Dev Call Jan 6, 2025

CraigElder · January 6, 2025, 10:57pm

Vehicle Update

Issues

github.com/ArduPilot/ardupilot

Dds yaw control plane

ArduPilot:master ← Ryanf55:dds-yaw-control-plane

opened 12:57AM - 05 Feb 24 UTC

Ryanf55

+67 -5

# Purpose Add lower level controls ability for turn rate on Plane when using …DDS that isn't tied to a waypoint loiter (ideally). # Usage ```bash ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 ``` ```bash ./Tools/autotest/sim_vehicle.py -v ArduPlane -DG --console --enable-dds --ma arm throttle mode takeoff mode guided ``` ```bash ros2 topic pub /ap/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: base_link}, twist: {linear: {x: .nan, y: .nan, z: .nan}, angular: {z: -0.01}}}" --once ``` # Problem Seems like the navigation mode is overriding the lower level commands. I need to find a way to bypass it. Tips are appreciated. Edit: It was suggested to make a patch to mode_guided if the yaw is set, then L1 needs to be bypassed. This wasn't necessary, it was an unrelated scaling issue. # Related https://github.com/mavlink/mavlink/pull/2020/files#diff-9ef151b30f09d6d4f130434d941db479c3411ec15eca23580c5587b2c3b59ecdR5609 ## Mavlink body yaw rate https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET

github.com/ArduPilot/ardupilot

Gsof bitmask flexible parser

ArduPilot:master ← Ryanf55:gsof-bitmask-flexible-parser

opened 08:28AM - 04 Dec 24 UTC

Ryanf55

+73 -59

# Purpose Refactor the GSOF parser to instead return a bitmask of which packe…ts were parsed. Compared to before, where we used a counter for packets, which was not robust to duplicate packets, or flexible to different sets of packets. It now mirrors more commonly accepted ways of parsing such as in the inertial labs EAHRS by using a Bitmask to keep track of received packets. The upcoming EAHRS uses this to keep track of the **time_ms** of each required packet, and only reports `healthy` when all tracked packets have arrived recently. # Details * Removed unused debug macro * Clean up docs * The GPS driver's expected packets now has to be set at runtime, since you can't initialize an AP bitmask at compile time # Behavioral changes The GSOF GPS driver expects packets 1,2,8,9,12 enabled. Previously, if it received packets [1,1,1,1,1] all in a row, the parser would return success, which is terrible behavior because it's missing important data. Now, it fails. This is the main improvement. Previously, if received packets [1,2,8,9,12, **18**] (ie, unexpected unparsed data), the parser would fail. It still fails, but now we can easily change the behavior. Because the driver is in control of configuration, we only expect data that was configured. # Next Up The upcoming Trimble External AHRS will re-use this parser, but with different packets. See https://github.com/ArduPilot/ardupilot/compare/master...Ryanf55:ardupilot:27033-gsof-add-eahrs-driver?expand=1 for a preview. # Testing Performed * Autotest covers GSOF quite well, including configuration * Run the SITL driver per the instructions in AP_GPS_GSOF.cpp and fly around. Ensure the EKF tracks as expected by observing a stable loiter. Run the unit test, uncommenting the skip line. ```bash ryan@ryan-thinkpad:~/Dev/ardupilot_ws/src/ardupilot$ ./build/sitl/tests/test_gsof [==========] Running 2 tests from 1 test suite. [----------] Global test environment set-up. [----------] 2 tests from AP_GSOF [ RUN ] AP_GSOF.incomplete_packet [ OK ] AP_GSOF.incomplete_packet (0 ms) [ RUN ] AP_GSOF.packet1 [ OK ] AP_GSOF.packet1 (0 ms) [----------] 2 tests from AP_GSOF (0 ms total) [----------] Global test environment tear-down [==========] 2 tests from 1 test suite ran. (0 ms total) [ PASSED ] 2 tests. ```

github.com/ArduPilot/ardupilot

ArduPlane: add guided timeout

ArduPilot:master ← Ryanf55:plane-guided-timeout-configurable

opened 06:04PM - 24 Dec 24 UTC

Ryanf55

+49 -5

# Purpose Allow configurable guided timeout. For an application expecting to …send 50hz guided velocity commands, if the offboard controller dies, ArduPlane should fall back to loiter much sooner. This allows a user to bump up the expected controller rate. # Difference from copter The parameter is the same, but this one calls `constrain_float` on the parameter. Copter only enforces the minimum value. I also assumed that the plane will fall back to a guided loiter when control ends. Perhaps copter should enforce the max? I also bumped the minimum period down to 0.01s. Copter doesn't seem to expect anything greater than 100mS between commands, but we know people operate controllers much faster than that. Perhaps copter's minimum should be bumped down too. # Testing Performed * N/A - will add autotest or manual test instructions soon.

github.com/ArduPilot/ardupilot

Plane Offboard Support - Replace GUIDED mode

opened 07:45PM - 27 Dec 24 UTC

Ryanf55

Plane MAVLink ROS DevCallTopic Scripting

## Feature request **Is your feature request related to a problem? Please des…cribe.** * Guided mode on plane is behind copter functionality * GUIDED plane mixes the "FlyTo" GCS functionality with other lower level control commands which are hard such as [yaw rate control over DDS](https://github.com/ArduPilot/ardupilot/pull/26143) * Guided mode on plane doesn't give a clear API for sending kinematically feasible dubins paths in 3D * If you need to send multiple lower level guided commands (say, heading and turn rate), the [timeouts interfere](https://github.com/ArduPilot/ardupilot/pull/28526#issuecomment-2456573675) - they assume only a single control methodology at once * The interface is inconsistent across DDS, Scripting, and MAVLink * There is a lot of complexity in QuadPlane on what the intent is for certain commands (ie - should you fly in copter mode or in plane mode to accomplish the desired velocity) **Describe the solution you'd like** * Make GUIDED mode only for GCS FlyTo * Create a new mode (name proposed is OFFBOARD) to handle more of these control methodologies using the reserved mode from [here](https://github.com/ArduPilot/ardupilot/pull/28939) * Allow a user to be able to achieve at least the same capabilities that missions have with position lookahead/s-curves by allowing fly-through positional control * Allow velocity and acceleration control * Give offboard/scripting better control for quadplane if it wants * Allow Lua/DDS/Mavlink to register custom modes that build on "offboard" but call it something different - like "ACRO" or "SMART RTL" **Describe alternatives you've considered** * Continue to augment features in GUIDED which is already very convoluted **Platform** [ ] All [ ] AntennaTracker [ ] Copter [x] Plane [ ] Rover [ ] Submarine **Additional context** * Let's gather some high level requirements on what this offboard mode should accomplish before diving into design/implementation * Relates to https://github.com/ArduPilot/ardupilot/pull/28930 as discussed in https://discuss.ardupilot.org/t/dev-call-dec-23-2024/127890/2#p-507105-utc-0106-httpsgithubcomardupilotardupilotpull28930pullrequestreview-2521275286-15 **Requirements (WIP)** * Be able to achieve FlyTo behavior of clicking a waypoint on a map, but levaraging more advanced Lua/DDS path plan validation as needed [here](https://github.com/ArduPilot/ardupilot/issues/28562) * Be able to control climb rate and turn rate at the same time * Support position/velocity/acceleration control in body AND earth frame * Allow a user-defined fallback if the low-level offboard controller fails (like current timeout behavior) * Continue support of [MAVLink Standard Modes](https://mavlink.io/en/services/standard_modes.html)

github.com/ArduPilot/ardupilot

Plane:mode AUTOLAND enhancements

ArduPilot:master ← Hwurzburg:autoland_improvements_mk2

opened 10:00PM - 31 Dec 24 UTC

Hwurzburg

+96 -25

This PR enhances the new AUTOLAND mode. It adds the following new features: 1…. Allows takeoff direction capture, and hence autoland direction and use, in ACRO, STABILIZE, FBWA, and MANUAL modes, in addition to Mode TAKEOFF and AUTO NAV_TAKEOFF, using the same criteria as currently used, the first time after arming. 2. Adds an option that will set this direction upon arming using a compass, if in use, instead of ground course, allowing the user to set it on the ground arbitrarily as desired, independent of the actual takeoff direction. The only change to current behavior, besides the new features, is that once the direction is captured it persists until a disarm occurs. Therefore multiple auto takeoffs while armed no longer reset the direction captured by the first, on each subsequent takeoff. Originally, I thought this behavior was desirable, but I now believe it's not of much benefit and the new behavior avoids the current corner case issue of resetting the direction while in flight if a NAV_TAKEOFF autotakeoff is interrupted and then resumed. In addition, it removes the AUTOLAND code segments in the commands_logic and mode_takeoff modules, reducing the flash impact overall... These changes have been tested in SITL and flight-tested in all configurations I could think of.

github.com/ArduPilot/ardupilot

Networking/Filesystem: add P92000 network file client.

ArduPilot:master ← IamPete1:9P2000

opened 12:24AM - 01 Jan 25 UTC

IamPete1

+2465 -0

This allows AP to access network storage. This implements a full set of filesyst…em functions. Future work would be to allow logging to and loading scripts. This has only been tested in SITL so far, some more work is needed to get this working on real hardware (mostly just fixing the compiler warnings). It would be good to more to more union/structure based packing rather than lots of memcpy-ing. But there are some slightly tricky variable length fields. There are also loads of internal errors here to catch issues, we may want to deal with in a better way. This is also a blocking, not for use in the main thread. 9P2000 docs are a bit thin on the ground, there is this: https://ericvh.github.io/9p-rfc/rfc9p2000.html and https://www.usenix.org/legacy/event/usenix05/tech/freenix/full_papers/hensbergen/hensbergen.pdf. I have been testing against a server hosted with: https://github.com/knusbaum/go9p Note that this is client only. You cannot access the AP file system remotely, the point is that you use a external file system in the first place which you can accesses remotely without AP slowing things down.

github.com/ArduPilot/ardupilot

Compilation fixes when features disabled / feature extraction fixes

ArduPilot:master ← peterbarker:pr/compilation-error-fixes

opened 02:50AM - 05 Jan 25 UTC

peterbarker

+12 -15

- several missing dependencies - kludge to make AP_CAN_LOGGING_ENABLED work re…moved as not necessary with corrected includes - add missing #ifs for harmonic notch - several build_options.py features are only applicable on Plane or Copter, so add them into the `test_build_options.py` exemptions list (which should be moved into `build_options.py` - remove AP_NETWORKING_CAN_MCAST_ENABLED from build server options as dependent defines are not present (most notably `AP_NETWORKING_ENABLED`.

github.com/ArduPilot/ardupilot

AP_Arming: Allow arming when forcing DCM and no GPS configured

ArduPilot:master ← Ryanf55:arming-allow-forced-dcm-no-gps-to-arm

opened 07:14PM - 05 Jan 25 UTC

Ryanf55

+7 -1

# Purpose IF I do not have a GPS and don't use "Set Home Here” in mission pla…nner because I'm just flying FPV without a GCS, and I force the AHRS to use DCM, I want to be able to keep all arming checks enabled. This is for running AP as a simple stabilizer (FBWA) with minimal peripherals. I never expect a home location, and do NOT expect AUTO, RTL, and other GPS-reliant modes to be allowed. Seems like having a home location is merely a convenience for the GCS, but DCM is going to drift away anyways, and I shouldn't rely on global position or local position if I only fly in FBWA and ACRO, so why do we make it required? # Wiki This change will allow this wiki to be complete: https://github.com/ArduPilot/ardupilot_wiki/pull/6508 # Details * If we force AP to use DCM, and disable all GPS's, we never expect a home location. Currently, AP will prevent arming. * Allow users to arm DCM with all pre-arm checks enabled in this special case * This allows using AP as a simple stabilizer (FBWA) on plane * If a user uses EK3 and does not have any GPS's configured, should this be a pre-arm failure? # Testing performed This sets up a no-gps plane that is locked to DCM, and then demonstrates we can now arm. ```bash ./Tools/autotest/sim_vehicle.py -v Plane --console --map -w param set STALL_PREVENTION 0 param set GPS1_TYPE 0 param set AHRS_EKF_TYPE 0 map set showsimpos 1 reboot # Move the map to follow the sim position. mode fbwa # Wait for "pre-arm good" arm throttle rc 2 2000 rc 3 1500 ``` # To discuss * If we do **NOT** have a GPS, but we **DO HAVE** visual odom enabled, but we don't have a home, should we be allowed to arm? I suspect no currently. * If we are using EKF3, and **DO NOT** have any GPS's configured, and no other position sources, should we require a home position to arm? I suspect yes.

github.com/ArduPilot/ardupilot

Tools: fix Cygwin CI build

ArduPilot:master ← tpwrules:pr/fix-cygwin-ci

opened 09:41PM - 05 Jan 25 UTC

tpwrules

+2 -9

There are currently issues where the non-.exe-suffixed files can't be copied int…o the `artifacts` folder; `cp` claims "File exists". Previously this worked but the suffix was added by Cygwin so all files in `artifacts` had a `.exe` suffix anyway. This is evidently intended, though non-intuitive, behavior: https://sourceware.org/legacy-ml/cygwin/2009-08/msg00293.html > On Cygwin, you should avoid having a file "foo" and a file "foo.exe" in the same directory at all cost to avoid puzzeling POSIX borderline behaviour like this. What you do is essentially in the "not supported" class of problems. > [...] Cygwin does not check for a file "foo", if the name of the file is explicitely given as "foo.exe". Apparently something similar was addressed in PR #20926; the current code installs files with both suffixes, but that fix contradicts the info above and now has broken. This PR changes the code to only install .exe-suffixed files, as opposed to only non-.exe-suffixed files, which was the behavior before that PR. The set of installed files should not actually change.

github.com/ArduPilot/ardupilot

Use HAL_GCS_ENABLED in place of HAL_NO_UARTDRIVER

ArduPilot:master ← peterbarker:pr/HAL_NO_UARTDRIVER-usage

opened 11:31AM - 06 Jan 25 UTC

peterbarker

+13 -23

``` pbarker@threads:~/rc/ardupilot$ ~/rc/ardupilot/Tools/scripts/filter_size_co…mpare_branches_csv.py --hide /tmp/some.csv ------------------------ --------- ----- ------ ---- ----- ----- --- Board AP_Periph blimp copter heli plane rover sub SITL_arm_linux_gnueabihf 0 0 0 0 0 0 SITL_x86_64_linux_gnu 0 0 0 0 0 0 sw-nav-f405 112 ------------------------ --------- ----- ------ ---- ----- ----- --- pbarker@threads:~/rc/ardupilot$ ``` Past this the sw-nav-f405 will emit a warning via DroneCAN about any ISR flood that might occur. That looks unlikely given the hwdef.

CAN Redundancy

CraigElder · January 7, 2025, 2:22am

Attendee count (max): 19

UTC2300 - sidebar on CAN redundancy

Really need to document this
Topic that most people don’t tend to think about
If you have to wires to a CAN bus and cut one it’s not the same
Periphs can have 2 buses coming in
- Which gives you some redundancy
- Multiple receives means drivers are receiving twice as much traffic
- Could potentially only send on second interface if we can’t send on first

UTC2303 - vehicle update

ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub
F.bus
First have renamed fport2 to F.bus
- All very confusing naming-wise
- It’s a different baud rate to fport2
- V.bus is same as fport2 but 460800
Leonard’s recovery patches need to be looked at again
- Tridge had an “interesting” 80-degree roll due to a strong wind gust
- Might suffer from the inverted-recover problem which we’ve previously looked at
Looking at transition-dip issues
- PH has an alternative to tridge’s transition fixes, “throttle slew”
C++ quicktune in Plane for 4.6 but not Copter
- Report of crash on the 4.6 quicktune
- Qloiter quicktune and crashed
- Unstable, full throttle, crashed into ground
- Tridge will look

UTC2311 - Dds yaw control plane by Ryanf55 · Pull Request #26143 · ArduPilot/ardupilot · GitHub

DDS yaw control for Plane
Control yaw rate of Plane in Earth frame
- How quickly you can achieve a 360 on Plane
- Fixed-wing
- Circle turn-rate and radius
- L1 controller tuning
  - Lateral acceleration which gets converted to a roll
  - Not around a fixed point
  - More about the rate you turn
Why?
- Lower-level control
- Dubins calculations in ArduPilot would be nice
  - Shortest path for a vehicle with a given minimum turning radius
- Leonard’s thinking of adding “circular segment” to Copter
  - Arc past waypoint
  - Can do it with fractional loiter turns
  - Maybe somehow use splines?
    - Splines are not as good
      - Non-circular shapes OK, circles less so
      - MP also doesn’t plot them correctly
    - A new waypoint type?
Ryan and Tom have been looking at implementing the trajectory message
- Path Planning Protocol (Trajectory Interface) | MAVLink Guide
- Used to feed multiple waypoints (5) that model a dubins curve, without engaging a LOITER or using a mission
- Abusing the message - it was supposed to come from the autopilot
- Prototype branch: Commits · magicrub/ardupilot · GitHub
- …… Note that Craig copies these notes as text, not preserving links. You can’t do linked text….

UTC2328 - AP_GPS: Fix GSOF delay in PX-1 by Ryanf55 · Pull Request #27038 · ArduPilot/ardupilot · GitHub

Correct delay for GPS in PX-1
- 6.5 milliseconds is a very small amount of time
- We need flight lots to prove that number out
- We have a tool that graphs the correlation between the IMU and the GPS velocity
  - Finds lag with highest correlation
  - Works best with fixed wing
  - Assume accels are zero-lag
  - How much to do you need to shift the GPS velocity to assume a zero lag
    - That gives you the lag
  - Circle mode on Copter should work, but traditionally done with a Plane

UTC2332 - Gsof bitmask flexible parser by Ryanf55 · Pull Request #28802 · ArduPilot/ardupilot · GitHub

GSOF flexible parser
Some debate around making the static check a runtime
A few comments but generally favourable review
Recommended

UTC2340 - AP_DDS: Make GPS DDS features depend on GPS by Ryanf55 · Pull Request #28341 · ArduPilot/ardupilot · GitHub

Make GPS DDS feature dependent on GPS
We should be able to ge DDS on the CustomBuild server shortly

UTC2344 - AP_Scripting: add bindings for servo telemetry by IamPete1 · Pull Request #28857 · ArduPilot/ardupilot · GitHub

Add bindings for servo telemetry
- Now just gets the structure
- Generator checks the validity bitmask
- No need to check the validity bitmask yourself
- Markup which specifies the relevant bitmask
  - “Valid_mask”
  - Will also work when we get around to do setting
- Saves a few bytes over the individual methods

UTC2348 - ArduPlane: add guided timeout by Ryanf55 · Pull Request #28943 · ArduPilot/ardupilot · GitHub

Add guided timeout to Plane
- It’s configurable in Copter, so make it configurable Plane too
Is this actually a timeout?
- This just ignores old messages?
Interactions with the new “offboard” mode make this problematic
- MissionPlanner-with-right-click is what you would be doing in GUIDED
- “OFFBOARD” would be for companion-computer control
  - But too long for a parameter tree base name
- OBRD_?
- OFBD_?
Changing between offboard and guided will give you an alternative to get out of external script control
Leonard
- Auto is all planned stuff
- Guided is non-deterministic command handling
“Offboard” is a terrible name as it’s most likely to come from LUA or an onboard companion computer
- 11:00 AM]rmackay9: the other team uses the word “offboard”…
The fancier external controls will still be done in offboard, but scripting will still work in auto…
Plane Offboard Support - Replace GUIDED mode · Issue #28956 · ArduPilot/ardupilot · GitHub
“What is the Plane doing?”
- “Doing a takeoff”
- “Flying home”
- Kind of like an “immediate objective”, also called “flight stage”

UTC0005 - Plane Offboard Support - Replace GUIDED mode · Issue #28956 · ArduPilot/ardupilot · GitHub

Comments would be good!
[11:06 AM]Henry Wurzburg: keep hearing external control XCTL

UTC0107 - Tools: ros2: Clean up copter takeoff by Ryanf55 · Pull Request #28974 · ArduPilot/ardupilot · GitHub

Clean up copter takeoff example in ros2
Merged!

UTC0107 - Plane:mode AUTOLAND enhancements by Hwurzburg · Pull Request #28976 · ArduPilot/ardupilot · GitHub

Mode AUTOLAND enhancements
Extends autoland so you don’t just use it for mode-takeoff but also in other modes like manual or fbwa
Also lock in a landing direction at arming time
Once a direction is captured it persists until disarm
- That’s a change in behaviour
Flown a lot in SITL and by Henry
If you capture at arming time then your landing direction is the direction you are pointing not adjusted by the landing offset
- So if the option is set to 2 then the offset is never used
ARMING_REQUIRE 0?
- You’re stuffed anyway….
Takeoff criteria have worked very well
- Captures takeoff direction very well
Move method and state from Plane into Mode?
- We can move it out later
Valid suggestion from blog post
- When flying at much higher altitudes
  - No way to make an autolanding because you are too high to get to base-leg waypoint
- Henry has coded and flown loiter-to-alt enhancement to autoland
- Make the base a loiter-to-alt waypoint
- Tangent breakout stuff would be great
- Choose direction based on base-leg turn
- TECS_SINK_MAX to calculate the glide-slope and do loiter if required
- Bonus points look at wind
- Do away with the base leg?
- Because you might not loiter

UTC0125 - Networking/Filesystem: add 9P2000 network file client. by IamPete1 · Pull Request #28977 · ArduPilot/ardupilot · GitHub

Add P92000 network file client
So you can host a filesystem on your CC and poke at it from your FC
This is done as an @filesystem
- SD card replacement eventually thus want to use it as root
- Log to both network filesystem and the SD card
Server is written in “go” at the moment
- Provide root directory it is serving
- Hasn’t been tested with logging at the moment
- Tested by ftp transfer to the new filesystem and making sure it appeared on the CC
Lots of error checking to be added
- Remounting and reopen!
If we’re running scripts off this then do we block scripting until this starts?
CI fire up server and make sure it works
Maybe shared fs between CubeRedPrimary and CubeRedSecondary?!

UTC0154 - AP_Math: prevent FPE in SITL when limitting accel, vectors by peterbarker · Pull Request #28981 · ArduPilot/ardupilot · GitHub

Using MAX() to avoid an FPE
Should we change safe_sqrt to be the original intent which is to avoid the problem in the first place?
Thomas will force-push Peter’s branch
- Internal-error on nan output
- Check input is > =0, return 0 instantly otherwise

UTC0114 - Allow individual boards to define HAL_INS_RATE_LOOP and enable on F4 with one IMU by andyp1per · Pull Request #28984 · ArduPilot/ardupilot · GitHub

Enable HAL_INS_RATE_LOOP and enable on F4 with one IMU
Change sched loop default if someone has fast-loop-rate default
Tridge thinks it’s OK but it’s a Copter-only change…
merged!

UTC0123 - hwdef: remove bad flashing-last-sector comment by peterbarker · Pull Request #28985 · ArduPilot/ardupilot · GitHub

Remove bad comments
Maybe a Nucleo came with a locked sector?
merged!

UTC0124 - Copter: switch off fast rate while doing temperature calibration by andyp1per · Pull Request #29000 · ArduPilot/ardupilot · GitHub

Switch off fast rate while doing tcal
Callbacks don’t get called?!
Need a few questions answered
- What else isn’t being called?!
- What testing?
- Why is it needed?

UTC0127 - AP_BLHeli: normalize ESC index correctly with iomcu by andyp1per · Pull Request #29001 · ArduPilot/ardupilot · GitHub

Normalize esc index correctly with iOMCU
Queries around why
Want user to test

UTC0136 - Compilation fixes when features disabled / feature extraction fixes by peterbarker · Pull Request #29007 · ArduPilot/ardupilot · GitHub

Compilation fixes when options enabled/disabled
Merged!

UTC0139 - AP_Arming: Allow arming when forcing DCM and no GPS configured by Ryanf55 · Pull Request #29012 · ArduPilot/ardupilot · GitHub

Allow arming when forcing DCM and no GPS is configured
Plane without GPS/airspeed
Just using a well-tuned plane with a gyro
No speed scaling
Well-tuned at a specific airspeed
We have code that tries to cope with this scenario
But without airspeed and without GPS
- We speed-scale on throttle
- As we raise/lower throttle your scaling changes by a significant scale
  - Doug Weibel’s code
Ryan wants to fly a gyro
- Speed-scaling is the real problem
- If an RC receiver can do this, why can’t ArduPilot?
- They run fast…
  - Higher-order integration/differentiation methods make a difference, after all
- Maybe a drag number that we use to estimate airspeed etc?!
  - Scripting airspeed backend?
  - Replace the throttle-based one
manual/acro will work
- FBWA…. Maybe?!
- Why?
  - GPS sensor coming from China and he wants to fly
Can’t allow arming without location by default
- Requires GPS_TYPEs of zero
Could probably expect the leans….
An AHRS_OPTIONS bit to say it’s OK to arm without position?
- If it is only the vehicle code checking it?!
Want the crude speed estimate code
- Perhaps a sort of inverse TECS instead?
If Ryan wants to support, ….
An AP_Airspeed_Integrated

UTC0205 - Tools: fix Cygwin CI build by tpwrules · Pull Request #29013 · ArduPilot/ardupilot · GitHub

Fixes cygwin build
Something we were doing wrong combined with an upstream bug
Break cronjob?
We only ended up with 5 files copied anyway as the copy was magically mapped by cygwin, overwriting the same file
Need to make sure MissionPlanner continues to move forward with its versions

UTC0210 - Use HAL_GCS_ENABLED in place of HAL_NO_UARTDRIVER by peterbarker · Pull Request #29018 · ArduPilot/ardupilot · GitHub

Use HAL_GCS_ENABLED in place of HAL_NO_UARTDRIVER
Merged!

UTC0211 - Copter update

Beta3 time!
Partner’s call tomorrow morning

UTC0216 - Conference update

Look for announcement tomorrow
Conference is at field
Four days?
- One day for partner presentations?
- Third day was supposed to be documentation day?
  - Just a general conference day
- Or two tracks on one of the days?
- Poster-presentations is another way to expand

Attendee count (max): 19

UTC2300 - sidebar on CAN redundancy

UTC2303 - vehicle update

UTC2311 - Dds yaw control plane by Ryanf55 · Pull Request #26143 · ArduPilot/ardupilot · GitHub

…… Note that Craig copies these notes as text, not preserving links. You can’t do linked text….

UTC2328 - AP_GPS: Fix GSOF delay in PX-1 by Ryanf55 · Pull Request #27038 · ArduPilot/ardupilot · GitHub

UTC2332 - Gsof bitmask flexible parser by Ryanf55 · Pull Request #28802 · ArduPilot/ardupilot · GitHub

UTC2340 - AP_DDS: Make GPS DDS features depend on GPS by Ryanf55 · Pull Request #28341 · ArduPilot/ardupilot · GitHub

UTC2344 - AP_Scripting: add bindings for servo telemetry by IamPete1 · Pull Request #28857 · ArduPilot/ardupilot · GitHub

UTC2348 - ArduPlane: add guided timeout by Ryanf55 · Pull Request #28943 · ArduPilot/ardupilot · GitHub

UTC0005 - Plane Offboard Support - Replace GUIDED mode · Issue #28956 · ArduPilot/ardupilot · GitHub

UTC0107 - Tools: ros2: Clean up copter takeoff by Ryanf55 · Pull Request #28974 · ArduPilot/ardupilot · GitHub

UTC0107 - Plane:mode AUTOLAND enhancements by Hwurzburg · Pull Request #28976 · ArduPilot/ardupilot · GitHub

UTC0125 - Networking/Filesystem: add 9P2000 network file client. by IamPete1 · Pull Request #28977 · ArduPilot/ardupilot · GitHub

UTC0154 - AP_Math: prevent FPE in SITL when limitting accel, vectors by peterbarker · Pull Request #28981 · ArduPilot/ardupilot · GitHub

UTC0114 - Allow individual boards to define HAL_INS_RATE_LOOP and enable on F4 with one IMU by andyp1per · Pull Request #28984 · ArduPilot/ardupilot · GitHub

UTC0123 - hwdef: remove bad flashing-last-sector comment by peterbarker · Pull Request #28985 · ArduPilot/ardupilot · GitHub

UTC0124 - Copter: switch off fast rate while doing temperature calibration by andyp1per · Pull Request #29000 · ArduPilot/ardupilot · GitHub

UTC0127 - AP_BLHeli: normalize ESC index correctly with iomcu by andyp1per · Pull Request #29001 · ArduPilot/ardupilot · GitHub

UTC0136 - Compilation fixes when features disabled / feature extraction fixes by peterbarker · Pull Request #29007 · ArduPilot/ardupilot · GitHub

UTC0139 - AP_Arming: Allow arming when forcing DCM and no GPS configured by Ryanf55 · Pull Request #29012 · ArduPilot/ardupilot · GitHub

UTC0205 - Tools: fix Cygwin CI build by tpwrules · Pull Request #29013 · ArduPilot/ardupilot · GitHub

UTC0210 - Use HAL_GCS_ENABLED in place of HAL_NO_UARTDRIVER by peterbarker · Pull Request #29018 · ArduPilot/ardupilot · GitHub

UTC0211 - Copter update

UTC0216 - Conference update

UTC0221 - close