Dev Call Jan 23, 2023

CraigElder · January 23, 2023, 10:57pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Include enumeration information in generated onboard log documentation

ArduPilot:master ← peterbarker:pr/generate-enumerations

opened 08:59AM - 22 Mar 20 UTC

peterbarker

+334 -27

``` .. _ARM: ARM: Canonical vehicle attitude ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~…~ +-----------+----------------------------------------------------------------+ | TimeUS | microseconds since system startup | +-----------+----------------------------------------------------------------+ | ArmState | 1 if vehicle armed, 0 otherwise | +-----------+----------------------------------------------------------------+ | ArmChecks | ARMING_CHECKS at time of arming | | | Bitmask bits: | | | +--------------------------+----+--+ | | | | ARMING_CHECK_ALL | 0 | | | | | +--------------------------+----+--+ | | | | ARMING_CHECK_BARO | 1 | | | | | +--------------------------+----+--+ | | | | ARMING_CHECK_COMPASS | 2 | | | | | +--------------------------+----+--+ | . . . | | | ARMING_CHECK_CAMERA | 16 | | | | | +--------------------------+----+--+ | | | | ARMING_CHECK_AUX_AUTH | 17 | | | | | +--------------------------+----+--+ | | | | +-----------+----------------------------------------------------------------+ | Forced | true if this arming was forced | +-----------+----------------------------------------------------------------+ | Method | method used for arming | | | Values: | | | +----------------------------+----+--------------------------+ | | | | RUDDER | 0 | | | | | +----------------------------+----+--------------------------+ | | | | MAVLINK | 1 | | | | | +----------------------------+----+--------------------------+ | | | | AUXSWITCH | 2 | | | | | +----------------------------+----+--------------------------+ | | | | MOTORTEST | 3 | | | | | +----------------------------+----+--------------------------+ | | | | SCRIPTING | 4 | | | | | +----------------------------+----+--------------------------+ | | | | TERMINATION | 5 | only disarm uses this... | | | | +----------------------------+----+--------------------------+ | | | | CPUFAILSAFE | 6 | only disarm uses this... | | | | +----------------------------+----+--------------------------+ | ```

github.com/ArduPilot/ardupilot

AP_Param: allow class specific defaults using pointer diff.

ArduPilot:master ← IamPete1:offset_param_defualts

opened 02:24AM - 30 Dec 22 UTC

IamPete1

+255 -180

This allows defaults to be loaded via the param table in the same way as params …are referenced. This means we don't have to add to the linked list of defaults changed at run-time saving memory (https://github.com/ArduPilot/ardupilot/issues/22529) Also means we don't have to keep a second list for embedded defaults.

github.com/ArduPilot/ardupilot

Plane: tailsitter: update I reset and limit handling

ArduPilot:master ← IamPete1:tailsitter_motors_only_updates

opened 05:34PM - 13 Jan 23 UTC

IamPete1

+27 -8

This does a couple of things: - Only sets motors limit based on elevon and V …tail if elevons or V tail is setup. In motors only assist: - Use the relax integrator call rather than reset. This means there is no step in outputs as I term is removed. After a second or so it amounts to the same thing as I will be 0. - Allows motor roll I term to be active in motors only assist if there is no yaw control surface setup. This means there is some method for yaw trimming.

github.com/ArduPilot/ardupilot

Plane: Quadplane: limit manual throttle tilt angle to Q_TILT_MAX

ArduPilot:master ← IamPete1:tiltrotor_manaul_fw_throttle_limit

opened 03:50PM - 16 Jan 23 UTC

IamPete1

+2 -2

Fixes a exciting issue where it was possible to manually move the tilts past til…t max thus the `tilt_over_max_angle` check returns true and control of the vectored tilts is handed over to the FW controller while still in a VTOL mode: https://github.com/ArduPilot/ardupilot/blob/12c24df47653f769b35bce7ba756499c98209f46/ArduPlane/tiltrotor.cpp#L548 Now uses the same constraint as when in position control VTOL modes: https://github.com/ArduPilot/ardupilot/blob/12c24df47653f769b35bce7ba756499c98209f46/ArduPlane/tiltrotor.cpp#L313

github.com/ArduPilot/ardupilot

Correct FFT Tune notch calculation

ArduPilot:master ← andyp1per:pr-fft-tune

opened 11:01PM - 18 Jan 23 UTC

andyp1per

+111 -28

This fixes a bug whereby we would select the wrong harmonic and set the wrong th…rottle reference when tuning a copter with a higher energy higher frequency harmonic. This occurred for me tuning the Hexsoon 650. Also fixes a bug where a stack overflow can occur when more than one frequency peak is detected during tuning Adds better notification of FFT tune success or failure Changes FFT default frequency range to 50->450Hz to better cover a reasonable range of setups. The old defaults were really only suitable for smaller copters at low revs. Tested on a Hexsoon 650

github.com/ArduPilot/ardupilot

AP_Mount: servo mount yaw handling fix

ArduPilot:master ← rmackay9:mount-servo-fix2

opened 03:19AM - 19 Jan 23 UTC

rmackay9

+23 -7

This PR fixes a bug in the servo gimbal driver's lean angle correction for gimba…ls with yaw control. This resolves issue https://github.com/ArduPilot/ardupilot/issues/22510. This only affects servo gimbals (not self-stabilising brushless gimbals) and only those with yaw control. The existing gimbal stabilisation code simply subtracts the vehicle's roll and pitch lean angles from the corresponding gimbal roll and pitch servo outputs. This is incorrect when the gimbal has a yaw servo (which is not pointing exactly forward) and also when the vehicle is at extreme angles (including upside down, see issue https://github.com/ArduPilot/ardupilot/issues/22440). This PR improves the calculation by rotating the vehicle's roll and pitch lean angles by the (negative) gimbal's body-frame yaw angle before they are subtracted from the gimbal roll and pitch outputs. Note that we also now limit the yaw angle using the user specified limits. There is also a drive-by fix to disable the lead filter on self-stabilizing brushless gimbals. This does not resolve the [extreme angle issue](https://github.com/ArduPilot/ardupilot/issues/22440) but that is left for a future PR. This has been tested on real hardware using a simple pitch and yaw gimbal as shown on [the servo gimbal wiki](https://ardupilot.org/copter/docs/common-camera-gimbal.html).

github.com/ArduPilot/ardupilot

AP_VisualOdom: handle ModalAi VOXL resets

ArduPilot:master ← rmackay9:viso-modalai-reset-handling

opened 05:06AM - 21 Jan 23 UTC

rmackay9

+107 -26

This PR improves the AP_VisualOdometry library's handling of [ModalAI VOXL camer…a](https://ardupilot.org/copter/docs/common-modalai-voxl.html) resets which are different than the IntelT265 camera with which it shares a driver. When the T265 "resets" it increments the reset_counter and the position jumps (often to a location many meters away). The yaw normally does not jump. Resets often occur many times in a row. The camera continues providing position, velocity and yaw estimates although they unreliable for about 1sec. These resets normally occur due to high vibration or sunlight hitting the camera. When the ModalAI "resets" it stops providing position, velocity and yaw estimates for a few seconds. When it recovers increments the reset_counter and resets the position and yaw back to zero. From the user's point of view, this means the vehicle jumps back close to the EKF origin and the heading resets to North. Note: the jump will not be exactly to the origin or North because the camera may have been "aligned" to the compass and/or GPS based position. These resets are much more rare than on the T265 and they occur when the camera's view is blocked or there are not enough features. This PR improves the reset handling (for the VOXL camera) by "aligning" the position back to what it was before the reset occurred and "aligns" the yaw so it matches the current AHRS/EKF yaw. The detailed changes are: - renamed align_sensor_to_vehicle() to align_yaw_to_ahrs() which is more precise - split align_yaw_to_ahrs() and align_position_to_ahrs() to create more general purpose align_yaw() and align_position() methods - added record_voxl_position_and_reset_count() to record the last good position from the camera. Note these are not raw positions from the camera but instead scaled and rotated positions that are fed into the EKF - when a reset occurs, use align_position() to shift the position to the last good camera position. align_yaw_to_ahrs() is used to rotate the yaw to the current AHRS/EKF yaw This has been bench tested on a real vehicle and I've confirmed the position and yaw do not jump after a reset. Below are some screenshots from those tests. I've also looked in the VISP logs and confirmed that there are no jumps. ![pr-before-screenshot](https://user-images.githubusercontent.com/1498098/213844737-94e27ff4-1800-47a0-a25b-3a1d63f26eae.png) ![pr-after-screenshot](https://user-images.githubusercontent.com/1498098/213844739-7870b5b0-e00e-4335-9f83-8780976dccfb.png)

github.com/ArduPilot/ardupilot

AP_Arming: Use arming helper to always check if all bit is set.

ArduPilot:master ← IamPete1:use_arming_helper_all

opened 01:37PM - 21 Jan 23 UTC

IamPete1

+19 -20

Follow up to https://github.com/ArduPilot/ardupilot/pull/22706, this one is a ch…ange in behavior. Currently these call are checking `checks_to_perform == ARMING_CHECK_ALL` rather than `checks_to_perform & ARMING_CHECK_ALL`. This means you will skip all checks except the ones in your arming mask even if the all bit is set. This changes to run all checks whenever the bit is set. For example if I had `ARMING_CHECK` set to 3 for "ALL" and "Barometer". The current pattern would only check "Barometer". The new pattern checks "ALL" and "Barometer". Of course its not as bad as that because not all the methods follow the bad pattern.

github.com/ArduPilot/ardupilot

Implement manual autorotation feature for Tradheli

ArduPilot:master ← bnsgeyer:pr-manual-autorotation

opened 12:33AM - 23 Jan 23 UTC

bnsgeyer

+223 -156

This PR implements a manual autorotation capability for tradheli frames. This i…s the first step toward incorporating autonomous autorotations. Currently it is only implemented for the Single heli. After it goes through review, it will be pretty quick to extend it to the dual and quad heli frames as they all use the same RSC class. This takes manual autorotation out of the SITL only capability and brings it into the actual flight capability. Manual autorotation has an enable setting that is disabled by default. There is a feature that allows users that employ ESCs with an autorotation feature (it enables fast spool up) to set the throttle output to enable that feature in the ESC. This works in conjunction with the bailout feature (in-flight power recovery) that ramps the throttle back to the throttle curve or the setpoint at a faster time than normal spool up on the ground. Logic was added to ensure that it exits properly from the autorotation depending on whether it landed or bailed out. This was tested in SITL with Realflight but I hope to have @Ferruccio1984 test this in an actual heli

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.3.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] add waf docs target? - [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 & Rover

github.com/ArduPilot/ardupilot

Copter/Rover-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

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

CraigElder · January 24, 2023, 4:05pm

Attendee count (max): 20

UTC2300 - Include enumeration information in generated onboard log documentation by peterbarker · Pull Request #13858 · ArduPilot/ardupilot · GitHub

Add bitmask and valuess-from-enums into the Wiki for log messages
Need to make sure we understand the RHS and be consistent in what we show

UTC2314 - https://github.com/ArduPilot/ardupilot/pull/22531

Class-specific defaults using pointer diff
Losing 1.8k in some places?
- Overall positive
Merged

UTC2317 - Plane: Auto Landing Refinement by rbeall · Pull Request #22378 · ArduPilot/ardupilot · GitHub

Auto-land refinement
Entry airspeed is critical, use it
Not on by default, new option bit
Should we make option_enabled a pattern and go through and change all of them?
Merged!

UTC2320 - AP_Scripting: added custom telem msgs for EFI_Skypower driver by tridge · Pull Request #22633 · ArduPilot/ardupilot · GitHub

Custom telem messages for EFK SkyPower
Merged!

UTC2324 - Plane: tailsitter: update I reset and limit handling by IamPete1 · Pull Request #22650 · ArduPilot/ardupilot · GitHub

Plane tailsitter update I reset and limit handling
Leary of have-servo stuff because you might be using a script mixer or something
- Right for most people, but wrong for some
Merged!

UTC2327 - Plane: Quadplane: limit manual throttle tilt angle to Q_TILT_MAX by IamPete1 · Pull Request #22667 · ArduPilot/ardupilot · GitHub

Limit manual throttle tilt and to Q_TILT_MAX
Could end up with fixed wing in control in modes you weren’t expecting it
Merged!

UTC2328 - AP_TemperatureSensor:correct TEMP sensor metadata by Hwurzburg · Pull Request #22682 · ArduPilot/ardupilot · GitHub

Fixed temperature sensor metadata
Should we just not mention motor1?
MergeOnCIPass

UTC2332 - Correct FFT Tune notch calculation by andyp1per · Pull Request #22686 · ArduPilot/ardupilot · GitHub

Correct FFT tune notch calculation
Also mixes in a serious bug fix
- Can cause a watchdog
- Tell users to not use options/parameters
- This is in master
- When you use a switch to do the automatic notch filtering
- Aux function notch tune is deadly
- Not the same code in 4.3
Would need a minimum patch for 4.3
- Not going to have Andy for a while as he’s skiing
- Or just disable the feature in 4.3?
Let’s ask Andy…

UTC2353 - AP_Mount: servo mount yaw handling fix by rmackay9 · Pull Request #22689 · ArduPilot/ardupilot · GitHub

Fix servo mount yaw
lean angle fixes
Merged!
Flipping gimbal upside down still causes problems!
- Big 3d transformation runs into problems, too

UTC2359 - Add and use AP_VIDEOTX_ENABLED by peterbarker · Pull Request #22695 · ArduPilot/ardupilot · GitHub

Add and use AP_VIDEOTX_ENABLED
Merged!

UTC0004 - AP_VisualOdom: handle ModalAi VOXL resets by rmackay9 · Pull Request #22702 · ArduPilot/ardupilot · GitHub

Handle ModalAI VOXL resets
Behaviour is quite different between intel and the ModalAI
- You get a bunch of them from Intel and the pos jumps all over the place
  - We handle this fine
- ModalAI works differently
  - Stops sending updates
  - Some time later it will start to send data through to you again
  - The reset counter will be incremented at this point
  - Position estimate comes from zero again!
    - I.e. the origin gets reset!
    - So we start to maintain position offsets in the driver and adjust based on reset count
    - Yaw is problematic
      - 3, 5, 10 second outages… vehicle may have yawed…
      - We reset to the AHRS yaw
        
        EKF should have maintained this yaw
        
        E.g. compasses
Randy likes the system
Merged
Thanks to Dot, too!

UTC0006 - AP_Arming: Use arming helper to always check if all bit is set. by IamPete1 · Pull Request #22707 · ArduPilot/ardupilot · GitHub

Change in behaviour to check arming bit with & rather than ==
Merged!

UTC0010 - AP_InertialSensor: cope with 0xff from BMI088 gyro by tridge · Pull Request #22710 · ArduPilot/ardupilot · GitHub

Fix for BMI088
- Can get back 0xffffff from sensor on spi base
Also saw weird phase lag?!
These fifos are quite large in terms of time
- Can be 30 to 40ms!
- Different fifo full behaviours
No MCU logging in affected vehicle
- 30mV jump-down in Vcc might have propagated?

UTC0015 - Implement manual autorotation feature for Tradheli by bnsgeyer · Pull Request #22712 · ArduPilot/ardupilot · GitHub

Manual autorotation for trad-heli
Step towards autonomous autorotation in
Activatable
- Bail-out feature to increase ignoring spool-up rate
- Control via rsc
- Automatically leave auto rotation mode
Already had autorotation in SITL
Hopefully for 4.4

UTC0026 - AP_BattMonitor: support EFI "battery" backend by tridge · Pull Request #22714 · ArduPilot/ardupilot · GitHub

EFI battery backend
Fuel flow as current in amsp
Need to be able to specify percentage reset
Peter to review

UTC0036 - Aerobatics scripts updates by Hwurzburg · Pull Request #22722 · ArduPilot/ardupilot · GitHub

Trick selection announcements on yaapu
Text-to-speech trigger possibility
Merged!
text to speech trigger for STATUSTEXT · Issue #22724 · ArduPilot/ardupilot · GitHub
Convention for things that should be announced
- Or use MAV_SEVERITY_ANNOUNCE
- Prefix with ! to get it to announce it?
More of an announcement thing?
- More severities?
- Useful for other payload stuff?
- Use a different component ID to announce from?

UTC0051 - SITL: fixed SIM lidar for FlightAxis by tridge · Pull Request #22723 · ArduPilot/ardupilot · GitHub

Fix for Lidar from FlightAxis
Physics engine knows about things changing
Flight test and then merge

UTC0054 - autotest: Skip build_binaries.py if working directory has changes by sypaq-nexton · Pull Request #22726 · ArduPilot/ardupilot · GitHub

Skip build binaries if working

UTC0103 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane stable is going well
Nullptr check fix is in place
4.4 betas soon?
Regression in terms of recovery from failed quadplane motor
- Safety go around on motor loss usable in 4.2 doesn’t work in 4.3
- Observant pilot watching plane was able to switch to RTL to try again
- Before you were 10ft off the ground and battery RTL would send you around again, so that was very bad too
- Base decision on airspeed? Change mechanism?
- If you’re almost stationery you don’t want to go fixed wing
- If pilot explicitly asks for RTL then we probably shouldn’t second-guess them
- An abort button?
  - Works well in fixed-wing
  - Not so well in vtol
- Thrust failure detection would be good
  - 80% of planes don’t have it…

UTC0115 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

Copter 4.3.3 is going well
- Let Randy know if you know otherwise
Internal error on takeoff
- Takeoff code changed a lot on 4.3.3
  - Ramps up throttle until it has noticed if vehicle has left ground or not
    - Internal error sanity check is triggering
    - New this-morning
Waiting for terrain data arming failure
- Andy’s problem is different
- Need to make sure this arming check is working correctly
4.4?
- Not against starting 4.4 beta release
- Randy wants a couple of weeks
- Feeling 4.3 has only just become stable!
- 4.3.0 and 4.3.1 had issues that needed to be resolved
- 4.3.2 and 4.3.3 felt stable
- Randy’s concerned he’s not getting dev done!
- 4.3 has never gone stable

UTC0119 - GSoC update

Org application has been put in
Can still be updated
- Randy will have a quick look
Already getting pings from various potential students

UTC0121 - Conference update

Need speech proposals now

UTC0121 - Better Battery Messages by dakejahl · Pull Request #7 · dronecan/DSDL · GitHub

UTC0124 - close

Yuri_Rage · January 25, 2023, 1:04am

Another suggestion for increased beta testing: Invite active testers/contributors to audit a Dev Call from time to time. I’d expect this to be invite-only, even one at a time, likely with limited to zero speaking role unless directly addressed by the team. I think it would encourage the more active contributors to hear some of these topics discussed live.

No sweat if this is deemed infeasible or somehow difficult to implement.