ] autotune method for testing gains has changed ([discussion](https://discuss.ardupilot.org/t/has-there-been-a-change-to-autotune-procedure/51058)) - [ ] logging is skipping messages ([issue](https://github.com/ArduPilot/ardupilot/issues/13810)) - [ ] performance regressions which lead to more long loops ([timings](http://uav.tridgell.net/tmp/perf_regression.txt)) - [ ] speedybee telem5 not working? ([discussion](https://discuss.ardupilot.org/t/speedybee-f4-aio-board/50907)) - [ ] sparky2 doesn't work with UAVCAN? ([discussion](https://discuss.ardupilot.org/t/no-uavcan-communication/50858)) - [ ] kakutef7 not working with px4flow sensor ([discussion](https://discuss.ardupilot.org/t/kakute-f7-mini-and-kakute-f7-aio-px4flow-not-working-in-copter-4-0/51000), [issue](https://github.com/ArduPilot/ardupilot/issues/10105)) - [ ] DCM yaw inconsistent pre-arm message ([discussion](https://discuss.ardupilot.org/t/dcm-yaw-inconsistent-by-68-deg-after-battery-change/50813/22), [discussion2](https://discuss.ardupilot.org/t/ekf2-yaw-inconsistent/51701), [PR](https://github.com/ArduPilot/ardupilot/pull/14334)) New for 4.0.4: - [x] PreArm failure if UAVCAN compass removed ([issue](https://github.com/ArduPilot/ardupilot/issues/14686)) - [x] LIS3MDL missing ([PR](https://github.com/ArduPilot/ardupilot/pull/14649)) - [ ] NeoPixel causes EKF instability ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc2-available-for-beta-testing/57916/2)) - [ ] CubePurple has no heater but still has BRD_IMU_TARGTEMP param ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/64)) - [x] Compass ordering issue found by HenryW, AndyP (i.e. "unstable sort" of unused compass offsets) ([possible fix](https://github.com/ArduPilot/ardupilot/pull/14529)) - [x] AP_Proximity ignore zones incorrect ([PR with fix](https://github.com/ArduPilot/ardupilot/pull/14496)) Other issues: - [ ] MAVFTP with MP locks up creating or deleting new folders ([AP issue](https://github.com/ArduPilot/ardupilot/issues/14643), [MP issue](https://github.com/ArduPilot/MissionPlanner/issues/2413)) - [ ] watchdog reset on Copter-4.0.3 ([issue](https://github.com/ArduPilot/ardupilot/issues/14582)) - [ ] DShot on KakuteF7 ([issue](https://github.com/ArduPilot/ardupilot/issues/14475)) - [ ] param download stuck using MP is lua scripts enabled on CubeBlack ([discussion](https://discuss.ardupilot.org/t/activated-lua-scripting-parameter-download-problems/55830)) - [ ] MAVFTP still locking up? ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [ ] Watchdog reset not creating log files ([issue](https://github.com/ArduPilot/ardupilot/issues/14054)) - [ ] TFMiniPlus Glitches ([issues](https://github.com/ArduPilot/ardupilot/issues/13411), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13765)) - [ ] dual CAN compass order changing ([discussion](https://discuss.ardupilot.org/t/can-compasses-selection/53153/9)) - [ ] can't flash kakutef7 aio from QGC ([issue](https://github.com/mavlink/qgroundcontrol/issues/8431)) - [ ] BLHeli passthrough still not reliable on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2))? - [ ] vibration failsafe unable to bring down vehicle? ([discussion](https://discuss.ardupilot.org/t/quadcopter-fly-away/52948)) - [ ] blended mRo LocationOne GPSs (using AP_Periph, UAVCAN) produce internal error 400 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/79), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2557), [issue](https://github.com/ArduPilot/ardupilot/issues/14879)) - [ ] neopixel sync loss ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/74), [issue](https://github.com/ArduPilot/ardupilot/issues/13563)) - [ ] UAVCAN ESCs keep spinning even if vehicle is disarmed ([discussion](https://discuss.ardupilot.org/t/in-what-section-in-log-can-i-find-uavcan-escs-telemetry/51613), [issue](https://github.com/ArduPilot/ardupilot/issues/13394)) - [ ] kakutef7 not detecting external bmp280 baro? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/10)) - [ ] [baro temp compensation](https://ardupilot.org/copter/docs/common-baro-temp-comp.html) not working? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/11)) - [ ] neopixels not working on some boards at least? ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/18)) - [ ] kakutef7 aio doesn't detect hmc5883 ([discussion](https://discuss.ardupilot.org/t/compass-type-hmc5883-in-copter-4-0-0-tricopter-frame/50621)) - [x] durandal buzzer ([discussion](https://discuss.ardupilot.org/t/buzzer-on-durandal/50637)) - [ ] frsky passthrough not working on some H7 boards ([discussion](https://discuss.ardupilot.org/t/orange-cube-frsky-passthrough-and-mot-pwm-type-issues/48564/5)) - [ ] twitch when "IMU yaw alignment complete" is displayed while vehicle is moving (3.6.12) ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/24)) - [ ] LIS3MDL driver not enabled on KakuteF7 ([discussion](https://discuss.ardupilot.org/t/kakute-f7-aio-enable-compass-greyed-out/41338), [issue](https://github.com/ArduPilot/ardupilot/issues/12512)) - [ ] Object Avoidance issues: - [ ] Dijkstra's doesn't support spline waypoints (issue: https://github.com/ArduPilot/ardupilot/issues/12691) - [ ] MP complex fence support is not complete - [ ] dshot600 is not working on MatekF765 ([rover discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804)) - [ ] dshot125 is not working on Navio2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] autotune gets stuck while tuning yaw if ATC_RAT_YAW_FLTE = 0 (reported by leonard) - [ ] motor emergency stop RC channel range changed ([discussion](https://discuss.ardupilot.org/t/motor-kill-switch-behavior/48797/8)) - [ ] log download slows down when CAN enabled? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [ ] navio2 LEDs not lighting up ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] drift-away with WPNAV_ALT_MIN ([issue](https://github.com/ArduPilot/ardupilot/issues/12888), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13695)) Resolved in Copter-4.0.4: - [x] Hott telemetry not working ([issue](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/45), [possible fix PR](https://github.com/ArduPilot/ardupilot/pull/14525)) - [x] Loiter-Turns mission command does not face towards center ([issue](https://github.com/ArduPilot/ardupilot/issues/14031), [possible fix](https://github.com/ArduPilot/ardupilot/pull/14038)) - [x] Dijkstra memory issue ([possible fix](https://github.com/ArduPilot/ardupilot/pull/13820)) - [x] extra RC input channel (actually Copter-3.6.12, [issue](https://github.com/ArduPilot/ardupilot/issues/13709)) -- RFD900x software issue - not AP. - [x] parameters wiped occasionally (happens on 3.6.x as well) ([issue](https://github.com/ArduPilot/ardupilot/issues/13134), [fix](https://github.com/ArduPilot/ardupilot/pull/13780)) - [x] landing gear retract after takeoff mission command completes ([discussion](https://discuss.ardupilot.org/t/landing-gear-retract-on-auto-mission-start/51978), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13638)) - [x] Mavlink Gimbal limits not being applied? ([discussion](https://discuss.ardupilot.org/t/gimbal-limits-with-storm32-backend-mavlink-not-applied-correctly/51438/4), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13646)) - [x] Object Avoidance issues: - [x] re-visit object database sizes: https://github.com/ArduPilot/ardupilot/issues/12661 (fixed in master) - [x] BendyRuler cannot maintain altitude (Randy found this during tests) (fixed in master) Resolved in Copter-4.0.3: - [x] BLHeli passthrough doesn't work on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13487)) and pixhawk mini? - [x] watchdog on 1st SBUS RC input ([discussion](https://discuss.ardupilot.org/t/crash-following-rcinput-decoding-sbus/52290), [issue](https://github.com/ArduPilot/ardupilot/issues/13615), [fix](https://github.com/ArduPilot/ardupilot/pull/13619)) - [x] zigzag motors don't spin when landed ([issue](https://github.com/ArduPilot/ardupilot/issues/13471), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13501)) and lurching ([issue](https://github.com/ArduPilot/ardupilot/issues/13472))? - [x] CUAVv5+ autopilot cannot connect using USB port? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/30), [discussion2](https://discuss.ardupilot.org/t/copter-4-0-2-rc4-available-for-beta-testing/52008/37), [driver solution](https://ardupilot.org/copter/docs/common-connect-mission-planner-autopilot.html#loading-composite-usb), [solution to fix usb ids](https://github.com/ArduPilot/ardupilot/pull/13179)) - [x] allow do-set-servo commands to affect at least some non-motor channels ([discussion](https://discuss.ardupilot.org/t/do-set-servo-in-spray-function-does-not-work-in-4-0-0/51950), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13481)) Resolved in Copter-4.0.2: - [x] MAVFTP causes reboot ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [x] Spektrum DX8 not working on pixracer ([discussion](https://discuss.ardupilot.org/t/spektrum-dx8-radio-incompatible-not-recognized-with-arducopter-v-4-all-flavors/50702), [issue](https://github.com/ArduPilot/ardupilot/issues/13458)) - [x] RTL may return at incorrect alt ([issue](https://github.com/ArduPilot/ardupilot/issues/13441), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13444)) - [x] log file reliability on non-SD card boards like open-revo, omnibus ([discussion](https://discuss.ardupilot.org/t/tuning-the-harmonic-notch/48836/9)) - [x] SBUS lag ([discussion](https://discuss.ardupilot.org/t/urgent-s-bus-input-on-4-0-1-is-stuttering-often-100-300ms-up-to-500ms/51591), fixed along with ESC sync issues) - [x] ESC sync issues ([discussion](https://discuss.ardupilot.org/t/esc-sync-problem-with-update-from-3-6-9-to-3-6-10/48261/5), [issue](https://github.com/ArduPilot/ardupilot/issues/13310), [issue2](https://github.com/ArduPilot/ardupilot/issues/13374)) - [x] AutoTune incorrectly restores yaw acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/13344), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13345)) - [x] px4flow doesn't work on CubeBlack ([discussion](https://discuss.ardupilot.org/t/px4flow-not-working-with-copter-4-0/51018), [fix](https://github.com/ArduPilot/ardupilot/pull/13391)) - [x] AP_RangeFinder PWM driver not using OFFSET parameter ([discussion](https://discuss.ardupilot.org/t/rngfnd1-offset-not-working-for-pwm-and-i2c-lidarlite/51125), [issue](https://github.com/ArduPilot/ardupilot/issues/13252), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13293)) Resolved in Copter-4.0.1: - [x] need to update [tuning process guide](https://ardupilot.org/copter/docs/tuning-process-instructions.html) with new filter params ([discussion](https://discuss.ardupilot.org/t/what-should-i-use-for-atc-rat-pit-flt-values/49768/10)) - [x] spectrum 22ms broken? (https://discuss.ardupilot.org/t/mro-r15-pixracer-incompatible-with-arducopter-v-4/50702) - [x] optical flow output not being sent to GCS ([discussion](https://discuss.ardupilot.org/t/cheerson-cx-of-low-cost-optical-flow-sensor-testing/35598/154), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13182)) - [x] onboard SSD1306 not working with CubeOrange ([discussion](https://discuss.ardupilot.org/t/cube-orange-4-0-0-i2c-ssd1306-problem/50561), [issue](https://github.com/ArduPilot/ardupilot/issues/13127)) - [x] kakutef7mini watchdog resets ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x800-watchdog-reset-reboot-with-kakute-f7-mini-logging-issue/50789)) (resolved with FrSky Telemetry Status Text fix) Resolved in Copter-4.0.0-rc5: - [x] RM3100 compass not enabled (it's on a DroTek F9P Sirius GPS unit) ([PR](https://github.com/ArduPilot/ardupilot/pull/10581), [discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-available-for-beta-testing/50250/19)) - [x] Arming with Here2 CAN GPS fails due to bad HDOP ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/8), [fix](https://github.com/ArduPilot/ardupilot/pull/12916)) -- fixed in -rc3 - [x] autopilot is not booting up sometimes ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-rc4-available-for-beta-testing/50250/45), [fix](https://github.com/ArduPilot/ardupilot/commit/6b0252b44f4cf8bc71425345d918cb98e75937ff)) - [x] GPS not working on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/aad45986444f79444081b221045d9f2aea8eb90c)) - [x] missing serial ports on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/cac1cc0d9b6de101e7f4f275961331fe49d49b07)) Resolved in Copter-4.0.0-rc3: - [x] sysid needs enable param ([issue](https://github.com/ArduPilot/ardupilot/issues/12927), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12955)) - [x] user can force arming in Loiter with no position estimate ([issue](https://github.com/ArduPilot/ardupilot/issues/11435), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12928)) - [x] rangefinder parameters not being copied from 3.6. to 4.0 ([issue](https://github.com/ArduPilot/ardupilot/issues/12921), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12922)) - [x] neopixel not working ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580)) - [x] altitude hold oscillation with CubeOrange ([discussion](https://discuss.ardupilot.org/t/alt-hold-issues-in-copter-4-0/48604), [fix](https://github.com/ArduPilot/ardupilot/pull/12898#event-2838474162)) - [x] rename RangeFinder_TYPE "25:Benewake TFmini Plus” to “Benewake TFmini Plus IIC” or “Benewake Plus IIC” ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [x] LandingGear: RETRACTED message where then are not gear setup ([issue](https://github.com/ArduPilot/ardupilot/issues/12815)) - [x] Auto may become stuck on Takeoff command if range finder is enabled and large altitude error ([issue](https://github.com/ArduPilot/ardupilot/issues/12818)) - [x] "Geofence breached" messages when no polygon fences available. Potential Fixed: https://github.com/ArduPilot/ardupilot/pull/12724 - [x] can't calibrate compasses ([discussion](https://discuss.ardupilot.org/t/compass-not-calibrated/48583/12)) -- older Here GPS with longer boot time, resolved by setting BRD_BOOT_DELAY = 400. Resolved in Copter-4.0.0-rc2: - [x] Sparky2 build is broken, overflows flash by1084 bytes. This can be seen in the autotest output. Fixed with https://github.com/ArduPilot/ardupilot/pull/12678 - [x] PSC_ACCZ_FILT should be converted to PSC_ACCZ_FLTE on upgrade. Fixed with https://github.com/ArduPilot/ardupilot/pull/12687 - [x] QGC upload of fences is rejected because of mav frame (qgc issue: https://github.com/mavlink/qgroundcontrol/issues/7960, AP fix:https://github.com/ArduPilot/ardupilot/pull/12665) - [x] blank PreArm message on newly setup vehicles: https://github.com/ArduPilot/ardupilot/issues/11800. Fixed:https://github.com/ArduPilot/ardupilot/pull/12690 - [x] loss motor detection bug (reported by leonard) fixed:https://github.com/ArduPilot/ardupilot/pull/12697 - [x] loss of yaw control on fast descent ([from Sergey here](https://github.com/ArduPilot/ardupilot/issues/12695)). Fixed: https://github.com/ArduPilot/ardupilot/pull/12696, https://github.com/ArduPilot/ardupilot/pull/12700 - [x] fly away caused by high gains and mot-mix-max set too high (reported by leonard). Fixed:https://github.com/ArduPilot/ardupilot/pull/12701 - [x] BLHeli telemetry causes internal error 0x8000 (https://github.com/ArduPilot/ardupilot/issues/12542) potentially fixed by PR #12677 - [x] Shaky copter due to filtering changes - [x] Garmin LidarLite PWM interface doesn't work: https://github.com/ArduPilot/ardupilot/issues/10111#issuecomment-546627151. User settings were non-standard, updated [wiki page](https://github.com/ArduPilot/ardupilot/issues/10111) Could not be verified OR not a problem: - [x] Emlid CAN compass not found with CubeOrange ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc3-available-for-beta-testing/51295/6)) unless BRD_BOOT_DELAY = 5000. Only affected one user, waiting for more reports. - [x] blue screen of death on Windows machines when using usb2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/18)). Affects only this user, could not be reproduced. - [x] MiniPix current sensing not working ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/4)). User worked it out. - [x] constant GCS failsafes because crossfire telem sends heartbeat at 0.2hz ([discussion](https://discuss.ardupilot.org/t/failsafe-changes/48910)) -- telemetry system issue - [x] rm3100 not found ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/6)) - [x] DJIX quad motor order is CCW instead of CW ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/20)) - [x] benewake jumps to 0.3m when actually 19m ~ 20m ([discussion](https://discuss.ardupilot.org/t/issue-with-lgr-deploy-and-or-rangefinder/51041)) -- benewake suggests a sensor setting change to resolve - [x] complaints that RNGFND and BATT_MONITOR param conversions not working but cannot be reproduced ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc2-available-for-beta-testing-critical-fix-included/50940/16), [issue](https://github.com/ArduPilot/ardupilot/issues/13239)) - [x] omnibus f4pro can't write wp or parameters on serial1 ([discussion](https://discuss.ardupilot.org/t/omnibus-f4-pro-gps/50394/2)) - [x] rangefinder can't be used as EKF_ALT_SOURCE? ([issue](https://github.com/ArduPilot/ardupilot/issues/12991), [discussion](https://discuss.ardupilot.org/t/bug-in-ap-navekf2-posvelfusion-cpp/49919)) -- Randy tested and found EK2_ALT_SOURCE worked if EK2_RNG_USE_HGT was set to 70. - [x] can't get IBUS RC to work ([discussion](https://discuss.ardupilot.org/t/am-i-doing-something-wrong-with-ibus/48789)) - [x] compass1,2 not used but still checked as part of pre-arm consistency? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/20))

Rover

github.com/ArduPilot/ardupilot

Rover: 4.0 issues list

opened 05:28AM - 07 Oct 19 UTC

rmackay9

Rover

This is a list of bugs and features that have been reported as part of Rover's 4….0 beta testing ([category on discuss is here](https://discuss.ardupilot.org/c/ardurover/rover-4-0)) that we should resolve before the official release: - [ ] BLHeli passthrough only works when MOT_PWM_TYPE = 0 (PWM) on KakuteF7. Stops working when set to DSHot ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804/26)) - [ ] skid-steering rover jumps forward because of bad velocity estimate ([issue](https://discuss.ardupilot.org/t/uncommanded-throttle-in-acro/49751)) - [ ] dijkstra: cannot find path if within a fence ([discussion](https://discuss.ardupilot.org/t/dijkstra-could-not-find-path/48781)), should drive out of fence? - [ ] DShot600 not working ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc)) - [ ] EKF wheel encoder bug? ([issue](https://github.com/ArduPilot/ardupilot/issues/12702), [PR](https://github.com/ArduPilot/ardupilot/pull/12703)) - [ ] OneShot (and possibly other output types) not working. Raised by Nando here: https://discuss.ardupilot.org/t/rover-3-5-0-rc2-is-available-for-beta-testing/37731/12 - [ ] Need documentation on how to setup two GPSs and use them for yaw/heading ([discussion](https://discuss.ardupilot.org/t/rover-4-0-0-rc3-available-for-beta-testing/49003/8)) Resolved in -rc4: - [x] RCx_OPTION config error for RTL, SmartRTL, Simple modes ([discussion](https://discuss.ardupilot.org/t/rover-4-0-0-rc3-available-for-beta-testing/49003/5), [issue](https://github.com/ArduPilot/ardupilot/issues/12805), [partial fix](https://github.com/ArduPilot/ardupilot/pull/12804)) - [x] watchdog triggering with BLHeli? ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804/16)) Resolved in -rc3: - [x] Blank PreArm message: https://github.com/ArduPilot/ardupilot/issues/12663 - [x] ignores do-change-speed ([issue](https://github.com/ArduPilot/ardupilot/issues/12753)) Resolved in -rc2: - wheel encoders don't seem to work (https://github.com/ArduPilot/ardupilot/issues/9303, https://github.com/ArduPilot/ardupilot/issues/10318, https://github.com/ArduPilot/ardupilot/issues/10752)

CraigElder · January 20, 2020, 10:34pm

Attendee count (max): 24

UTC1103 - resuming missions

Tridge is concerned by the complexity of some of the logic
Particularly jumping to negative values
GCS setting waypoint number for example
Partial updates of missions should clear history
Simplifications needed on the edge cases; doing without them

UTC1122 - https://github.com/ArduPilot/ardupilot/pull/13178

AP_Logger block fixes
Andy is pretty much looking after the block backend now
Merged!
Can be tested in SITL

UTC1124 - https://github.com/ArduPilot/ardupilot/pull/13169

Fixinf gyro sample rate and gyro time
[10:26 AM] (Channel) Craig.Elder: It makes the SITL sensors behave much more like real sensors by creating a separate instance for each gyro/accel pair. With this I can write a perfect FFT test for my FFT PR, without it it breaks all sorts of assumption in the INS backend code. The code is also simpler done this way. (it does not create a thread which I know tridge didn’t want).
It fixes the SIM_VIB_FREQ simulation to use a consistent time period, without which you get all sorts of random harmonics in an FFT
It stops the backend rate being set to the sensor rate. None of our real sensors do this and doing it again breaks assumptions in various places. You can still do sensor rate logging because we simulate that correctly now.
Three

UTC1128 - https://github.com/ArduPilot/ardupilot/issues/13257

More nacks required
Someone needs to do a PR

UTC1130 - https://github.com/ArduPilot/ardupilot/pull/13248

What’s the cost of taking a semaphore?
- We should measure
We should probably cache the groundspeed vector
merged

UTC1136 - https://github.com/ArduPilot/ardupilot/pull/13245

Reduce the number of places we do snprintf
Merged

UTC1139 - blheli stop spinning if connection lost

https://github.com/ArduPilot/ardupilot/pull/13241
Safety issue; motors turning on when they shouldn’t and not turning then they shouldn’t
When using blheli suite
Needs to be tested on quadcopters
Tridge spotted a logic issue

UTC1140 - https://github.com/ArduPilot/ardupilot/pull/13238

AFS on Copter might not be workable from maintainer perspective
ttps://discuss.ardupilot.org/t/add-external-flight-termination-feature-to-autdupilot-per-astm-f3322-18/50976
https://github.com/ArduPilot/ardupilot/pull/13238
Attach RC aux options to arbitrary pins
RC aux Function on a button?
AP_Button functions whihc come
It’s PWM in, NOT boolean
AP_PWMIN which takes pin and an rc aux function
[11:01 AM] (Channel) davidbuzz: i saw a comercial operator that flies medical deliveries that used the button in the same way tridge described… ie ‘press and walk away from vehicle to allow it to fly’
Or AP_Button to gain PWM capability and an option
- Active_high active_low or active_pwm enumeration
- BTN_TYPE
- Uses same option space as RC channel options

UTC0005 - https://github.com/ArduPilot/ardupilot/pull/13214

Maybe add a -Wno-error as these can be annoying
Merged

UTC0012 - https://github.com/ArduPilot/ardupilot/pull/13213

Allows scripts to get mode numbers
We can currently set but not get
Dev Call Jan 13, 2020 2300 UTC
Need a copter.loiter, plane.qloiter map to a mode number within scripting

UTC0016 - [11:17 AM] (Channel) Michael_duBreuil: this one I was saying you shouldnt work around

https://github.com/ArduPilot/ardupilot/pull/13202
Only for 7.4 and above
Peter to break out a cc-version-above thing

UTC0023 - https://github.com/ArduPilot/ardupilot/pull/13207

Adding support for uart drivers
32-bit uints are a pain
- But this copes
Needs running under Valgrind
Some discussion of GPL an dthe script layer
Proprietary scripts
Significant downsides
- People may have done open scripts if they had no choice

UTC0031 - https://github.com/ArduPilot/ardupilot/pull/13195

Peter needs some help on this one
Tridge tried to use this one for the frsky thing but that didn’t work out
- Objectarray vs objectbuffer
Recursive semaphores will probably fix the problem
Making all our semaphores recursive might be a good idea
Need to measure with_semahore….

UTC0032 - https://github.com/ArduPilot/ardupilot/pull/13190

Merged

UTC0039 - https://github.com/ArduPilot/ardupilot/pull/13177

Peter Hall’s 16-bit servo channel functions
Converting between parameter types becomes very, very easy
This removes all the conversion code for the servo/rc channel split
- Won’t be able to upgrade from ancient versions of the code
Sunset things that are 2 versions ago?
3.4, 3.5, 3.6, 4.0 4.1 -> won’t be able to go straight from 3.4 to 4.1
Other conversion code to delete?
Can get rid of the this-> stuff

UTC0045 - https://github.com/ArduPilot/ardupilot/pull/13143

Rename to heli autorotation
Probably need to differentiate the two lists as things like Flip are also not available for helicopters

UTC0048 - https://github.com/ArduPilot/ardupilot/pull/13118

Heap size issues?
- The uart thing will fix it
  - Mostly a SITL issue
Could being chibios allocator into SITL
64-bit-pointers
- Do do a 32-bit build
MdB will continue to review this one

UTC0052 - https://github.com/ArduPilot/ardupilot/pull/13045

Merged

UTC0100 - https://github.com/ArduPilot/ardupilot/issues/12842

Peter to close and tag Tom on it
Support request

UTC0100 - https://github.com/ArduPilot/ardupilot/pull/12790

GCS failsafe sounds and lights
Seems sensible to tridge
Arming-check-gcs bit not used?
- Could remove that
- “Don’t arm without GCS present” seems reasonable

UTC0102 - https://github.com/ArduPilot/ardupilot/issues/12562

Would need to be an option
Failsafe on ground of the GCS doesn’t come up quickly
Watchdog reboots?
MdB operates in a “must have GCS around” mode
Tridge is sympatehetic
- How to choose the behaviour?
- Another bitmask somewhere?
- New flight options bit
  - Quick code change, slow test time….
Implementation decided upon, just need to get a PR in….

UTC0114 - https://github.com/ArduPilot/ardupilot/pull/12536

AC_Avoid report fence mitigation
Report through mavlink
Plane side?
- Null for the time being
Three-step process for mavlink-related PRs
Another couple of steps for this one…

UTC0124 - Plane update

Plane 4.0 release
New beta for the frsky bug
- One Copter crash
- Several users reported “oh yes, I saw reboots on the bench” - AFTER we announced the fix, which is less useful than it could be…
- Two sets of logs of people flying this beta
Resync release soon after this one

UTC0126 - https://github.com/ArduPilot/ardupilot/issues/12547

New official version to fix the frsky thing out later today
Critical fix
Told people what they needed to do etc
- Better handling this time?
Kakute f7 not working with flow sensor
Inconsistent cores?
Bmp280 not working
Neopixel may only work on some PWM outputs but not others
There’s also a pair of parameters to go in
Too hard to configure
BRD_PWM_COUNT removal
- Added for NuttX but not strictly enforced
- Could have an output channel with both pwm and gpio
Prearm check or a hal->claim_pin() method?

UTC0137 - Close