Dev Call Jul 31, 2023

CraigElder · July 31, 2023, 10:59pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Rover: quik tune lua script

ArduPilot:master ← rmackay9:rover-circle1-autotune

opened 06:19AM - 06 Jun 23 UTC

rmackay9

+1121 -15

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)

github.com/ArduPilot/ardupilot

AP_AHRS: give clearer prearm messages

ArduPilot:master ← Hwurzburg:messages

opened 03:32PM - 07 Jul 23 UTC

Hwurzburg

+13 -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

Remove more code if no blended instance, use on SkyViper-v2450

ArduPilot:master ← peterbarker:wip/skyviper-size

opened 09:09AM - 18 Jul 23 UTC

peterbarker

+14 -4

``` Board AP_Periph blimp bootloader copter heli iofirmware … plane rover sub Durandal * * * * * * * HerePro -56 Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal -48 iomcu * revo-mini * * * * * * * skyviper-v2450 -4216 ```

github.com/ArduPilot/ardupilot

Tidy log structures up to reduce wasted flash

ArduPilot:master ← peterbarker:pr/plane-log-structure-shrink

opened 11:00AM - 18 Jul 23 UTC

peterbarker

+80 -46

- remove extra code in Plane around offboard-guided - move landing logging inf…ormation into AP_Landing library - exclude that library in SkyViper build ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * 0 0 * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * 0 0 * * * MatekF405 -128 * -136 -128 -136 -128 -128 Pixhawk1-1M-bdshot -136 -128 -128 -208 -128 -136 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -128 * -128 -136 -136 -128 -128 ``` ``` Board,copter skyviper-v2450,-120 ```

github.com/ArduPilot/ardupilot

AP_Motors: Heli move parameter checks into pre-arm check method.

ArduPilot:master ← IamPete1:heli_pre-arm

opened 08:33PM - 18 Jul 23 UTC

IamPete1

+81 -118

This moves the heli motors pre-arm checks into the motors pre-arm method. This r…emoves a heli specific code path from copter. All checks are maintained, param checks are moved across, frame type checks come from the base class arming check that motors have "initialised_ok". This also removes the "RSC control mode change failed" from all heli backends, this is sent at loop rate and is extremely spammy. There is a base class `AP_MotorsHeli` arming check for RSC mode that warns of the same issue. Finally this changes copter to run several pre arms at once so the failure messages all get seen, currently you have to get past the "Motor Interlock Enabled" pre-arm before you will see the motors issues. Now you get both failures reported at once. I have test by setting each parameter incorrectly in turn, all still trigger a pre-arm warning.

github.com/ArduPilot/ardupilot

GCS_MAVLink: use long-to-int conversion code for SET_ROI_SYSID

ArduPilot:master ← peterbarker:pr/command-roi-sysid-as-int

opened 01:01AM - 21 Jul 23 UTC

peterbarker

+8 -14

``` Board,AP_Periph,blimp,bootloader,copter,heli,iofirmware,plane,rover,sub Du…randal,,-48,*,-24,-16,,-24,-48,-48 HerePro,-72,,,,,,,, Hitec-Airspeed,*,,,,,,,, KakuteH7-bdshot,,-48,*,-48,-48,,-48,-48,-48 MatekF405,,-48,*,-48,-48,,-48,-48,-48 Pixhawk1-1M-bdshot,,-8,,-8,0,,-8,-8,-8 f103-QiotekPeriph,*,,,,,,,, f303-Universal,*,,,,,,,, iomcu,,,,,,*,,, revo-mini,,-72,*,-48,-48,,-48,-72,-72 skyviper-v2450,,,,-16,,,,, ```

github.com/ArduPilot/ardupilot

AC_Fence: added option bit for union of inclusion areas

ArduPilot:master ← tridge:pr-fence-union

opened 10:03PM - 22 Jul 23 UTC

tridge

+34 -8

this allows for treating total inclusion area as union of all inclusion areas. T…his is useful for: - circles with corridors between them - a fence for each flying site all loaded at once - temporary addition of an extra area to a complex fence Note that FENCE_OPTIONS is plane only, so this change only impacts planes

github.com/ArduPilot/ardupilot

Bug report

opened 06:19PM - 30 Jul 23 UTC

tanz-nwpu

DevCallTopic

when i run "sim_vehicle.py -f quadplane --console --map"，the error is as follows…: tan@tz:~/ardupilot/ArduPlane$ sim_vehicle.py -f quadplane --console --map SIM_VEHICLE: Start SIM_VEHICLE: Killing tasks SIM_VEHICLE: Starting up at SITL location SIM_VEHICLE: WAF build SIM_VEHICLE: Configure waf SIM_VEHICLE: "/home/tan/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl" Setting top to : /home/tan/ardupilot Setting out to : /home/tan/ardupilot/build Autoconfiguration : enabled Checking for program 'python' : /usr/bin/python3 Checking for python version >= 3.6.9 : 3.6.9 Setting board to : sitl Using toolchain : native Checking for 'g++' (C++ compiler) : /usr/lib/ccache/g++ Checking for 'gcc' (C compiler) : /usr/lib/ccache/gcc Checking for c flags '-MMD' : yes Checking for cxx flags '-MMD' : yes CXX Compiler : g++ 7.5.0 Checking for need to link with librt : not necessary Checking for feenableexcept : yes Enabling -Werror : yes Enabled OpenDroneID : no Enabled firmware ID checking : no GPS Debug Logging : no Enabled custom controller : yes Checking for HAVE_CMATH_ISFINITE : yes Checking for HAVE_CMATH_ISINF : yes Checking for HAVE_CMATH_ISNAN : yes Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes Checking for header endian.h : yes Checking for header byteswap.h : yes Checking for HAVE_MEMRCHR : yes Configured VSCode Intellisense: : no DC_DSDL compiler : /home/tan/ardupilot/modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py Source is git repository : yes Update submodules : yes Checking for program 'git' : /usr/bin/git Checking for program 'size' : /usr/bin/size Benchmarks : disabled Unit tests : enabled Scripting : maybe Scripting runtime checks : enabled Debug build : disabled Coverage build : disabled Force 32-bit build : disabled Checking for program 'rsync' : /usr/bin/rsync 'configure' finished successfully (0.720s) {'waf_target': 'bin/arduplane', 'default_params_filename': 'default_params/quadplane.parm', 'model': 'quadplane', 'sitl-port': True} SIM_VEHICLE: Building SIM_VEHICLE: "/home/tan/ardupilot/modules/waf/waf-light" "build" "--target" "bin/arduplane" Waf: Entering directory `/home/tan/ardupilot/build/sitl' Embedding file locations.txt:Tools/autotest/locations.txt Embedding file models/Callisto.json:Tools/autotest/models/Callisto.json Embedding file models/plane-3d.parm:Tools/autotest/models/plane-3d.parm Embedding file models/plane.parm:Tools/autotest/models/plane.parm Embedding file models/xplane_heli.json:Tools/autotest/models/xplane_heli.json Embedding file models/xplane_plane.json:Tools/autotest/models/xplane_plane.json [ 332/1145] Compiling libraries/AP_Mount/AP_Mount_Viewpro.cpp [ 393/1145] Compiling libraries/AP_OLC/AP_OLC.cpp [ 394/1145] Compiling libraries/AP_OSD/AP_OSD_Setting.cpp [ 395/1145] Compiling libraries/AP_OSD/AP_OSD_SITL.cpp [ 396/1145] Compiling libraries/AP_OSD/AP_OSD_MSP.cpp [ 397/1145] Compiling libraries/AP_OSD/AP_OSD.cpp [ 398/1145] Compiling libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp [ 399/1145] Compiling libraries/AP_OSD/AP_OSD_Backend.cpp [ 400/1145] Compiling libraries/AP_OSD/AP_OSD_MAX7456.cpp [ 401/1145] Compiling libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp [ 402/1145] Compiling libraries/AP_OpenDroneID/AP_OpenDroneID.cpp [ 403/1145] Compiling libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp [ 404/1145] Compiling libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp In file included from ../../libraries/AP_Mount/AP_Mount_Viewpro.cpp:1:0: ../../libraries/AP_Mount/AP_Mount_Viewpro.h:262:37: warning: ‘AP_Mount_Viewpro::E1Packet::<unnamed struct>::source’ is too small to hold all values of ‘enum class AP_Mount_Viewpro::TrackingSource’ TrackingSource source : 3; // see TrackingSource enum above ^ ../../libraries/AP_Mount/AP_Mount_Viewpro.cpp: In member function ‘bool AP_Mount_Viewpro::send_tracking_command(AP_Mount_Viewpro::TrackingCommand, uint8_t)’: ../../libraries/AP_Mount/AP_Mount_Viewpro.cpp:637:5: sorry, unimplemented: non-trivial designated initializers not supported }; ^ compilation terminated due to -Wfatal-errors. Waf: Leaving directory `/home/tan/ardupilot/build/sitl' Build failed -> task in 'objs/AP_Mount' failed (exit status 1): {task 140093594717648: cxx AP_Mount_Viewpro.cpp -> AP_Mount_Viewpro.cpp.0.o} (run with -v to display more information) SIM_VEHICLE: Build failed SIM_VEHICLE: Killing tasks

github.com/ArduPilot/ardupilot

waf: tidy interpretation of -Werror

ArduPilot:master ← peterbarker:pr/werror-cleanup

opened 01:21AM - 31 Jul 23 UTC

peterbarker

+23 -14

Before this fix: ``` pbarker@fx:~/rc/ardupilot(master)$ CXX=g++-10 CC=gcc-10 .…/waf configure --board=sitl | grep Werror Enabling -Werror : yes pbarker@fx:~/rc/ardupilot(master)$ ``` (wrong as 11.3.0 is the only whitelisted compiler; this is actually lying with a bad message, it's not really enabled) ``` pbarker@fx:~/rc/ardupilot(master)$ CXX=g++-11 CC=gcc-11 ./waf configure --board=sitl --enable-Werror | grep Werror Enabling -Werror : no pbarker@fx:~/rc/ardupilot(master)$ ``` This message is correct, it's not enabling it, even 'though it should. The option `--disable-Werror` is set to true in the waf config by default. After this fix: ``` pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ g++-10 --version g++-11 --version g++-12 --version g++-10 (Ubuntu 10.4.0-4ubuntu1~22.04) 10.4.0 Copyright (C) 2020 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. g++-11 (Ubuntu 11.3.0-1ubuntu1~22.04.1) 11.3.0 Copyright (C) 2021 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. g++-12 (Ubuntu 12.1.0-2ubuntu1~22.04) 12.1.0 Copyright (C) 2022 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-10 CC=gcc-10 ./waf configure --board=sitl | grep Werror Enabling -Werror : no pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-11 CC=gcc-11 ./waf configure --board=sitl | grep Werror Enabling -Werror : yes pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-12 CC=gcc-12 ./waf configure --board=sitl | grep Werror Enabling -Werror : yes pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-10 CC=gcc-10 ./waf configure --board=sitl --Werror | grep Werror Enabling -Werror : yes pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-11 CC=gcc-11 ./waf configure --board=sitl --Werror | grep Werror Enabling -Werror : yes pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-12 CC=gcc-12 ./waf configure --board=sitl --Werror | grep Werror Enabling -Werror : yes pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-10 CC=gcc-10 ./waf configure --board=sitl --disable-Werror | grep Werror Enabling -Werror : no pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-11 CC=gcc-11 ./waf configure --board=sitl --disable-Werror | grep Werror Enabling -Werror : no pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-12 CC=gcc-12 ./waf configure --board=sitl --disable-Werror | grep Werror Enabling -Werror : no pbarker@fx:~/rc/ardupilot(pr/werror-cleanup)$ CXX=g++-12 CC=gcc-12 ./waf configure --board=sitl --disable-Werror --Werror Setting top to : /home/pbarker/rc/ardupilot Setting out to : /home/pbarker/rc/ardupilot/build Autoconfiguration : enabled Checking for program 'python' : /usr/bin/python3 Checking for python version >= 3.6.9 : 3.10.6 Setting board to : sitl Using toolchain : native Checking for 'g++' (C++ compiler) : g++-12 Checking for 'gcc' (C compiler) : gcc-12 Checking for c flags '-MMD' : yes Checking for cxx flags '-MMD' : yes CXX Compiler : g++ 12.1.0 Checking for need to link with librt : not necessary Checking for feenableexcept : yes Asked to both enable and disable Werror (complete log in /home/pbarker/rc/ardupilot/build/config.log) ```

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 & Rover

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 · August 1, 2023, 2:38am

Attendee count (max): 19

UTC1102 - Rover: quik tune lua script by rmackay9 · Pull Request #23981 · ArduPilot/ardupilot · GitHub

Quik-tune lua script for Rover
Still a few bits to do; notably Rovers can oscillate at very low frequencies which might disturb the script
Still no s-max on the position controller
Tridge would like oscillation detection for angle-p oscillation in velocity and position controllers
- So we can back the gains off on angle-p
- The slew-limit thing we use at the rate level might not work up at the angle level
- Too low a rate tune can cause flipping if your angle-p tuning is bad
- Position controller can’t flip vehicle but can excite things
- Detect ratio ou-of-kilter to the point vehicle can’t stabilize
  - Magically change angle-p gain
  - Protection in quik-tune script that avoids reducing gains more than 20%
    - User wasn’t running most recent script and failed to flip the switch to save vehicle == destroyed vehicle…
  - VTOL quik-tune doesn’t revert gains on mode change….
    - It probably should
  - Co-ax octaquad and losing a motor?
    - Would this lower margin between rate-gains and angle-p?
    - Yes, would compromise rate tune
      - When Leonard does a commercial tune he gets within an inch of his life then back it off
      - Angle-p can get very high
        
        10-or-12 is about the most you want
        
        Starts to feel too aggressive and too sharp in disturbance rejection
    - Losing a motor doesn’t tend to severely compromise a properly redundant aircraft
      - Hex’s don’t really count for “properly redundant”
        
        Only partially redundant
    - Octo’s can lose motors and can be hard to tell it’s happened

UTC1116 - Networking v2 by magicrub · Pull Request #24214 · ArduPilot/ardupilot · GitHub

Networking v2
Some nice memory changes in here now
- Allocation happens at startup in AP_Networking
- Malloc-with-a-flag
  - Malloc_eth_safe
- 9120 bytes of RAM
  - But uses 16kB block for guard
- DMA controllers for each ethernet
This needs to be testable under SITL
Questions over whether the configure-region is actually important
Questions over alignment of the allocations used for ethernet DMA buffers
Tridge will chat with Sid over what’s happening
Off by default on everything
Stm32 hardware RNG may not be thread-safe; you may end up with a non-random number in race conditions!

UTC1155 - https://github.com/ArduPilot/ardupilot/pull/24243

Try to make ahrs messages clearer
Randy will test and perhaps merge

UTC0001 - Fixed formula in AP_L1_Control::nav_roll_cd by abaghiyan · Pull Request #24331 · ArduPilot/ardupilot · GitHub

Nav_roll_cd L1 fixes
Merged!

UTC0001 - Remove more code if no blended instance, use on SkyViper-v2450 by peterbarker · Pull Request #24342 · ArduPilot/ardupilot · GitHub

Remove mmore blended code when not doing blended gps
Merged!

UTC0005 - Tidy log structures up to reduce wasted flash by peterbarker · Pull Request #24344 · ArduPilot/ardupilot · GitHub

Remove more deepstall landing code
Merged!

UTC0007 - Plane: output rudder and steering directly removing steering_control struct by IamPete1 · Pull Request #24230 · ArduPilot/ardupilot · GitHub

More rudder output tidying
Some nice logging for this added
Merged!

UTC0008 - AP_Motors: Heli move parameter checks into pre-arm check method. by IamPete1 · Pull Request #24349 · ArduPilot/ardupilot · GitHub

Move heli parameter checks into prearm checks
Also allow more than one prearm out in several cases
Merged!

UTC0012 - AC_AttitudeControl: Heli: remove unused code by IamPete1 · Pull Request #24356 · ArduPilot/ardupilot · GitHub

Remove dead heli code
Merged!

UTC0014 - GCS_MAVLink: use long-to-int conversion code for SET_ROI_SYSID by peterbarker · Pull Request #24361 · ArduPilot/ardupilot · GitHub

More long-to-int conversion
Merged!

UTC0016 - AC_Fence: clarify bit 2 in FENCE_ENABLE parameter by peterbarker · Pull Request #24376 · ArduPilot/ardupilot · GitHub

Clarify documentation around fence enable parameter
Merged!

UTC0017 - AC_Fence: added option bit for union of inclusion areas by tridge · Pull Request #24379 · ArduPilot/ardupilot · GitHub

Add option bit for union of inclusion areas
Only applicable for Plane
- Forcing on Copter showed up some very weird things
  - Avoidance and margin stuff gets very confused on Copter
Peter H’s PR requires much GUI change!
- Each inclusion object needs to be numbered
- adding fences in MissionPlanner already kind of has parameters
Why intersection?
- Because you can always draw a larger polygon….
MAVProxy now has support for inclusion and exclusion circle and polygon creation!
The decision making process here sucks
- We made PH jump through hoops
- And we just throw this one straight in?
- Inequality of the review processes
Tridge does like the full group stuff, just concerned as to time to get it in
merged

UTC0039 - AP_HAL_ChibiOS: RADIX2HD target change Serial4 proto to ESC telem by mluessi · Pull Request #24403 · ArduPilot/ardupilot · GitHub

Correct serial4 protocol on radix2hd
Merged!

UTC0041 - Use CMD_LONG conversion for DO_FOLLOW commands by peterbarker · Pull Request #24417 · ArduPilot/ardupilot · GitHub

Remove redundant follow-sysid code
Merged

UTC0043 - Stop using MINIMIZE_FEATURES in AP_LandingGear by peterbarker · Pull Request #24422 · ArduPilot/ardupilot · GitHub

Remove use of MINIMIZE_FEATURES in landinggear library
Merged

UTC0045 - Plane update

Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
4.4beta with a couple of patches
- Cross-tracking
- DMA on mRo board?
- Counter-proposal #24456
  - Disable DMA on i2c on F7 and H7
    - Backport from master
    - Half our boards had it disabled
    - This disables it on all boards
    - If i2c is sharing DMA with the IMU then i2c can be slow (esp with retries) you can lose samples from the IMU!
    - Will free up a lot of DMA channels
      - Maybe up to 8 of them!
    - non-DMA-i2c-on-f4 is not supported
Merged!

UTC0054 - Copter update

Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub
Not much
Rover changes will go into beta
4.4 is very stable in Randy’s opinion

UTC0057 - AP_Scripting: added battery state of charge estimator by tridge · Pull Request #24427 · ArduPilot/ardupilot · GitHub

Battery state of charge estimator
Use a partially-full battery and it automatically estimates initial state of charge
E.g. multiple flights on one battery
Two-parameter curve-fit
People can find, for their particular type of battery, the parameters which represent the shape of the SoC
- Does not work when drawing current
- Only works when disarmed, essentially
C++ version of this would be good!
- May need to be three into the future
Tridge would like logs from various chemistries
Blog post and ask for input?
Perhaps read from datasheets rather than measure?
- new/Aged values?
Will defer this until tridge has gathered more logs to look at

UTC0116 - AP_Mount: ViewPro compile error (previously known as "Bug report") · Issue #24444 · ArduPilot/ardupilot · GitHub

18.04 compiler 7.5 no longer compiles ArduPilot
Maybe try & 0x7
Force a more recent compiler? Which version?

UTC0131 - Tools: build_options.py: add SLCAN to build options by peterbarker · Pull Request #24452 · ArduPilot/ardupilot · GitHub

Allow addition/removal of SLCAN on custom build server
4.1kB
Tridge wants to kill slcan entirely
SLCAN is faster

UTC0135 - AP_HAL_ChibiOS: don't share IMU DMA on mRo control zero by andyp1per · Pull Request #24454 · ArduPilot/ardupilot · GitHub

Superceded by tridge’s PR
Closed

UTC0135 - AP_Periph: rename ins locals to avoid conflict with ins member variable by peterbarker · Pull Request #24457 · ArduPilot/ardupilot · GitHub

Rename things away from ins
Merged!

UTC0138 - GSoC update

Pedro is doing well
- Navigation framework is available now
Arshs’s PR needs a bit of work but hopeful meeting will clear things up
Shiv’s Location Database stuff is going well
Asif gamera/gimbal work is going well
- Logging of gimbal angles is in now
- Time-based triggering is going in
- FOV support coming!
  - “Tell me what I’m pointing at”

UTC0140 - partner’s call tomorrow

UTC0141 - Dev Unconference in Reno next year, probably

And maybe in Japan the year after that?

Attendee count (max): 19

UTC1102 - Rover: quik tune lua script by rmackay9 · Pull Request #23981 · ArduPilot/ardupilot · GitHub

UTC1116 - Networking v2 by magicrub · Pull Request #24214 · ArduPilot/ardupilot · GitHub

UTC1155 - https://github.com/ArduPilot/ardupilot/pull/24243

UTC0001 - Fixed formula in AP_L1_Control::nav_roll_cd by abaghiyan · Pull Request #24331 · ArduPilot/ardupilot · GitHub

UTC0001 - Remove more code if no blended instance, use on SkyViper-v2450 by peterbarker · Pull Request #24342 · ArduPilot/ardupilot · GitHub

UTC0005 - Tidy log structures up to reduce wasted flash by peterbarker · Pull Request #24344 · ArduPilot/ardupilot · GitHub

UTC0007 - Plane: output rudder and steering directly removing steering_control struct by IamPete1 · Pull Request #24230 · ArduPilot/ardupilot · GitHub

UTC0008 - AP_Motors: Heli move parameter checks into pre-arm check method. by IamPete1 · Pull Request #24349 · ArduPilot/ardupilot · GitHub

UTC0012 - AC_AttitudeControl: Heli: remove unused code by IamPete1 · Pull Request #24356 · ArduPilot/ardupilot · GitHub

UTC0014 - GCS_MAVLink: use long-to-int conversion code for SET_ROI_SYSID by peterbarker · Pull Request #24361 · ArduPilot/ardupilot · GitHub

UTC0016 - AC_Fence: clarify bit 2 in FENCE_ENABLE parameter by peterbarker · Pull Request #24376 · ArduPilot/ardupilot · GitHub

UTC0017 - AC_Fence: added option bit for union of inclusion areas by tridge · Pull Request #24379 · ArduPilot/ardupilot · GitHub

UTC0039 - AP_HAL_ChibiOS: RADIX2HD target change Serial4 proto to ESC telem by mluessi · Pull Request #24403 · ArduPilot/ardupilot · GitHub

UTC0041 - Use CMD_LONG conversion for DO_FOLLOW commands by peterbarker · Pull Request #24417 · ArduPilot/ardupilot · GitHub

UTC0043 - Stop using MINIMIZE_FEATURES in AP_LandingGear by peterbarker · Pull Request #24422 · ArduPilot/ardupilot · GitHub

UTC0045 - Plane update

UTC0054 - Copter update

UTC0057 - AP_Scripting: added battery state of charge estimator by tridge · Pull Request #24427 · ArduPilot/ardupilot · GitHub

UTC0116 - AP_Mount: ViewPro compile error (previously known as "Bug report") · Issue #24444 · ArduPilot/ardupilot · GitHub

UTC0131 - Tools: build_options.py: add SLCAN to build options by peterbarker · Pull Request #24452 · ArduPilot/ardupilot · GitHub

UTC0135 - AP_HAL_ChibiOS: don't share IMU DMA on mRo control zero by andyp1per · Pull Request #24454 · ArduPilot/ardupilot · GitHub

UTC0135 - AP_Periph: rename ins locals to avoid conflict with ins member variable by peterbarker · Pull Request #24457 · ArduPilot/ardupilot · GitHub

UTC0138 - GSoC update

UTC0140 - partner’s call tomorrow

UTC0141 - Dev Unconference in Reno next year, probably

UTC01411 - close