Dev Call Jul 3, 2023

add support for RC in AP_Periph

ArduPilot:master ← peterbarker:pr/ap-periph-rcprotocol

opened 03:17AM - 16 May 23 UTC

+404 -3

This currently only allows for instantiation of RC in periph. We still need a… DroneCAN packet format, and an implementation of that both for AP_Periph (sending side) and `AP_RCProtocol_DroneCAN` (receiving side). - [x] SBUS test (OrangeRX, throttle-based failsafe only) - [x] FPort test (FS-A8S) - [x] DSM test - [x] failover test - [x] recovery test - [x] no-pulses vs SBUS failsafe test

Networking

ArduPilot:master ← magicrub:pr/networking4_rebase

opened 02:01AM - 25 May 23 UTC

magicrub

+7157 -150

This adds native Ethernet/Networking support to ArduPilot. Big thanks to @bugobl…iterator , we've been working on this in various forms for far too long. In an effort to get a PR presented for review in a timely manor, this PR is a massive squash of all the commits from @bugobliterator and I so all the history is lost. We'll want to rework all the commits before it merges. This needs this ChibiOS PR: https://github.com/ArduPilot/ChibiOS/pull/71 More details in the ArduPilot Dev Conference 2023 Networking presentation: https://www.youtube.com/watch?v=r4G2YIHobPo This is the first step... This PR effects these platforms: - [ ] ARKV6X (needs testing @AlexKlimaj ) - [x] CubeRedPrimary (needs testing @bugobliterator ) - [x] CubePilot ETH CAN Mod - [X] kha_eth (a custom AP_Periph I'm testing on: [youtube link](https://www.youtube.com/watch?v=0W48w2YWVUA) - NOT FOR SALE) - [x] Pixhawk6x (needs testing @Ryanf55 @tridge ) - [ ] Pixhawk5x (Disabled, we need to figure out how and if we want this on a 512KB RAM system) There's another branch that brings in [lua_socket](https://github.com/lunarmodules/luasocket) that pulls in a bunch of modules that we will use for serving http content.

Rover: quik tune lua script

ArduPilot:master ← rmackay9:rover-circle1-autotune

opened 06:19AM - 06 Jun 23 UTC

+1266 -23

This implements a "QuickTune" for Rovers and Boats based on the VTOL-quick tune …method. This script is meant to be run with the vehicle in Circle mode running above 20% throttle and turning at at least 10 deg/sec. The axes tuned are: - Steering Turn Rate controller (ATC_STR_RAT_P, ATC_STR_RAT_I, ATC_STR_RAT_D, ATC_STR_RAT_FF) - Speed/Throttle controller (ATC_SPEED_P, ATC_SPEED_I, ATC_SPEED_D, CRUISE_SPEED, CRUISE_THROTTLE) - Position controller's velocity controller (PSC_VEL_P, PSC_VEL_I, PSC_VEL_D) The tuning method is basically the same as the VTOL-quick tune in that first D is tuned, then P, then I may be set to the P value (if FF isn't set) then finally FF is tuned (and I is set again to be the same as the FF value). In the case of D and P, the Slew Rate provided by AC_PID is used to determine when the controllers begin oscillating (se RTUN_OSC_SMAX parameter) after which the tune completes and the gains are reduced according to the RTUN_GAIN_MARGIN parameter. The feedforward (which VTOL-quicktune does not do) is calculated by capturing the appropriate input and outputs over one rotation of the circle. So in the case of the steering turn rate control (ATC_STR_RAT_FF) the steering output and the vehicle's actual turn rate are recorded. The FF is then the sum of the steering / sum of the turn rates. For speed feedforward (CRUISE_SPEED, CRUISE_THROTTLE) throttle output and actual speed samples are collected. CRUISE_SPEED is then set to the average speed (e.g. sum of the speed samples / number of samples) and CRUISE_THROTTLE is set to the average throttle (e.g. sum of the throttle samples / number of samples). Some other differences vs the VTOL-quicktune: - SlewLimiter2D has been added based on the regular 1D SlewLimiter class. This seems to work but we need to test that setting PSC_VEL_SRMAX does correctly stop oscillations. - Only the steering turn rate filters (e.g. ATC_STR_RAT_FLTT, FLTD) are set from the INS_GYRO_FILTER. I was unsure what to use for the speed and position controller velocity controllers. Accelerometer? - GCS_PID_MASK is set automatically so the user can more easily monitor progress. It's original value is restored at the end of the tune - The script doesn't set the xxx_SRMAX values. We probably need to set these to zero during tuning or the PID controllers will stop required oscillations from occurring - The output to the user might be a bit too noisy This has been tested fairly extensively in SITL and lightly on a real vehicle (my AION robotics rover with a CubeOrange). The gains seem high compared to how I would normally tune a vehicle but the vehicle does seem to control itself properly. It's also quite cool to watch a completely de-tuned vehicle in SITL slowly correct its tune and finally drive a proper circle. Below are the parameter changes from the real-vehicle test ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/a909d5ef-89b8-4ecf-a4fc-eb654a75d6f1) [User discussion can be found here.](https://discuss.ardupilot.org/t/rover-boat-quiktune-alpha-testers-wanted/101989)

AP_Scripting: add binding to block MAVLink commands

ArduPilot:master ← IamPete1:scripting_mavlink_commands

opened 01:02PM - 18 Jun 23 UTC

IamPete1

+323 -28

This adds the ability for scripting to block MAVLink commands, this means we can… process a command long or int in the script without AP acking unsupported, or override the default behavior of commands (or just block commands all together). This also does a little re-work to the existing MAVLink bindings so they work like the rest, from `mavlink.receive_chan` to `mavlink:receive_chan`. This is a breaking change, we could support both as we do for logger, but they have not been in that long. This also changes the uint32 receive timestamp to return as a uint32 rather than a native int and fixes up the docs. I have added a example of receive a user command. This does bring some generated code into tree for the new example.

AP_EFI: move case labels inside ifdefs

ArduPilot:master ← peterbarker:pr/ap-efi-more-define-stuff

opened 11:26AM - 21 Jun 23 UTC

+20 -8

I've run this through test-build-options with no problems ``` Board … AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot 0 * 0 0 0 0 0 MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

AP_GPS: use AP_AHRS_ENABLED in place of HAL_BUILD_AP_PERIPH

ArduPilot:master ← peterbarker:pr/ap-gps-no-ap-ahrs-instead-of-ap-periph

opened 01:21AM - 26 Jun 23 UTC

+3 -2

``` 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 * ``` ``` Board AP_Periph ARK_GPS * ARK_RTK_GPS * AeroFox-Airspeed * AeroFox-Airspeed-DLVR * AeroFox-GNSS_F9P * AeroFox-PMU * BirdCANdy * C-RTK2-HP * CUAV_GPS * CarbonixF405 * CarbonixL496 * CubeBlack-periph * CubeOrange-periph * CubeOrange-periph-heavy * CubePilot-CANMod * FreeflyRTK * G4-ESC * HerePro * Hitec-Airspeed * HitecMosaic * HolybroG4_Compass * HolybroG4_GPS * HolybroGPS * MatekH743-periph * MatekL431-ADSB * MatekL431-Airspeed * MatekL431-BattMon * MatekL431-DShot * MatekL431-EFI * MatekL431-GPS * MatekL431-HWTelem * MatekL431-Periph * MatekL431-Proximity * MatekL431-Rangefinder * MatekL431-bdshot * Nucleo-G491 * Nucleo-L476 * Nucleo-L496 * Pixracer-periph * Sierra-F405 * Sierra-F412 * Sierra-F9P * Sierra-L431 * ZubaxGNSS * f103-ADSB * f103-Airspeed * f103-GPS * f103-HWESC * f103-QiotekPeriph * f103-RangeFinder * f103-Trigger * f303-GPS * f303-HWESC * f303-M10025 * f303-M10070 * f303-MatekGPS * f303-PWM * f303-TempSensor * f303-Universal * f405-MatekAirspeed * f405-MatekGPS * mRo-M10095 * mRoCANPWM-M10126 * rGNSS * ```

Rover: circle mode safety improvements

ArduPilot:master ← rmackay9:rover-circle-slowdown2

opened 11:41AM - 29 Jun 23 UTC

+49 -5

Circle mode can behave very badly if the user sets the target speed to be very h…igh (for example >10m/s) while leaving the acceleration limits at their defaults (or lower). Changes include: 1. Speed checked to ensure it does not lead to a lateral acceleration beyond the TURN_MAX_G value (speed is reduced and a warning displayed) 2. Radius checked to ensure it is not below the TURN_RADIUS value (radius is increased if necessary and a warning displayed) 3. Target position, velocity and acceleration are input to the position controller with no input shaping performed. The input shaping was the main cause of the wild path shown below (perhaps there is still a bug in the Rover's input shaping code) 4. Target acceleration is fixed to include the forward-back acceleration Below are before and after screenshots from SITL of a default rover which has been commanded to circle at 10m/s. ![sitl-10ms-before](https://github.com/ArduPilot/ardupilot/assets/1498098/f3efaa05-ae55-4a37-8a69-ab978cf7a942) ![sitl-10ms-after](https://github.com/ArduPilot/ardupilot/assets/1498098/fcf22296-f237-4fca-99e4-0b6b87254d10) The above tests can be replicated in SITL by doing the following: - Tools/autotest/sim_vehicle.py --map --console --speedup=3 - arm throttle - mode 9 (Circle mode) - setspeed 10 Here is a screen shot of what is displayed when the user attempts to set the speed too high (e.g. "setspeed 20") ![circle-speed-sitl-debug-output](https://github.com/ArduPilot/ardupilot/assets/1498098/10698c68-aaf6-4a11-bc8e-31a9b6d3a65f)

Rover: limit velocity controller I-term build-up in forward-back direction

ArduPilot:master ← rmackay9:rover-vel-i-limit2

opened 02:03AM - 30 Jun 23 UTC

+50 -7

This resolves issue https://github.com/ArduPilot/ardupilot/issues/23989 by zeroi…ng Rover's position controller's velocity controller's I-term in the vehicle's forward-back direction. The lateral I-term is also limited based on a new pair of steering limit flags from the attitude controller. This is a good idea because: - The speed controller already has an I-term so we do not need an other I-term in the higher level velocity controller (in general Leonard recommends that we keep the I-term a the lowest level possible) - Zeroing out the I-term ensures that it does not get transferred to the vehicle's lateral direction when the vehicle turns at a waypoint (see SITL testing images below). - By the way, we do need the velocity controller I-term in the lateral direction because this is a different axis from the lower level turn-rate controller. I'm actually tempted to split the 2d position controller into separate forward and lateral controllers. Below are before and after screen shots from SITL testing showing the velocity controller's I-term and position error. We can see there is less of both (which is good) in the After image. ![vel-i-term-before](https://github.com/ArduPilot/ardupilot/assets/1498098/aff7130f-db83-4dc1-a27b-f3291703ff1f) ![vel-i-term-after](https://github.com/ArduPilot/ardupilot/assets/1498098/ec116cd3-0134-4061-a579-a90a5060afd5) This has been tested in SITL including testing the new attitude controller steering flags. These were tested by adding some extra debug output of the flags and then driving the vehicle around in acro and steering mode to ensure the flags were set when the pilot input exceeded the limits. ![atc-steer-lim-testing](https://github.com/ArduPilot/ardupilot/assets/1498098/3488988b-f1fc-4aa9-8295-f9a2d65424a5)

Change chibios_hwdef.py to pre-process defaults files

ArduPilot:master ← peterbarker:pr/preprocess-defaults-file

opened 08:36AM - 30 Jun 23 UTC

+52 -18

Reads the old filepath in, writes the pre-processed result into the builds direc…tory as `preprocessed_defaults.py`. The only pre-processing directive understood is `@include FILEPATH`. This PR also changes `KakuteH7Mini-Nand` to not have a copy of `KakuteH7Mini`'s defaults.parm, but rather include `KakuteH7Mini`'s. It's build is byte-for-byte identical afterwards. I've also included a file from /tmp/ into a CUAVv5 build and ensured that the default in there appears after flashing. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * KakuteH7Mini-Nand * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ``` (note the `KakuteH7Mini-Nand` in the above table) This work sponsored by Harris Aerial

AP_Motors: Heli: Remove unused init_output return and don't assume single for initialised OK

ArduPilot:master ← IamPete1:heli_init_fix

opened 06:55PM - 30 Jun 23 UTC

IamPete1

+9 -21

``` set_initialised_ok(frame_class == MOTOR_FRAME_HELI); ``` In `AP_MotorsHel…i` base class is incorrect because it is used by all heli backends not just single. The correct check is already done in `init_outputs` for each heli backend. This means the after init dual and heli quad are not `initialised_ok` this does not cause issues because we call `init_outputs` continually in `output_disarmed` so the init is set true again almost immediately. This also removes the unused return of `init_outputs`, it always returned true. This is just a tidy up.

AP_Scripting: added QUIK_MAX_REDUCE to VTOL-quicktune.lua

ArduPilot:master ← tridge:pr-vtol-quicktune-max-decrease

opened 10:28PM - 02 Jul 23 UTC

tridge

+56 -15

this limits the amount that rate gains can reduce from the original values in a …quicktune. Large reductions in rate gains can be incorrectly triggered by a frame resonance or gust of wind which can result in gains that are dangerously low, which can trigger an angle P oscillation This PR also fixes QUIK_ENABLE, which was lost in the change to use aux cached values, and fixes lua check errors

AP_NavEKF3: define Yaw alignment min GPS speed per vehicle

ArduPilot:master ← rmackay9:ekf3-gsf-fix

opened 11:58AM - 03 Jul 23 UTC

+10 -3

This improves GSF performance for Copter and Rover 4.4 by reducing the minimum s…peed the vehicle must be travelling at for a GSF reset to occur. The minimum speed requirement issue (see https://github.com/ArduPilot/ardupilot/issues/24183) was introduced with PR https://github.com/ArduPilot/ardupilot/pull/23515 but the minimum (5m/s) was likely designed with Planes in mind.This PR reduces the limit to 2m/s for Copters and 0.5m/s for Rover. These are somewhat arbitrary values .. perhaps Copter could be lowered further to 1m/s. Related discussion [is here](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/13) Alternatively we could add a parameter although i wonder if anyone would ever set it. This has been lightly tested in SITL for Rover and Copter. The user who reported the problem (and discovered the fix) has successfully tested 0.5m/s for Rover.

Plane: updates for 4.4.0beta3

ArduPilot:Plane-4.4 ← tridge:pr-plane-4.4-beta3

opened 10:23PM - 03 Jul 23 UTC

tridge

+2334 -102

1) flight controller specific changes - Holybro KakuteH7-Wing support - JFB1…00 external watchdog GPIO support added - Pixhawk1-bdshot support - Pixhawk6X-bdshot support - SpeedyBeeF4 loses bdshot support 3) Camera and Gimbal related changes - DO_SET_ROI_NONE command support added 4) Bug fixes - ADSB sensor loss of transceiver message less spammy - AutoTune Yaw rate max fixed - EKF vertical velocity reset fixed on loss of GPS - GPS pre-arm failure message clarified - SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi - SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity - SBF GPS ellipsoid height fixed - Ublox M10S GPS auto configuration fixed - ZigZag mode user takeoff fixed (users could not takeoff in ZigZag mode previously) 5) Device drivers - added LP5562 I2C LED driver - added IS31FL3195 LED driver 6) Applet changes - added QUIK_MAX_REDUCE parameter to VTOL quicktune lua applet 7) Plane specific changes - fixed takeoff mode to ensure climb to takeoff alt before turning - fixed error in quadplane wait for rudder neutral - improved handling of forward throttle during VTOL landing - fixed TECS state reset in VTOL auto modes - fixed early exit from loiter to alt - fixed display of started airspeed wait on forward transition

Plane

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 - [ ] 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 &Rover

Copter/Rover-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC