Dev Call Jul 6, 2026

Development Team
1

CI Workflows

Release Update

Issues & Pull Requests

2

Attendee count (max): 14

UTC2300 - CI ci · Workflow runs · ArduPilot/ardupilot · GitHub

  • Better this week?
  • Peter hasn’t noticed any new flakiness
  • Pierre has cut down the amount of work we do significantly
    • Be on the lookout for workflows that should have run bit didn’t(!)
  • A lot of PRs merged to fix

UTC2302 - AP_Scripting: add is_crashed() binding and crash-actions.lua applet by yuri-rage · Pull Request #33258 · ArduPilot/ardupilot · GitHub

  • GPS-for-yaw fusion fix PR to discuss
  • GPS lock issue
  • Co-ordinated loiter turns fixed
    • Braking not kicking in
    • Co-ordinated turns fixed
  • Compass disable mask fix is in
  • New issues:
    • Poshold wobble
      • PR later
    • Copter dead-reckoning
      • Fix available
    • Heli PR from bill to fix… something….
  • Param storage failed
    • There’s some progress on this one
  • Terrain storage failure
    • Not a blocker
  • Beta8 shortly
    • Maybe tonight or tomorrow
  • Randy’s pretty confident in 4.7

UTC2310 - Add support for docking clamps, including automated Copter release by peterbarker · Pull Request #27343 · ArduPilot/ardupilot · GitHub

  • Docking clamps
  • Should we do this properly
  • Multiple gripper support a better idea?
    • Randy thinks this is a good idea
  • Trigger on landing too?
    • More mechanical problem than electrical
  • Trigger based on a role rather than offset?
  • Everybody seems to be happy with the concept of multiple grippers

UTC2319 - Plane: add input shaping to roll and pitch controllers by IamPete1 · Pull Request #32743 · ArduPilot/ardupilot · GitHub

  • Plane input shaping
  • PH would really like a review on this one
  • There’s a 0.5 floating around
    • Some history from Leonard on how we ended up with this
    • Basically a community thing
    • Community was thinking “as fast as possible”
    • Attitude controller aggressive / tight
    • But docile aircraft flying feel
    • Leonard wants to parameterise it
  • Tim likes this
    • No longer has a “mechanical” (Terminator) feel to it
    • No longer “jarring”
    • He’s like it in and tested
  • Merged!

UTC2330 - AP_Scripting: add is_crashed() binding and crash-actions.lua applet by yuri-rage · Pull Request #33258 · ArduPilot/ardupilot · GitHub

  • is_crashed() binding and crash-actions.lua
  • Previously discussed
  • Custom handling of crashed-vehicle for Rover
  • Merged!

UTC2334 - Fix flaking QLoiterRecovery autotest by peterbarker · Pull Request #33501 · ArduPilot/ardupilot · GitHub

  • Fix flaking quadplane tests
  • Merged!

UTC2338 - Copter: fix PosHold pilot override mix by zebulon-86 · Pull Request #33590 · ArduPilot/ardupilot · GitHub

  • Fix poshold pilot input
  • merged!
  • Marked for backport

UTC2339 - autotest: make reason required for delay_sim_time by peterbarker · Pull Request #33610 · ArduPilot/ardupilot · GitHub

  • Make reason required on delay_sim_time
  • If you’re delaying you’re probably doing something wrong
  • Peter will rebase and merge after the call

UTC2343 - Tradheli-fix 4.7 bug that doesn't clear land complete flag unless gov engage in manual throttle modes by bnsgeyer · Pull Request #33613 · ArduPilot/ardupilot · GitHub

  • Battery failsafe caused vehicle to disarm
  • User didn’t wait for governor
  • Some message cleanups
  • Strings should be documented on the Wiki
  • Should pass state through arguments
    • “State on the side”
    • Too hard to add to update_spool_state
      • Bill doesn’t think so…

UTC2354 - AP_Scripting: retry stale reads in rangefinder_quality_test by peterbarker · Pull Request #33623 · ArduPilot/ardupilot · GitHub

  • Fix flaking Lua rangefinder test
  • 50Hz beat frequency
  • Merged!

UTC2359 - AP_Periph: BMS enhancements and fixes by rmackay9 · Pull Request #33627 · ArduPilot/ardupilot · GitHub

  • Enhancements to battery management system
  • Huibean’s done a lot of hardware and software on this one
  • Reference schematics?
    • No timeline for any schematics
  • A bunch of rework on the driver chip
  • Statically-set node ID
    • Can be changed
  • Need tridge to weigh in on the parameter thing

UTC0014 - AP_NavEKF3: prevent yaw measurement time delay exceeding IMU buffer age by lthall · Pull Request #33643 · ArduPilot/ardupilot · GitHub

  • Fix handling of GPS yaw data
  • Limits max delay to fusion time limit
  • We do this in many other places
  • Pre-existing issue in a bunch of other places
  • There are all sorts of other buffer issues in the EKF which we get away with

UTC0021 - Loiter: keep control feel consistent when EKF limits ground speed by lthall · Pull Request #33639 · ArduPilot/ardupilot · GitHub

  • Loiter: keep control feel consistent when EKF limits ground speed
  • Loiter is a drag model
  • Assumes momentum drag is dominant drag form
  • Force based on stick position
    • Consider that an accel
  • Drag is the decel
    • We end up with a linear velocity response which feels like alt_hold
  • Optical flow stuff
  • OF near ground creates an extreme drag coefficient which the aircraft tries to account for
    • Very ugly
  • Large lean angles under OF creates transients
  • Test needs a few little fixes
  • Vehicle would overshoot before this and then integrator would being it back
    • And letting go of the stick it would lean back and the i term would then fix that bit again
  • Can be merged after Peter’s fixed the tests up a little

UTC0036 - AP_FlashStorage: set current_sector during init by Juergen-Fahlbusch · Pull Request #33640 · ArduPilot/ardupilot · GitHub

  • Flash storage page initialisation thing
  • Really need tridge’s input on this one
  • It’s one of those, “how did this ever work?!” patches, so there’s probably an explanation

UTC0037 - follow init and if fix by lthall · Pull Request #33652 · ArduPilot/ardupilot · GitHub

  • Correct follow mode initialisation
  • PH seems to have found another issue
  • Three issues in one now
  • All simple
  • Can be merged when PH and PB happy

UTC0041 - Tidy SITL atmosphere calculations by peterbarker · Pull Request #33658 · ArduPilot/ardupilot · GitHub

  • Fix up use of atmospheric data in SITL
  • Merged!

UTC0045 - off the floor

  • RPM changes?
  • Should we use a ringbuffer for this?
  • Lupus will look at this

UTC0058 - close