Dev Call Jan 26, 2026

Development Team
1

CI Workflows

Release Update

Issues & Pull Requests

2

Attendee count (max): 24

UTC2301 - CI

  • Regression in CI as we’ve merged a PR which seems to have caused things to flap
    • Something to do with GPS

UTC2311 - release update

  • ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub
  • A couple of new things in master which we’ll look at later
  • Couple of things resolved
  • Terrain thing still
  • 4.7beta still held up on parameter renames
  • AP has one he wants to get in
    • Storing location in the AHRS parameters
    • Do we want to do an arming check for the terrain or something?
      • Tridge has an idea for not spending so much flash
  • Trimble driver work from Ryan
  • 17 AM]Peter Hall: @RyanF @Thomas How did the gdal effort go? I saw the update, is that a showstopper?
  • [10:18 AM]Thomas: no, just ran out of our block of time. i have some evil ideas, but got some deadlines at work and i think ryan is the same
  • [10:18 AM]Peter Hall: Yeah, no time here either.
  • [10:18 AM]RyanF: Yea, the 6 hours we spent was not enough. The proejction AP uses is just too custom for standard GDAL to handle with the easy approaches.
  • [10:19 AM]Peter Hall: I thought there was a way to add arbitrary points.
  • [10:19 AM]RyanF: Yea, with GCP’s but it’s a bit evil how we want to do that.
  • [10:19 AM]RyanF: And unclear if it’ll actually work.
  • [10:20 AM]Thomas: i’m confident we can crack it, just need some time
  • [10:20 AM]Peter Hall: Thanks for the update.

UTC2316 - Move handling of GCS terrain requests up into common GCS library by peterbarker · Pull Request #21150 · ArduPilot/ardupilot · GitHub

  • Move handling of terrain GCS requests up to common code
  • Merged!

UTC2321 - flapping test redux

  • Drive-by bugfix moving scope of variable to header has probably caused a test to start to flap!
  • Blasting info message a huge amount was fixed - but that broke things!

UTC2329 - Add logging for Unix Epoch time by peterbarker · Pull Request #29948 · ArduPilot/ardupilot · GitHub

  • Add logging for Unix time
  • MergeOnCIPass

UTC2337 - Plane: Quadplane: add thrust loss detection by IamPete1 · Pull Request #31764 · ArduPilot/ardupilot · GitHub

  • Add thrust loss detection for quadplane
  • Q_THRST_LOSS_OPT
  • Use of counter?
    • Probably should be a uint32_t time
  • Unlikely to be a significant issue if it does falsely trigger
    • Not a problem on Copter at least
    • We added an option on Copter to disable the message…
  • Merged!

UTC2347 - TradHeli: move default parameter setting out of Parameters.cpp by mcran331 · Pull Request #31843 · ArduPilot/ardupilot · GitHub

  • Welcome Kensie with this PR
  • Move default parameters settings out of Parameters.cpp into Heli libraries
  • Everything alls seems to work afterwards, same numbers present
  • Whitespace changes to be removed
  • Randy’s reviewing
  • Make sure defaults are the same
    • Already tested
  • Param-default-ptr stuff?
    • Needed those to work properly!
    • Flag-ptr the define takes the address of the variable and it knows how to dereference
      • Actually an offset not a pointer
      • Constructs a pointer by taking the vp (parameter pointer) then subtracting the offset and then constructing a pointer from that and then dereferencing that
      • This was required for default parameters over FTP
      • Should rename it
      • Flags in name of define but it doesn’t actually have any flag!
      • There’s no flag and there’s no pointer! Should rename!
  • Need to make sure defaults.parm works!

UTC2358 - Merge camera-related changes in from mavlink/mavlink/master by peterbarker · Pull Request #463 · ArduPilot/mavlink · GitHub

  • Mavlin camera-related changes
  • Merged!

UTC0006 - common.xml: remove meaning of param4 for Relative change by peterbarker · Pull Request #466 · ArduPilot/mavlink · GitHub

  • Remove relative change field in change-speed
  • Merged!

UTC0006 - Step 3: AP_Math: Update shaping to use improved jerk limited algorithm. by lthall · Pull Request #31848 · ArduPilot/ardupilot · GitHub

  • Update shaping to use improved jerk limited algorithm
  • Merged!

UTC0007 - github.com/ArduPilot/ardupilot/pull/31849

  • Replace the attitude command model with iumproved real-time SCurve algorithm
  • Leonard will rebase and bring it back

UTC0008 - Add New Target SpeedyBeeF405V5 by Bloody-Badboy · Pull Request #31884 · ArduPilot/ardupilot · GitHub

  • SpeedyBeeF405v5
  • Henry’s happy
  • Andy made a comment but hasn’t come back to things
    • Name matches other speedybee boards
  • Merged!

UTC0010 - add separate double and float implementations for wrap_PI and wrap_2PI by peterbarker · Pull Request #31971 · ArduPilot/ardupilot · GitHub

  • Add separate double and float wrap_PI and wrap_2PI
  • The gating define was being misused
    • Also mused on wrap_360
  • Peter will bring this one back

UTC0023 - Copter/Plane/Sub/Blimp: ANGLE_MAX replaced by ATC_ANGLE_MAX (in deg) by rmackay9 · Pull Request #31978 · ArduPilot/ardupilot · GitHub

  • Replace ANGLE_MAX with ATC_ANGLE_MAX
  • Mistake in quadplane also fixed
  • When force-storing a parameter to indicate parameter conversion has been done we will prevent using that value from a defaults.parm
    • RTL_ALT was being used as a force-store and this caused issues!
  • No ATC parameters at all in Blimp?
  • Now in degrees not centidegrees!
  • Mergeable after minor bug fixed

UTC0044 - AP_Mount: Some servo/brushlessPWM gimbal fixes by Williangalvani · Pull Request #31975 · ArduPilot/ardupilot · GitHub

  • A couple of minor bug fixes for brushless pwm gimbals
  • Also, FPV lock works for rate modes too now
  • Merged!

UTC0046 - AP_AHRS: make resetHeightDatum void by peterbarker · Pull Request #31985 · ArduPilot/ardupilot · GitHub

  • Make reset_height_datum void on AHRS
  • We don’t use the return value anywhere anyway
  • Peter will go and stare at this to see if the ordering is important
    • Can be merged if it is all good

UTC0058 - `LOG_FILE_DSRMROT`: allow to work with replay · Issue #31989 · ArduPilot/ardupilot · GitHub

  • Partner likes log replay but doesn’t like huge log files
  • Log_dsrm_rot breaks replay
  • Capture entire EKF state?
    • Combine logs?
    • Could start replay in flight….
    • Hot-start second EKF core based on first one?!
  • Not feasible
  • Closed

UTC0102 - Copter/Sub: CIRCLE_RADIUS replaced by CIRCLE_RADIUS_M by rmackay9 · Pull Request #31990 · ArduPilot/ardupilot · GitHub

  • CIRCLE_RADIUS becomes CIRCLE_RADIUS_M
  • Merged!

UTC0106 - AP_NavEKF3: use Python generated code for FuseDeclination by tpwrules · Pull Request #32003 · ArduPilot/ardupilot · GitHub

  • use Python generated code for FuseDeclination
  • Optimisation ordering in compiler causes small output change in Replay
  • Merged!

UTC0108 - AP_Mission: protect against FPE in mavlink_int_to_mission_cmd by luckys00 · Pull Request #32009 · ArduPilot/ardupilot · GitHub

  • Add sanity check for a param1 to avoid FPE
  • Merged!

UTC0115 - Add ability to compute POI as a fallback without Terrain enabled by Hwurzburg · Pull Request #32010 · ArduPilot/ardupilot · GitHub

  • Add ability to compute POI fallback without terrain
  • If you don’t get a POI through the current method then it will use home altitude instead
  • We should really do this calculation first and get the gimbal moving
    • Its really complicated!
  • We make an assumption in there that roll isn’t adjusted
    • Why does that matter?
    • Rolled and pitched and yawed…
  • Randy will have a quick look

UTC0126 - ArduCopter: fix truncations caused by `labs` and recent conversions by tpwrules · Pull Request #32016 · ArduPilot/ardupilot · GitHub

  • Fix truncations caused by labs and recent conversions
  • Very subtle….
  • Merged!
  • Some discussion around fabsf vs fabsF

UTC0127 - AP_Arming: make accel and gyro consistency check happen together by rishabsingh3003 · Pull Request #32022 · ArduPilot/ardupilot · GitHub

  • Calibrate accel and gyro at same time
  • First responders just want to go….
  • Some don’t get consistent until you’re warm
  • We’ll add a define, Rishabh will give some thought
  • Can just merge the define

UTC0143 - close