Dev Call Jan 17, 2024

CraigElder · January 15, 2024, 10:52pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Copter Fence Fixes

ArduPilot:master ← andyp1per:pr-copter-fences

opened 07:51PM - 02 Jan 24 UTC

andyp1per

+263 -130

Separated out from https://github.com/ArduPilot/ardupilot/pull/25698 - Adds s…upport for auto-enabling fence floors on copter controlled through FENCE_OPTIONS - Messages correctly about fence breach / enablement - Auto-disable floor fence breaches on disarm - Always checks breaches regardless of manual recovery state - means the scripting API is up-to-date - Prevent manual recovery logic from engaging when no fence action has been set - allows better control from scripting

github.com/ArduPilot/ardupilot

Allow reading of default parameters from @ROMFS/defaults.parm

ArduPilot:master ← peterbarker:pr/defaults-from-romfs

opened 04:29AM - 30 Oct 23 UTC

peterbarker

+78 -38

This does work - defaults can come from the ROMFS file. I've tested that on har…dware. Embedding defaults like this means you won't run out of space for parameters until you run out of flash, and saves the wasted space the "parameter space" typically represents (1k on small boards, 8kB on large boards). Also applies to AP_Periph builds, which often cut down the available space but still waste that space. I'm just not sure what to do about backwards compatibility. If we merge this then you can no longer take a `.apj` and "tack on" default parameters using `apj_tool`.

github.com/ArduPilot/ardupilot

Plane: ask flight mode if min/max throttle limits should be applied

ArduPilot:master ← IamPete1:plane_throttle_rework

opened 05:01PM - 22 Dec 23 UTC

IamPete1

+82 -16

More throttle output re-work, this is another step towards keeping it contained …within the flight modes. There is a little more going on in this PR than the others, I have split each change into its own commit, which hopefully when reviewed in sequence will make it more clear. Firstly this adds a helper for quadplane `allow_forward_throttle_in_vtol_mode` this is so we can used it in two places in the last commit. Secondly this adds in early returns in the `set_throttle` function for disarmed and throttle suppressed. This makes the final commit simpler by ensuring min/max limits are never applied in that case. Finally this moves the decision if min/max limits should be applied down in to the flight mode. The existing logic is duplicated (for now) in `mode.cpp`, the same function is used by all modes. In the future we could use overrides. To minimize the diff the top of the current `set_throttle` function is moved to a new function `apply_throttle_limits` which applys the limits and returns the throttle. The voltage scaling function is kept in the `set_throttle` function so it is calculated on every loop. There is some change in behavior. The watt limit and ICE idle functions are now only called if their output will be used. The current behavior is to always call those methods to update throttle min/max but not always use the limits. In both cases this should result in better results as throwing away the limits breaks the feedback loop. However testing will be needed to ensure they deal with the gap in between calls correctly (they should because there already not called in manual mode).

github.com/ArduPilot/ardupilot

Logger Metadata: Provide format and unit/multiplier info for log messages

ArduPilot:master ← shancock884:log-message-show-units

opened 07:00PM - 01 Jan 24 UTC

shancock884

+340 -26

The aim of this PR is to enable information about the units of logger message fi…elds to be included on the web pages. (This was one of the things that I would have found useful as a newbie!) * The definitions of each character representing formats, units and multipliers are extracted from LogStructure.h, so there should be no additional lookup table to maintain. * The data is extracted by parsing the logging definition struct as well as looking for direct calls to the logger's Write/Message/Critical() functions. The format, unit and multiplier are combined to derive the actual unit of the value as displayed by the tools: * If the format type has "* 100" or "longitude/latitude" in the name, the specified unit is used directly, and multiplier ignored. * Otherwise, the multiplier is used to derive the actual unit from the base unit. e.g. 1e-3 & m => mm For the XML output: * Both the format and derived unit are included in the XML in new attributes * Added output of value enumerations in the XML - previously only bitmask enumerations were included For the .md, .rst and .html output: * Added one new column (Units/Type) containing (in priority order) the derived unit, 'char[n]', 'bitmask' or 'enum' * I chose this because: ** some messages on the web page already require horizontal scrolling, and I didn't want to make this worse ** I thought that strings/bitmasks/enums were useful to know about, on such fields without units ** I felt that further information (such as the raw data type, base unit and multiplier) could be confusing. Additionally, I added support for separating log descriptions for messages with same field list (such as the PIDx messages), so that in the future they can each have a different description without having to repeat the field lists. e.g.: ```c++ // @LoggerMessage: PIDR // @Description: Proportional/Integral/Derivative gain values for Roll // @LoggerMessage: PIDP // @Description: Proportional/Integral/Derivative gain values for Pitch // @Field ..... (etc) ``` I think I've understood correctly how both MAVExplorer and UAVLogViewer work in how they decode field values, such that the units presented are consistent with the values that these tools provide to users. My understanding is as follows: * Format types of "xxx * 100" or "longitude/latitude" apply a multiplier from the raw value to the value presented to the user. e.g. by the time the user sees the value latitude will be in deg, even though its raw state was a degE7 scaled integer. * The Multiplier does not alter the value presented to the user, but rather alters the unit (e.g. "s" * 1-e6 => "us"). I've tested this by running parse.py for each vehicle type (['Rover', 'Sub', 'Copter', 'Plane', 'Tracker', 'Blimp']) and checking the outputs look sensible, including looking at a selection of fields in some of my own recordings and comparing against the units shown by UAVLogViewer when selecting plot parameters. In testing I found that the "--vehicle Blimp" option already generated an error before I started, so I have fixed this by adding Blimp to the lookup table in parse_enum.py. I had some observations from this: * The message "TRMS" has more formats ("QBHH") than fields (3). * If the multiplier is not a 1e-3, 1e3 or 1e-6, UAVLogViewer shows just the base unit, which I think may be incorrect in some cases (for example it says PM.Load is "%", but I think its really "d%"). It seems that there is already an issue and perhaps a PR looking at this in any case. This took me a bit of digging around, so feel to correct any misunderstandings, or let me know if further explanation is needed!

github.com/ArduPilot/ardupilot

AP_Mission: Fractional Loiter Turn Support

ArduPilot:master ← jrbronkar:fractional-loiter-turns

opened 08:00AM - 02 Jan 24 UTC

jrbronkar

+55 -16

Adds special storage handling to allow for fractional loiter turns. Fractional L…oiter Turns 0<N<1 are stored by multiplying the fractional turn number by 256, then dividing that number by 256 on retrieval if a bit flag (type_specific_bit_1) is set, similar to how radii > 255 are currently handled. Initial Discord Post: https://discord.com/channels/674039678562861068/797952826847920128/1181661424720822322 Issue Ref: Closes https://github.com/ArduPilot/ardupilot/issues/18138 Tested In SITL using (QGC and ArduPlane): Before (Breakout logic applied immediately as turn value was cast implicitly to an integer 0): ![Screenshot 2024-01-11 at 2 44 31 PM](https://github.com/ArduPilot/ardupilot/assets/56382146/836883d3-2d6d-4ccf-876e-e7a5b1133ca8) After (Breakout logic still hit, but fractional turn sent clearly adhered to): ![Screenshot 2024-01-11 at 2 48 49 PM](https://github.com/ArduPilot/ardupilot/assets/56382146/d8b35901-6a51-4a7c-ba47-8ea108d65e9f) Notes: (Not sure where is best to note these down, since this is my first time contributing.) 1. I chose 256 to keep the fraction as precise as possible given the 8 bit constraint. Tridge had suggested perhaps 5 degree increments? I'd welcome any thoughts. 2. I chose this logic to apply to 0<N<1 to eliminate overlap/ambiguity on when this logic would apply. 3. I ran astyle (3.1) on these files as the [wiki](https://ardupilot.org/dev/docs/style-guide.html#style-guide) suggested and many lines of code I hadn't touched changed, seems like these files do not currently comply with the style guide? 4. From the "After" screenshot above, there is still some potentially undesirable behavior when "next" points are between (radius -> 1.05 * radius) away from the center of the circle, since the current approach is a bit of a shotgun approach where everything within 1.05 * radius hits breakout logic. I am thinking of addressing this in a followup PR. EDIT/UPDATE on 4: potential solution proposed here: https://github.com/ArduPilot/ardupilot/pull/25938

github.com/ArduPilot/ardupilot

AP_Arming: Allow memoizing ICE state

ArduPilot:master ← WickedShell:wickedshell/arm-ice-running

opened 10:27PM - 05 Jan 24 UTC

WickedShell

+29 -4

With the options to start the engine while disarmed I've had some intermittent a…rming failures due to vibration on the ground causing a problem with the cube between the vibe and non vibe isolated IMU. This is amplified with ground resonance, which is triggering the accel inconsistent check. This allows us to keep the benefit of having a reasonably tight check for the accelerometer consistency, but once the engine is started we simply remember if we were previously passing the check and keep the check passed. This was tested on the plane that exhibits the problem, with the option set I can arm while the engine is running, even with a tight threshold on accelerometer consistency.

github.com/ArduPilot/ardupilot

Plane: Patch heading check for turn flexibility

ArduPilot:master ← jrbronkar:plane-heading-check-patch

opened 05:44PM - 09 Jan 24 UTC

jrbronkar

+19 -11

Removing breakout logic for "next" waypoints within 1->1.05 of loiter turn radiu…s, adding extra heading buffer to compensate for potential overshooting on initial turn. The current “breakout” logic is unintuitive, and possibly unnecessary for "next" waypoints within between 1->1.05 of the loiter turn radius since it is in fact possible to point at that waypoint, though admittedly more difficult. Though overshooting does have more impact on “next” waypoints within 1->1.05 of loiter turn radius, a perhaps more correct approach is to increase threshold in this case, not to enforce breakout logic. Without change, clean turn into turn requested, but breakout logic enforced ![Screenshot 2024-01-11 at 2 44 31 PM](https://github.com/ArduPilot/ardupilot/assets/56382146/8f082865-e021-4571-a34e-c1120d8a0479) With change - no overshooting <img width="528" alt="Screenshot 2024-01-02 at 1 50 23 AM" src="https://github.com/ArduPilot/ardupilot/assets/56382146/49f4b8c3-bfc2-4b4d-bce6-377d5111bef2"> With change (radius decreased dramatically to cause overshooting). Note that now that breakout logic is not hit, it falls back to the default loopback logic. In the case of overshooting, the existing logic to increase tolerance on a loopback is sufficient to handle this without a shotgun approach of enforcing breakout logic for all “next” waypoints within 1->1.05. ![Screenshot 2024-01-11 at 2 45 45 PM](https://github.com/ArduPilot/ardupilot/assets/56382146/7af90426-d57e-4697-8838-c996247c544d) Notes: 1. I chose 20 degrees so as to keep things aligned with the 10 deg increments, but I have noticed as low as 15 degrees performs just fine as well. It is a balance between having a stringent heading check which gives higher accuracy of when the plane actually leaves the loiter, but with bad overshooting performance vs looser heading check which gives lower accuracy of when the acceptance criteria is hit, but better overshooting performance. perhaps this should be eventually configurable/allowable to be turned on/off with heading_required, see below. 3. My primary interest is to be able to fly the path above, this seemed like the lowest lift change to expand ArduPlane's capability. Alternatively - merging https://github.com/ArduPilot/ardupilot/pull/25873 and adding respecting of the [heading required](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TURNS) field (if # of bits allows) might also be an approach, if that is preferred to be explored by the maintainers.

github.com/ArduPilot/ardupilot

Correct CubeOrange-periph-heavy compilation

ArduPilot:master ← peterbarker:pr/fix-ahrs-enabled-compilation

opened 10:19PM - 10 Jan 24 UTC

peterbarker

+72 -5

``` Board,AP_Periph,blimp,bootloader,copter,heli,iofirmware,plane,rover,sub Du…randal,,*,*,*,*,,*,*,* HerePro,*,,,,,,,, Hitec-Airspeed,*,,,,,,,, KakuteH7-bdshot,,*,*,*,*,,*,*,* MatekF405,,*,*,*,*,,*,*,* Pixhawk1-1M-bdshot,,*,,*,*,,*,*,* f103-QiotekPeriph,*,,,,,,,, f303-Universal,*,,,,,,,, iomcu,,,,,,*,,, revo-mini,,*,*,*,*,,*,*,* skyviper-v2450,,,,*,,,,, ``` Many link errors as AP_AHRS_ENABLED means AHRS isn't compiled in. Given we don't instantiate AHRS in Periph apart from in Sim, this means each of these points would be a nullptr dereference on CubeOrange-periph-heavy

github.com/ArduPilot/ardupilot

RC_Channel: options in alphabetical order

ArduPilot:master ← rmackay9:rcchannel-parm-def-alphabetical

opened 07:48AM - 12 Jan 24 UTC

rmackay9

+114 -113

Our list of RCx_OPTION parameter values is very long and users struggle to find …what they are looking for. This PR reorders them mostly in alphabetical order with some exceptions: 1. "Do Nothing" remains at the top 2. Flight modes are at the top 3. Developer only items (or perhaps dangerous options) are right at the bottom including (e.g. "GPS Disable", "KillIMU") There are some small issues that I could have fixed but put off for a follow-up PR to keep it easier to verify and merge: a. some lines still have multiple items on them (e.g. "300:Scripting1, 301:Scripting2.." and "166:Camera Record Video, 167:Camera Zoom) b. some items are badly named, (e.g. "use Custom Controller") c. some are used to define the channel is used for control (e.g. Roll, Walking Height). We could group these, perhaps below the modes I have carefully verified that no items have been lost in this change. I asked ChatGPT to do it first but it failed so I resorted to a spreadsheet with multiple cross checks.

github.com/ArduPilot/ardupilot

AP_ADSB: de-duplicate packing of operating message

ArduPilot:master ← peterbarker:pr/de-dupe-op-message

opened 09:45AM - 12 Jan 24 UTC

peterbarker

+51 -57

the same message is sent in two places, and much code was duplicated. This …work sponsored by SpektreWorks ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal -184 * -184 -184 -184 -184 -184 HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

Network: added optional web interface to bootloader

ArduPilot:master ← tridge:pr-bl-network

opened 05:36AM - 13 Jan 24 UTC

tridge

+980 -24

enables lwip in bootloader for a simple web server todo: - [x] fill out C++ w…eb server - [ ] add firmware upload with abin file on web interface - [ ] add passing of IP addresses from main fw to bootloader - [ ] need to work out why it increases flash in non-H7 bootloader ![image](https://github.com/ArduPilot/ardupilot/assets/831867/a2fac5c4-ca65-4cb5-9551-037d6d046807)

Copter & Rover

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

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

Web tools

CraigElder · January 16, 2024, 6:08pm

Attendee count (max): 15

UTC1100 - Copter Fence Fixes by andyp1per · Pull Request #25875 · ArduPilot/ardupilot · GitHub

Copter fence fixes
Allow different fence types to be enabled/disabled
Auto-enable of floor
Henry and Andy think the autoenable to change
andy thinks fence_enable should be a bitmask
- Tridge doesn’t like this as the code won’t match our documentation and previous use
- Loading parameters would be very bad
- If we want a mask which enables fences then we’d have a separate parameter
- We have another bitmask which specifies which specifies which are available i.e. FENCE_TYPE
- Andy probably wants min_type available but not enable when you arm, enabling when you pass through the min-alt
- Autoenable parameter bitmask?
Henry: Currently Plane doesn’t enable min-alt fence unless MAVvlink command or switch
- Or auto enabled
- Proposed PR doesn’t allow you to retain the behaviour only for auto-takeoff
Really do need Andy to discuss this
Terrain-relative-fence would be good!

UTC1128 - Error on OEM customization wiki page · Issue #5478 · ArduPilot/ardupilot_wiki · GitHub

ROMFS_custom documentation error
Can we get rid of it?
For stuff common between builds
Tridge has something new
- New ROMFS_directory entry in hwdef.dat
Peter will put a PR together to fix the words

UTC1139 - Waf add submodulesclean by hendjoshsr71 · Pull Request #25196 · ArduPilot/ardupilot · GitHub

Add submodulesclean
When you remove modules the colcon ignore file won’t be recreated?!
Just deleting modules directory isn’t a good idea any more
- So having waf options to do things correctly should be a good idea
Submodule_sync.sh doesn’t always work
- There’s an issue open for it
This will break colcon and it will break esp32 development
- Separate directories not modules
We’ll get the submodule-sync thing quickly and the blow-away thing later
Removes the ability to use apj-tool to modify parameters
- Need to add a warning to apj-tool
Need to give a clear non-programmer-oriented message that spells out what they need to do
“Modifying parameters using apj_tool.py is no longer supported, see on
For those currently using apj_tool they don’t need a development environment
- Now they would need a development environment
- Add option to attach a parameter file to build in custom build server
Need an option on the custom build server to enable the old behaviour

UTC0007 - Plane: ask flight mode if min/max throttle limits should be applied by IamPete1 · Pull Request #25820 · ArduPilot/ardupilot · GitHub

Ask flight mode if min/max throttle should be applied
Merged!

UTC0007 - Logger Metadata: Provide format and unit/multiplier info for log messages by shancock884 · Pull Request #25861 · ArduPilot/ardupilot · GitHub

Provide format unit/multiplier for log messages
Now adds units and multipliers to Wiki and to metadata

UTC0024 - AP_Mission: Fractional Loiter Turn Support by jrbronkar · Pull Request #25873 · ArduPilot/ardupilot · GitHub

Fractional loiter turn support
Should we limit things 0-1 and integers?
A little more work to be done

UTC0040 - AP_Arming: Allow memorizing ICE state by WickedShell · Pull Request #25905 · ArduPilot/ardupilot · GitHub

Allow memoizing ICE state
Remember whether accels were passing before you started the motor
Maybe just disable the check entirely
- So “SKIP_INS_CONSISTENT_WITH_ICE_RUN”
- Much, much simpler PR
- You can see the prearms failing with inconsistent

UTC0046 - Plane: Patch heading check for turn flexibility by jrbronkar · Pull Request #25938 · ArduPilot/ardupilot · GitHub

Plane
Patch heading check for turn flexibility
Allows cleaner breakout from turns
Want to get the fractional-turn stuff in
- This one’s more complicated…

UTC0106 - Rename sim_periph_gps to sim_gps_universal, recreate sim_periph_gps by peterbarker · Pull Request #25961 · ArduPilot/ardupilot · GitHub

Rename universal to gps
And create a new gps
Merged!

UTC0117 - RC_Channel: options in alphabetical order by rmackay9 · Pull Request #25963 · ArduPilot/ardupilot · GitHub

Sort auxiliary function options
Might add a @SortedOptions instead
Really want incremental filtering on these options
- So you start to type RTL and it filters to just strings that have that in there

UTC0121 - Network: added optional web interface to bootloader by tridge · Pull Request #25971 · ArduPilot/ardupilot · GitHub

Add optional web interface to bootloader
It works
There’s some more features yet to push up
Testback and feedback would be good
Its a major thing
When you have a peripheral that has ethernet
- How do you update the firmware?
- You use this new web server
PPP-gateway-switch coming from BotBlox
- Plug in serial port from CubeOrange to this device and you will get a 4-port ethernet switch
- Update firmware on switch using this interface
So your devices become separate from your flight controller
- E.g. payload manager peripheral
Ethernet switch with LUA scripting….
Could aid in redundancy where the switch becomes the mediator
Currently over-flowing some bootloaders which should not be affected
Wants to boot on USB, CAN or ethernet

UTC0132 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Copter/Rover update
Not much to say about 4.4 releases
4.4.5 release notes later this week

UTC0133 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
Relying on Randy for release notes….

UTC0136 - Fix Riscv64 compiler error issue #25974 by tmagik · Pull Request #25979 · ArduPilot/ardupilot · GitHub

Randy is going to try to stare this one out

UTC0141 - Correct Sim-on-Hardware builds for Blimp, Rover, Tracker and Sub by peterbarker · Pull Request #25982 · ArduPilot/ardupilot · GitHub

Correct sim-on-hardware build
Merged!

UTC0142 - AP_ADSB: emit last char for callsign in statustext by peterbarker · Pull Request #25986 · ArduPilot/ardupilot · GitHub

Tidy sending of callsign statustexxt
Merged!

Attendee count (max): 15

UTC1100 - Copter Fence Fixes by andyp1per · Pull Request #25875 · ArduPilot/ardupilot · GitHub

UTC1128 - Error on OEM customization wiki page · Issue #5478 · ArduPilot/ardupilot_wiki · GitHub

UTC1139 - Waf add submodulesclean by hendjoshsr71 · Pull Request #25196 · ArduPilot/ardupilot · GitHub

UTC0007 - Plane: ask flight mode if min/max throttle limits should be applied by IamPete1 · Pull Request #25820 · ArduPilot/ardupilot · GitHub

UTC0007 - Logger Metadata: Provide format and unit/multiplier info for log messages by shancock884 · Pull Request #25861 · ArduPilot/ardupilot · GitHub

UTC0024 - AP_Mission: Fractional Loiter Turn Support by jrbronkar · Pull Request #25873 · ArduPilot/ardupilot · GitHub

UTC0040 - AP_Arming: Allow memorizing ICE state by WickedShell · Pull Request #25905 · ArduPilot/ardupilot · GitHub

UTC0046 - Plane: Patch heading check for turn flexibility by jrbronkar · Pull Request #25938 · ArduPilot/ardupilot · GitHub

UTC0106 - Rename sim_periph_gps to sim_gps_universal, recreate sim_periph_gps by peterbarker · Pull Request #25961 · ArduPilot/ardupilot · GitHub

UTC0117 - RC_Channel: options in alphabetical order by rmackay9 · Pull Request #25963 · ArduPilot/ardupilot · GitHub

UTC0121 - Network: added optional web interface to bootloader by tridge · Pull Request #25971 · ArduPilot/ardupilot · GitHub

UTC0132 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0133 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0136 - Fix Riscv64 compiler error issue #25974 by tmagik · Pull Request #25979 · ArduPilot/ardupilot · GitHub

UTC0141 - Correct Sim-on-Hardware builds for Blimp, Rover, Tracker and Sub by peterbarker · Pull Request #25982 · ArduPilot/ardupilot · GitHub

UTC0142 - AP_ADSB: emit last char for callsign in statustext by peterbarker · Pull Request #25986 · ArduPilot/ardupilot · GitHub

UTC0143 - close