Dev Call Jul 17, 2023

CraigElder · July 17, 2023, 10:38pm

**Issues & Pull Requests"

github.com/ArduPilot/ardupilot

AP_Motors: Heli: move swash functionality down into swash lib

ArduPilot:master ← IamPete1:heli_swash_rework

opened 12:17AM - 05 May 23 UTC

IamPete1

+454 -420

Moves a bunch of functionality down into the swash lib and tidies it up a bit. S…hould be functionally identical although I have not done significant testing yet. The only outstanding tidy up of the swash stuff is its use in `get_motor_mask` that is just wrong and should be removed. It should only return actual motors. I will do a PR for that at somepoint but I didn't want to confuse this PR with that issue.

github.com/ArduPilot/ardupilot

Tools: AP_Periph: Add CAN_MIRROR

ArduPilot:master ← WickedShell:wickedshell/can-mirror

opened 10:59PM - 09 May 23 UTC

WickedShell

+90 -0

This allows us to mirror CAN traffic between ports on demand. This allows you to… run a separate CAN bus off of an AP_Periph node. This can be very useful for managing CAN bus stubs. This was tested with CubeOrange-periph with `define HAL_PERIPH_CAN_MIRROR` added to the hwdef. I then connected a CubeOrangePlus to a Zubax babel (let's call this `BABEL1`), and the other babel port to the CubeOrange-periph on CAN1. From the periph node I then connected CAN2 to another babel (let's call this `BABEL2`). Without any changes `BABEL2` can only see data from the AP_Periph node, and can't see the cube, or `BABEL1`. If I then set the parameter and reboot `BABEL2` is able to see both the flight controller, and the `BABEL1`l, and from `BABEL1` I can actually see `BABEL2`.

github.com/ArduPilot/ardupilot

AP_AHRS: give clearer prearm messagesAP_AHRS:Improve prearm messages for filter inconsistencies

ArduPilot:master ← Hwurzburg:messages

opened 03:32PM - 07 Jul 23 UTC

Hwurzburg

+6 -6

this comes up over and over.... two alternatives for improvement....the latter …commit being suggested by Tim T. and I think I agree....at least it gives the user directions on how to resolve it... but this is about as clear as you can make it unfortunately since the inconsistency can be from many sources whichever the group decides on I will remove the other/squash @peterbarker we need to discuss TIm's idea of automating this page also : https://ardupilot.org/plane/docs/common-prearm-safety-checks.html....I sent you a metadata format proposal edit: Peter and I have talked at length....there are 3 options: 1. I try to improve the wiki page on prearms....which I have done 2. we try to add metadata to selected cryptic prearms like this and parse to auto update the wiki docs in some manner...currently there are over ~400 potential messages although many don't need explanation 3. we add a mechanism to provide the GCS with json base information on selected prearms that allow clicking in the messages screen to provide detailed resolution data #3 is a very large effort #2 is many days of python work and testing plus the C++ effort (which Peter is unable to do with his current load) #1 is done, but any other nagging messages can be added and expanded... inflight error messages are another topic and beyond scope here

github.com/ArduPilot/ardupilot

AP_Mount: Viewpro c++ driver

ArduPilot:master ← rmackay9:viewpro-cpp

opened 07:55AM - 10 Jul 23 UTC

rmackay9

+1201 -7

This PR moves the Viewpro camera gimbal support from Lua (see wiki here) to c++.… The justification for moving to c++ is that it greatly simplifies the setup for the user and we expect this to be a regularly used driver because Viewpro supplies literally dozens of different gimbals that can be used in many different applications. An example of two users struggling to install and use the existing Viewpro Lua driver [can be seen here](https://discuss.ardupilot.org/t/viewpro-gimbal-setting-help/100173). Special thanks to Viewpro for supplying the [A10TR](https://www.viewprouav.com/product/a10tr-10x-triple-sensor-ai-tracking-camera-with-1500m-laser-rangefinder.html) used during the development of this driver. This has been tested on real hardware. Below are screen shots of the mavlink messages from AP to the GCS ![viewpro-mavlink-testing](https://github.com/ArduPilot/ardupilot/assets/1498098/300a0642-b68b-425c-8963-cf57b1f545c4) Below is a screenshot of Mission Planner showing the camera recording and taking pictures. ![viewpro-rec-and-pic-testing](https://github.com/ArduPilot/ardupilot/assets/1498098/b2255b36-62f9-4839-ab44-746e106a1827) The only feature this gimbal does not implement is the ability to switch video streams. A follow-up PR will add support for two new auxiliary switch options that will allow: 1. switching between lenses (e.g. RGB vs Thermal) and .. 2. switching between regular, picture-in-picture and fused We will remove the Lua script from master (but leave it in earlier stable branches of course) once a stable release (4.5?) includes this new driver.

github.com/ArduPilot/ardupilot

Tidy airspeed includes

ArduPilot:master ← peterbarker:pr/airspeed-tidy

opened 01:24PM - 12 Jul 23 UTC

peterbarker

+101 -60

``` Board AP_Periph blimp bootloader copter heli iofirmware … plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 0 ``` I've run this through test_build_options.py and it hangs together for CubeOrange and *AIRSPEED*

github.com/ArduPilot/ardupilot

Add DO_WINCH Deliver capability.

ArduPilot:master ← ohitstarik:Add_DoWinch_Deliver

opened 04:26PM - 13 Jul 23 UTC

ohitstarik

+88 -2

These changes implement the [#4 enum winch action ](https://mavlink.io/en/messag…es/common.html#WINCH_DELIVER). Here is a video bench demonstrating the delivery: https://youtu.be/P4NOgKyRjUs In short, once the code receives the mavlink message, it lowers the winch via rate mode at its max setting and monitors the line tension. Once the line tension drops below a pre-determined threshold (might be smarter to move this to a parameter), it stops, and raises the winch to the same position it started at. Looking for any feedback. All the best.

github.com/ArduPilot/ardupilot

AP_Vehicle: dynamic notch use min ratio for RPM tracking

ArduPilot:master ← IamPete1:rpm_tracking_min_ratio

opened 06:15PM - 14 Jul 23 UTC

IamPete1

+1 -1

For RPM the reference frequency is both a minimum for tracking and the default v…alue used if RPM goes bad, these two uses conflict. By using the existing minimum ratio parameter, which defaults to 1, we can allow the RPM to track below the reference. This is useful on a heli where the head should be a fixed speed as set by the governor we can now set that as the reference point to be used if RPM fails and use the ratio to allow the RPM to track lower than that in run-up or run-down.

github.com/ArduPilot/ardupilot

AP_Logger: add Write_NamedValueFloat

ArduPilot:master ← peterbarker:pr/Write_NamedValueFloat

opened 05:08AM - 15 Jul 23 UTC

peterbarker

+15 -0

for getting diagnostics into the code during ddebug fast This doesn't use any… flash until you use it: ``` Board AP_Periph blimp bootloader copter heli plane rover sub Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * ```

github.com/ArduPilot/ardupilot

GCS_MAVLink: convert to COMMAND_INT to handle MAV_CMD_DO_SET_HOME

ArduPilot:master ← peterbarker:pr/handle-command-do-set-home-as-int

opened 06:47AM - 15 Jul 23 UTC

peterbarker

+4 -34

``` Board AP_Periph blimp bootloader copter heli iofirmware … plane rover sub Durandal -152 * -152 -160 -152 -152 -152 HerePro -208 Hitec-Airspeed * KakuteH7-bdshot -216 * -248 -248 -248 -216 -224 MatekF405 -216 * -232 -240 -240 -216 -216 Pixhawk1-1M-bdshot -200 -192 -192 -200 -200 -200 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -208 * -216 -224 -224 -208 -208 skyviper-v2450 -184 ``` autotest tests both cases. Also tested in SITL; MAVProxy sends `command_long` for "Set Home (with height)" and `command_int` for "Set Home". ``` Setting home to: -35.36111181492978 149.16259379385926 Got COMMAND_ACK: DO_SET_HOME: ACCEPTED < HOME_POSITION {latitude : -353611118, longitude : 1491625937, altitude : 584090, x : 239.368896484375, y : -239.99937438964844, z : -0.0, q : [1.0, 0.0, 0.0, 0.0], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 47834192} Setting home to: -35.36423335882884 149.16169881789722 590.4801835676544 Got COMMAND_ACK: DO_SET_HOME: ACCEPTED < HOME_POSITION {latitude : -353642349, longitude : 1491616973, altitude : 590480, x : -108.29097747802734, y : -321.36981201171875, z : -6.389999866485596, q : [1.0, 0.0, 0.0, 0.0], approach_x : 0.0, approach_y : 0.0, approach_z : 0.0, time_usec : 63687015} ```

Filter Tool

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) - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [ ] 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 - [ ] 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 - [ ] 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 - [ ] 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

Copter

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: - [ ] 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)) - [ ] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594)) Confirmed issues: - [ ] 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 - [ ] 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 - [ ] 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)) - [ ] 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. - [ ] 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)) - [ ] 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: - [ ] 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] 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

CraigElder · July 18, 2023, 1:57am

Attendee count (max): 21

UTC1102 - AP_Motors: Heli: move swash functionality down into swash lib by IamPete1 · Pull Request #23684 · ArduPilot/ardupilot · GitHub

Move swash functionality down into swash lib
Get_tail_mask?
Two tail rotors?
- Two motors set to motor4?
Merged!

UTC1104 - GCS_MAVLink: convert to COMMAND_INT to handle MAV_CMD_DO_SET_HOME by peterbarker · Pull Request #24316 · ArduPilot/ardupilot · GitHub

Implement do_set_home via command int
Merged!

UTC1110 - Tools: AP_Periph: Add CAN_MIRROR by WickedShell · Pull Request #23730 · ArduPilot/ardupilot · GitHub

Add CAN_MIRROR support
Long wire runs on CAN
Timesync is a problem
Guaranteed delivery is a problem
- E.g. flight controller tries to send packet
- Remains in flight queue until message has been received on the bus
- Whereas this way it will go into the buffer
Source can NODE ID will be the wrong node?
- Will be peripheral node?
  - Not in testing….
Queue stats are good, but can’t help with this one
CAN_FORWARDING rather than CAN_MIRRORING?
Should be in can_mirror.cpp

UTC1122 - Plane: output rudder and steering directly removing steering_control struct by IamPete1 · Pull Request #24230 · ArduPilot/ardupilot · GitHub

Output rudder and steering directory, removing persistent state
Should check mirroring of the rudder based on the ground steering altitude
Really need AeroScout in the released models
Nav-scripting doesn’t output a rudder
- Only with yaw rate controller?
  - No, also do rudder override for stall turns
Need a bunch of ground-steering testing

UTC1134 - Add DO_WINCH Deliver capability. by ohitstarik · Pull Request #24292 · ArduPilot/ardupilot · GitHub

Add DO_WINCH delivery capability
Monitors line tension
Should be part of payload place?
- Cross-over with Peter’s old PR which does winching as part of payload place
Should be a script instead?
Hook in lua binding to change state of payload place?

UTC1150 - AP_AHRS: give clearer prearm messages by Hwurzburg · Pull Request #24243 · ArduPilot/ardupilot · GitHub

Improve prearm messages for filter inconsistencies
roll/pitch inconsistent messages
Happens a bit after flight as we’ve learnt biases and now we disagree
Number of degrees difference is useless to a user?
- Tridge doesn’t think so
- Does it give you a progress bar of sorts?
- Shouldn’t take away information from people that want it!

UTC0116 - RC_Channel:clean up metadata for AUX switches by Hwurzburg · Pull Request #24248 · ArduPilot/ardupilot · GitHub

Clean up metadata for aux switches
consistency
Mode should be at beginning for modes
Randy wants modes sorted to top of list…
Randy will merge

UTC0125 - Matek F765-SE bdshot enhancement by Hwurzburg · Pull Request #24253 · ArduPilot/ardupilot · GitHub

Add bdshot to existing F765-SE board
Henry needs a bidir ESC
Merged!

UTC0127 - AP_Mount: Viewpro c++ driver by rmackay9 · Pull Request #24259 · ArduPilot/ardupilot · GitHub

Viewpro c++ driver
Tested on real hardware
Rebased on master
Needs a few changes for loop checking
More features coming for this driver!
Fixes tracking of objects by not poking the thing with rates/angles while it is tracking

UTC0128 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
Bugfix from MdB to do with cross-tracking
- Will be in next beta
- Problems with QGC?
- Mission transfer failed?
Beta4 will also contain scripting restart fixes

UTC0148 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Copter update
Not much feedback from the Copter beta
Bit on the yaw tuning stuff
Extra segment required on Rover to get SCurves working, probably

UTC0151 - Filter tool update

filter review tool
- Raw sensor or batch logging file gets uploaded
- Hit calculate
- Gets lots of FFT plots
- IMU spectrum
Estimatedpost-filter!
Loop-rate aliasing option to show how your control loops might be affected by your vibes
Bode plots
Open-in-old-filter-tool
- Can help to show where phase lag is coming from
Needs documentation!
https://github.com/ArduPilot/WebTools/tree/main/FilterTool
Down-sampling to loop rate may be causing aliasing?
Energy close to loop rate is bad
Fixed-wing at 50Hz - if you have energy left over at 100Hz you may end up affecting the rate-loop response
- You want loop-rate-aliasing to be low…

UTC0202 - Tidy airspeed includes by peterbarker · Pull Request #24279 · ArduPilot/ardupilot · GitHub

Move airspeed includes into config.h
merged!

UTC0203 - Allow notch frequencies to be logged at full rate in plane by andyp1per · Pull Request #24281 · ArduPilot/ardupilot · GitHub

Allow notch frequencies to be logged at full rate in plane
merged!

UTC0203 - Extract more MacOSX fixes from CI-problematic PR by peterbarker · Pull Request #24287 · ArduPilot/ardupilot · GitHub

Extract more fixes from MacOSX / single precision PR from Andy
Merged!
Found the problem with time in Andy’s PR
- Floating point time since 1970

UTC0207 - AP_HAL_SITL: correct return values on UARTDriver write call by peterbarker · Pull Request #24290 · ArduPilot/ardupilot · GitHub

SITL UARTDriver write call incorrect return values
Merged!

UTC0217 - AP_Beacon: MarvelMind: avoid potentially reading INT32_MAX bytes of input by peterbarker · Pull Request #24294 · ArduPilot/ardupilot · GitHub

Marvelmind stop reading too many bytes
Merged!

UTC0219 - AP_OpticalFlow: use vector rotate method by peterbarker · Pull Request #24295 · ArduPilot/ardupilot · GitHub

Use vector rotate method to rotate vector
Merged!

UTC0220 - AP_Camera: stop casting int16_t to uint8_t in read result by peterbarker · Pull Request #24300 · ArduPilot/ardupilot · GitHub

Stop casting int16_t read to uint8_t
Andy to test

UTC0222 - AP_DDS: compile with -std=c++17 by srmainwaring · Pull Request #24303 · ArduPilot/ardupilot · GitHub

Compile with std=c++17
AP_DDS: compile with -std=c++17 by srmainwaring · Pull Request #24303 · ArduPilot/ardupilot · GitHub
ABI compatibility is not guaranteed!
- Mix two compilation standards in the same compiler and crunch?!
We have to be careful with this as compilers can make assumptions like “new can never fail” and that caught us badly
Will close this and raise an issue

UTC0231 - AP_Vehicle: dynamic notch use min ratio for RPM tracking by IamPete1 · Pull Request #24310 · ArduPilot/ardupilot · GitHub

Dynamic notch use min ratio
Merged!
Some fun phase-lag issues whn you’ve got multiple sets of props running at different RPMs on quadplanes

UTC0232 - AP_Logger: add Write_NamedValueFloat by peterbarker · Pull Request #24315 · ArduPilot/ardupilot · GitHub

Write_NamedValueFloat
Merged!

UTC0234 - AP_Arming:change metatdata for ARMING_REQUIRE by Hwurzburg · Pull Request #24333 · ArduPilot/ardupilot · GitHub

Change metadata for ARMING_REQUIRE
Merged!

UTC0235 - Periph: make uCenter fw update more reliable by tridge · Pull Request #24324 · ArduPilot/ardupilot · GitHub

Make fw update more reliable
readbuf/writebuf setsize optimisation
Merged!

UTC0239 - hwdef: remove bootloader flashing from MambaF405US-I2C and omnibusf4p… by peterbarker · Pull Request #24336 · ArduPilot/ardupilot · GitHub

Remove bootloader flashing from a pair more boards
Merged!

Attendee count (max): 21

UTC1102 - AP_Motors: Heli: move swash functionality down into swash lib by IamPete1 · Pull Request #23684 · ArduPilot/ardupilot · GitHub

UTC1104 - GCS_MAVLink: convert to COMMAND_INT to handle MAV_CMD_DO_SET_HOME by peterbarker · Pull Request #24316 · ArduPilot/ardupilot · GitHub

UTC1110 - Tools: AP_Periph: Add CAN_MIRROR by WickedShell · Pull Request #23730 · ArduPilot/ardupilot · GitHub

UTC1122 - Plane: output rudder and steering directly removing steering_control struct by IamPete1 · Pull Request #24230 · ArduPilot/ardupilot · GitHub

UTC1134 - Add DO_WINCH Deliver capability. by ohitstarik · Pull Request #24292 · ArduPilot/ardupilot · GitHub

UTC1150 - AP_AHRS: give clearer prearm messages by Hwurzburg · Pull Request #24243 · ArduPilot/ardupilot · GitHub

UTC0116 - RC_Channel:clean up metadata for AUX switches by Hwurzburg · Pull Request #24248 · ArduPilot/ardupilot · GitHub

UTC0125 - Matek F765-SE bdshot enhancement by Hwurzburg · Pull Request #24253 · ArduPilot/ardupilot · GitHub

UTC0127 - AP_Mount: Viewpro c++ driver by rmackay9 · Pull Request #24259 · ArduPilot/ardupilot · GitHub

UTC0128 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0148 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0151 - Filter tool update

UTC0202 - Tidy airspeed includes by peterbarker · Pull Request #24279 · ArduPilot/ardupilot · GitHub

UTC0203 - Allow notch frequencies to be logged at full rate in plane by andyp1per · Pull Request #24281 · ArduPilot/ardupilot · GitHub

UTC0203 - Extract more MacOSX fixes from CI-problematic PR by peterbarker · Pull Request #24287 · ArduPilot/ardupilot · GitHub

UTC0207 - AP_HAL_SITL: correct return values on UARTDriver write call by peterbarker · Pull Request #24290 · ArduPilot/ardupilot · GitHub

UTC0217 - AP_Beacon: MarvelMind: avoid potentially reading INT32_MAX bytes of input by peterbarker · Pull Request #24294 · ArduPilot/ardupilot · GitHub

UTC0219 - AP_OpticalFlow: use vector rotate method by peterbarker · Pull Request #24295 · ArduPilot/ardupilot · GitHub

UTC0220 - AP_Camera: stop casting int16_t to uint8_t in read result by peterbarker · Pull Request #24300 · ArduPilot/ardupilot · GitHub

UTC0222 - AP_DDS: compile with -std=c++17 by srmainwaring · Pull Request #24303 · ArduPilot/ardupilot · GitHub

UTC0231 - AP_Vehicle: dynamic notch use min ratio for RPM tracking by IamPete1 · Pull Request #24310 · ArduPilot/ardupilot · GitHub

UTC0232 - AP_Logger: add Write_NamedValueFloat by peterbarker · Pull Request #24315 · ArduPilot/ardupilot · GitHub

UTC0234 - AP_Arming:change metatdata for ARMING_REQUIRE by Hwurzburg · Pull Request #24333 · ArduPilot/ardupilot · GitHub

UTC0235 - Periph: make uCenter fw update more reliable by tridge · Pull Request #24324 · ArduPilot/ardupilot · GitHub

UTC0239 - hwdef: remove bootloader flashing from MambaF405US-I2C and omnibusf4p… by peterbarker · Pull Request #24336 · ArduPilot/ardupilot · GitHub

UTC0242 - close