Dev Call July 11, 2022

CraigElder · July 11, 2022, 10:55pm

Issues & Pull Requests

github.com/ArduPilot/pymavlink

Better ci

ArduPilot:master ← khancyr:better_ci

opened 08:32PM - 31 May 22 UTC

khancyr

+1314 -1163

This add pre-commit as part of CI. this tool allow to set check easy and add t…hem localy on git-hook for better coding and not wait CI to trigger failure. The PR also add : pyproject.toml to have commom place for python checker/linter tools .editorconfig: to try to have all ide configured the same add .idea on .gitignore for those that are using pyCharm or Clion add .flake8 config file for local developpement add shellcheck to CI : it will only fail if the shell script got fatal error. Correct Line Ending mixing on files : we should have only LF Correct permission on files Remove python shebang on python library as they aren't executable

github.com/ArduPilot/ardupilot

Increase Boardname Length & Output Fields for Vehicle Manufacturer's in Banners

opened 04:32AM - 07 Jul 22 UTC

hendjoshsr71

DevCallTopic

## Feature request We have received a number of requests from Partners and an… issue on Discuss ([here](https://discuss.ardupilot.org/t/zealoth743-board-name-truncated-in-gcs-messages/86770/9)) regarding the 13-char limit on board names. Code here: [Link](https://github.com/ArduPilot/ardupilot/blob/1087b297ac14885857bdc81f87c95f7535940b09/libraries/AP_HAL_ChibiOS/Util.cpp#L362) @peterbarker suggested one possibility of no longer sending the MCU ID to have more chars available. As it is available in `AUTOPILOT_VERSION`. But has the concern that doing this may break automated tooling or GCSs looking for that format. I do think MCU_ID has value in the banner though.... it does get used to confirm we are looking at the same vehicle as before. **Vehicle Manufacturer Name & Vehicle Model Name** In a similar area I would like to add something to output `Vehicle_Manufacturer_Name` and `Vehicle_Model` as part of the GCS banner. Via a define when creating firmware with parameters, etc. baked in. In the past I've added just shortened the autopilot name, but that isn't great for support engineers who receive logs a lot ;) Nor is it as clear as full names.

github.com/ArduPilot/ardupilot

LD06 Proximity Sensor Integration

ArduPilot:master ← Adithya-Patil:LD06_Integration

opened 04:19AM - 22 Feb 22 UTC

Adithya-Patil

+301 -1

Creating a new Innomaker LD06 LiDAR driver for proximity sensing/obstacle avoida…nce. Communication protocol for sensor linked [here](http://wiki.inno-maker.com/display/HOMEPAGE/LD06?preview=/6949506/6949511/LDROBOT_LD06_Development%20manual_v1.0_en.pdf). Closes #17211 [LDROBOT_LD06_Development manual_v1.0_en.pdf](https://github.com/ArduPilot/ardupilot/files/8220649/LDROBOT_LD06_Development.manual_v1.0_en.pdf)

github.com/ArduPilot/ardupilot

Copter/Rover: Enhance the Mission Change detector

ArduPilot:master ← lthall:20220429_copter-mis-change-detector2

opened 09:59AM - 05 May 22 UTC

lthall

+268 -19

This PR enhances the Mission Change Detector to check if the change requires a c…hange in the navigation controller based on the current waypoints dependency on future waypoints. To do this the code considers: - normal waypoint does not need to be changed if it is a pause or followed by a command that has also not changed, - spline waypoints require the following two waypoints to not change if a pause is not used, - loiter commands behave as a waypoint with a pause - other commands behave as a pause AP_Mission_ChangeDetector_Copter returns three states: - NONE (no change required) - ADD_NEXT_WAYPOINT (no change required but waypoints are now available to be added) - RESET_REQUIRED (auto mode should re-initialise as the change in auto will alter the current state)

github.com/ArduPilot/ardupilot

AP_Param: add `@SYS/defaults.parm` and log default values

ArduPilot:master ← IamPete1:defaults_file_sys

opened 07:11PM - 13 Jun 22 UTC

IamPete1

+297 -95

This adds a `@SYS/defaults.parm` ftp file that contains all the defaults for the… board. Those default values are also logged in the `PARM` log at first arming. You do not get the defaults again with run-time changes. This works, however we need to make sure everywhere is calling `set_default` not just `set`, this induces changes to `AC_PID` to follow that pattern so the defaults are correctly recorded. There are probably other places that doing the wrong thing where we would not get the correct value. This does keep a linked list of all the params that have ever had `set_defualt` called on them, so we should probably not do that too much.... I have not calculated how many this is, probably less than 50... The goal of this is to make it very easy to spot which params have been changed, with this patch one can grab the defaults over ftp and do a param compare.

github.com/ArduPilot/ardupilot

AP_Control: change autotune I determination for Roll axis

ArduPilot:master ← Hwurzburg:autotune

opened 08:04PM - 23 Jun 22 UTC

Hwurzburg

+5 -1

@tridge as discussed.....autotuning all my planes showed that for flying wings, …often the P value will be small (1/10 to 1/4 of FF) compared to the resulting FF, leading to I being set too high and slow oscillations in roll occuring....since is probably due to the roll axis not having any inherent damping like the pitch and yaw axes do in a plane....and flying wings typically have larger FF terms compared to normal aileron equipped planes...lowering I to equal P or 2xP reduces the wobble to levels not excessive in FPV views... anyway, here is the PR so you and Leonard can discuss...

github.com/ArduPilot/ardupilot

Plane: add yaw input shaping command model

ArduPilot:master ← IamPete1:QP_pilot_CM

opened 04:28PM - 03 Jul 22 UTC

IamPete1

+79 -12

Follow up from https://github.com/ArduPilot/ardupilot/pull/20307 This adds ya…w input expo and time constant to plane. It also moves the existing max rate param. A little expo and time constant make the vehicle much nicer to fly, a big improvement. @bnsgeyer @rmackay9 To get `PILOT_Y_RATE_TC` to fit on quadplane with the `Q_` prefix I had to shorten it to: `PILOT_Y_RAT_TC`. This allows the params to remain the same across plane and copter. I could try and find a letter in the prefix on plane only and leave copter as it is. But I think there is a lot of value in keeping params consistent and the `RATE` -> `RAT` is one we use elsewhere. Open to other suggestions of course.

github.com/ArduPilot/ardupilot

Plane: do not re-trigger fence if mode changed for expected reason

ArduPilot:master ← IamPete1:plane_mode_readon

opened 10:20PM - 08 Jul 22 UTC

IamPete1

+17 -15

Current master will re trigger fence if your using some `Q_RTL_MODE` options or …`RTL_AUTOLAND`. In these cases we do not stay in the mode the fence breach put us in, so the fence re-triggers. Current code is also immune from re-trigger in guided even if you manually changed to it after the breach. Example re-triggering using fence action RTL and `Q_RTL_MODE` QRTL always. It just keeps triggering until the vehicle gets inside the fence again. ![image](https://user-images.githubusercontent.com/33176108/178076776-764ce6ec-ca53-4020-a820-bd0f19ab452f.png) Same test with this branch results in only the first mode switch. ![image](https://user-images.githubusercontent.com/33176108/178076982-fd68d6df-d8c2-49a8-8d7e-3b039877bd7d.png) Also discovered we had both AP vehicle's `control_mode_reason` and a local plane `_last_reason` this removes the local plane copy and uses `control_mode_reason` in its place.

github.com/ArduPilot/ardupilot

Take-off throttle slew time

ArduPilot:master ← lthall:20220709_Takeoff_Throttle_Slew_Time

opened 01:40PM - 09 Jul 22 UTC

lthall

+79 -28

This PR adds control over the throttle slew time as the aircraft moves from land…ed to flying. The autopilot looks for vertical acceleration, velocity or position changes to detect take-off. If 90% throttle is reached take-off is declared, limiting the maximum time delay. The primary benefit of this PR is making the take-off behaviour independent of the vertical position controller tune. It will also improve the consistency of take-off when different payloads are used.

github.com/ArduPilot/ardupilot

build: added --ubsan and --ubsan-abort options

ArduPilot:master ← tridge:pr-ubsan-sitl

opened 11:43PM - 10 Jul 22 UTC

tridge

+152 -7

This allows enabling of the undefined behavior sanitizer in the build. When enab…led you either get printed warnings with file and line number, or the warning and an abort if --ubsan-abort is used this can be used to find undefined behavior in our code for code paths and values that are tested in SITL followup PRs will fix the issues result with test.plane: ``` ubsan error: /libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp:295:68 float-cast-overflow:1.65751e+12 is outside the range of representable values of type 'unsigned int' ubsan error: /libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp:89:76 float-cast-overflow:-1.99585 is outside the range of representable values of type 'short unsigned int' ubsan error: /libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp:89:76 float-cast-overflow:-3.9978 is outside the range of representable values of type 'short unsigned int' ubsan error: /libraries/AP_HAL_SITL/GPIO.cpp:39:46 invalid-shift-exponent:Shift exponent 117 is too large for 32-bit type 'unsigned int' ubsan error: /libraries/AP_HAL_SITL/GPIO.cpp:62:25 invalid-shift-exponent:Shift exponent 61 is too large for 32-bit type 'unsigned int' ubsan error: /libraries/AP_HAL_SITL/GPIO.cpp:64:26 invalid-shift-exponent:Shift exponent 61 is too large for 32-bit type 'unsigned int' ubsan error: /libraries/AP_HAL_SITL/SITL_State.cpp:868:53 float-cast-overflow:-3.5628 is outside the range of representable values of type 'short unsigned int' ubsan error: /libraries/AP_MSP/AP_MSP_Telem_Backend.cpp:831:22 invalid-shift-exponent:Shift exponent 32 is too large for 32-bit type 'unsigned int' ubsan error: /libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp:100:32 float-cast-overflow:34538.6 is outside the range of representable values of type 'short int' ubsan error: /libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp:172:30 float-cast-overflow:51059.4 is outside the range of representable values of type 'short int' ubsan error: /libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:120:32 float-cast-overflow:33000.2 is outside the range of representable values of type 'short int' ubsan error: /libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:122:32 float-cast-overflow:34541 is outside the range of representable values of type 'short int' ubsan error: /libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:193:30 float-cast-overflow:48389.4 is outside the range of representable values of type 'short int' ubsan error: /libraries/Filter/ModeFilter.cpp:88:57 out-of-bounds-index:Index 5 out of bounds for type 'float [5]' ``` copter: ``` ubsan error: libraries/AP_HAL_SITL/GPIO.cpp:39:46 invalid-shift-exponent:Shift exponent 117 is too large for 32-bit type 'unsigned int' ubsan error: libraries/AP_HAL_SITL/GPIO.cpp:62:25 invalid-shift-exponent:Shift exponent 61 is too large for 32-bit type 'unsigned int' ubsan error: libraries/AP_HAL_SITL/GPIO.cpp:64:26 invalid-shift-exponent:Shift exponent 61 is too large for 32-bit type 'unsigned int' ubsan error: libraries/AP_Logger/LogFile.cpp:395:46 float-cast-overflow:-36883.3 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:395:46 float-cast-overflow:-40667 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:395:46 float-cast-overflow:-40720.3 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:395:46 float-cast-overflow:-40764 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:395:46 float-cast-overflow:41459.2 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:396:46 float-cast-overflow:-36883.3 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:396:46 float-cast-overflow:-40667 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:396:46 float-cast-overflow:-40720.3 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:396:46 float-cast-overflow:-40764 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:397:46 float-cast-overflow:-37462.6 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:397:46 float-cast-overflow:-41305.8 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:397:46 float-cast-overflow:-41359.9 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_Logger/LogFile.cpp:397:46 float-cast-overflow:-41404.3 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:253:28 float-cast-overflow:4.31093e+06 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:254:30 float-cast-overflow:32839.4 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:259:35 float-cast-overflow:44279.9 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:260:35 float-cast-overflow:55073.4 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:261:34 float-cast-overflow:-55056.5 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:262:29 float-cast-overflow:1.3343e+06 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:263:29 float-cast-overflow:-4.0985e+06 is outside the range of representable values of type 'short int' ubsan error: libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp:264:29 float-cast-overflow:-63365.6 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1778:13 float-cast-overflow:-36883.3 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1778:13 float-cast-overflow:-40667 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1778:13 float-cast-overflow:-40720.3 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1778:13 float-cast-overflow:-40764 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1779:13 float-cast-overflow:-36883.3 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1779:13 float-cast-overflow:-40667 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1779:13 float-cast-overflow:-40720.3 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1779:13 float-cast-overflow:-40764 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1780:13 float-cast-overflow:-37462.6 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1780:13 float-cast-overflow:-41305.8 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1780:13 float-cast-overflow:-41359.9 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1780:13 float-cast-overflow:-41404.3 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1822:13 float-cast-overflow:-41099.5 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1822:13 float-cast-overflow:41459.2 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1822:13 float-cast-overflow:-43838.9 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1822:13 float-cast-overflow:-43850.8 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1823:13 float-cast-overflow:-41099.5 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1823:13 float-cast-overflow:-43838.9 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1823:13 float-cast-overflow:-43850.8 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1824:13 float-cast-overflow:-41099.5 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1824:13 float-cast-overflow:-43838.9 is outside the range of representable values of type 'short int' ubsan error: libraries/GCS_MAVLink/GCS_Common.cpp:1824:13 float-cast-overflow:-43850.8 is outside the range of representable values of type 'short int' ubsan error: libraries/SITL/SIM_IntelligentEnergy24.cpp:106:41 float-cast-overflow:-302.1 is outside the range of representable values of type 'unsigned int' ubsan error: libraries/SITL/SIM_Vicon.cpp:164:13 invalid-enum-load:Load of value 5, which is not a valid value for type 'mavlink_channel_t' ubsan error: libraries/SITL/SIM_Vicon.cpp:200:13 invalid-enum-load:Load of value 5, which is not a valid value for type 'mavlink_channel_t' ubsan error: libraries/SITL/SIM_Vicon.cpp:265:13 invalid-enum-load:Load of value 5, which is not a valid value for type 'mavlink_channel_t' ubsan error: libraries/SITL/SIM_Vicon.cpp:34:24 invalid-enum-load:Load of value 5, which is not a valid value for type 'mavlink_channel_t' ```

github.com/ArduPilot/ardupilot

AP_InertialSensor: Adding support for LSM6DS3TR-C IMU

ArduPilot:master ← Notorious811:lsm6ds3tr-c

opened 07:55AM - 11 Jul 22 UTC

Notorious811

+533 -0

I am trying to add support for a new IMU in ardupilot, i have build up a driver …by comparing already supported IMU drivers for LSM9DS0 and LSM9DS1 in ardupilot, indeed i have read the data sheet and application note for LSM6DS3TR-C for appropriate read/write register operations and to use FIFO mode correctly. I have also taken some references for register operations from this driver https://github.com/embalbe/STMems_Standard_C_drivers/tree/master/lsm6ds3tr_c_STdC To use FIFO mode, i have followed some fifo examples of same IMU but of different variant as mentioned here: https://github.com/embalbe/STMems_Standard_C_drivers/tree/master/lsm6ds3_STdC/example I have attached the sensor module, data sheet and application note below for the IMU i am using: **sensor module** : https://www.adafruit.com/product/4503 **data sheet** : https://www.st.com/resource/en/datasheet/lsm6ds3tr-c.pdf **application note** : https://www.st.com/resource/en/application_note/dm00472670-lsm6ds3trc-alwayson-3d-accelerometer-and-3d-gyroscope-stmicroelectronics.pdf The driver i build up is working fine only in one scenario that is when i am reading just 1 sample( 3 16-bits data of gyro + 3 16-bits data of accel ) in the fifo buffer, when i am trying to read more than 1 sample then there are 2 problems: 1) gyroscope and accelerometer measurement rates keep decreasing as samples increases and can be seen in IMU.GHz and IMU.AHz in logs 2) number of long loops is increasing with the increase in samples and can be seen in PM.NLon in logs Temperature data is also not correct, i checked by reading the temperature output register directly and it was varying too much. I need help from the community to assist me for adding support for this IMU in ardupilot and help me detecting what things i might be overlooking with the driver, that's why i created this PR, i have this IMU IC integrated directly onto our custom build FC which is close to a clone of omnibusF4pro. Earlier we were also using 2 different IMUs on our same FC that was MPU6000 and ICM20602, and both were working well as both have the official support in ardupilot. Lastly, i am attaching 2 flight logs with LSM6DS3TR-C IMU with our custom FC: 1) In first log, i am reading 1 sample from the fifo buffer (samples > 0) [log1](https://drive.google.com/file/d/1HEQdDM5Li7W4uza-4KTzwKYz3bm7TlfX/view?usp=sharing) 2) In second log, i am reading 2 samples from fifo and taking average of them (samples > 1) [log2](https://drive.google.com/file/d/1L0elN61DQk1paWMIjp8PCSeOGrx9nbDR/view?usp=sharing)

github.com/ArduPilot/ardupilot

Remove mavlink-specific methods from AP_SerialManager

ArduPilot:master ← peterbarker:pr/eliminate-get-mavlink-protocol

opened 08:09AM - 11 Jul 22 UTC

peterbarker

+43 -84

This capitalises on years-old cleanups to create the `find_protocol_instance` me…thod. This should make mavlink a little more efficient, especially when we increase the number of mavlink channels available. In master every packet received makes at least one call to `get_mavlink_protocol`, which iterates through all backends. Based on https://github.com/ArduPilot/ardupilot/pull/21165 which does a little bit of prep work.

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.2.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 - [x] arming c…heck for RTL_AUTOLAND != 0 when there is a DLS in the mission #20345 - [x] avoidance bug https://github.com/ArduPilot/ardupilot/pull/15063 - [ ] cope with over 65V batteries - [x] check dual airspeed autocal - [ ] stricter checks on takeoff command and RTL arming in quadplanes - [ ] auto-lower pos controller gains when have attitude error? - [x] iomcu rssi pin 103 not working: https://discuss.ardupilot.org/t/plane-4-2-stable-release/84979/12?u=tridge - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] check PWM 1000/2000 conversion, use check_mot_pwm_params - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] implement CAN EFI node - [ ] added ESC_TELEM offset parameter - [ ] test ublox fw update with passthru - [ ] add MODE=RPM2 into harmonic notch - [ ] sys_status battery status on battery failsafe error? - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add fw update from microSD to bootloader - [x] rename INS_NOTCH to INS_HNTC2 - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [x] fix PWM output with SERVOn_FUNCTION=0 and DO_SET_SERVO - [x] test INS_NOTCH conversion test from 4.1 - [ ] copy crash_dump.bin to microsd on each boot is non-zero size - [ ] Ryans baro correction https://github.com/ArduPilot/ardupilot/pull/19904 - [x] allow for selective airspeed sensor enable in hwdef.dat (needed for hitec airspeed) - [ ] possible QRTL bug with terrain alt (see log from alex) - [ ] motor reversal with DShot 3D: https://discuss.ardupilot.org/t/plane-4-2-beta-release/82502/73?u=tridge - [x] auto-config not working with F9P firmware 1.30, and MON_VER not working https://github.com/ArduPilot/ardupilot/issues/20473 - [x] log list with a sdcard with lots of files causes long pause and EKF errors - [ ] option for median filter between synthetic airspeed and dual-airspeed - [x] @SYS files not logged when LOG_DISARMED=0 - [x] sum battery not updating percent remaining fix: #20357 - [x] rudder disarm should not cause yaw in Q modes fix: #20363 - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [x] changing home using GCS while in CRUISE mode changes height - [x] re-triggering of fence when RTL_AUTOLAND=2 fix: #20360 - [ ] 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 - [x] need fence status on MissionPlanner https://discuss.ardupilot.org/t/no-message-for-geofence-breach/82720/3 - [ ] obey primary sensors with EK3_AFFINITY - [x] rangefinder offset applied twice (#17424) - [x] ~interrupt storm with misconfigured camera (#17465)~ (not a blocker as it was caught and a misconfiguration) - [x] add API for lock-step detection to suppress panic in pos controller init check - [ ] 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 Pending quadplane features from Kris: - [x] When the safety switch is disabled, the Tilt servos may oscillate considerably once when connected to the battery. This causes the propeller to strike the wing and damage it. Possible solution: Move BoardConfig.init_safety() in system.cpp to run BoardConfig.init_safety() 2 seconds after init has finished. Update: fixed in #15942 - [ ] In some cases, failsafe will change the flight mode before entering failsafe, which results in the AUTO mode not continuing. Need example log 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: 4.2.0 issues list

opened 05:16AM - 28 Feb 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.2.0 beta testing. … For reference [Copter-4.1 issues ](https://github.com/ArduPilot/ardupilot/issues/16478), [Rover-4.1 issues](https://github.com/ArduPilot/ardupilot/issues/17116). **Reports requiring Investigation** - [ ] BlueRobotics ping sensor not working above 4.0.0 ([discussion](https://discuss.ardupilot.org/t/blue-robotics-ping-sensor-not-working-on-anything-above-ardurover-4-0-0/88007)) - [ ] SoloGimbal broken (also broken in 4.1.x) ([issue](https://github.com/ArduPilot/ardupilot/issues/20923)) - [ ] Missions may complete while the vehicle is disarmed ([issue](https://github.com/ArduPilot/ardupilot/issues/20655)) - [ ] UAvionix Ping disrupts param download ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc2-released-for-beta-testing/84818/3)) - [ ] modalAI Voxl setup problems ([issue](https://github.com/ArduPilot/ardupilot/issues/20481), [discussion](https://discuss.ardupilot.org/t/voxl-position-reference/87230)) **Copter** - [ ] circle mode can't keep vehicle pointed at center if CIRCLE_RATE > ATC_SLEW_YAW ([issue](https://github.com/ArduPilot/ardupilot/issues/21098)) - [ ] do-change-speed doesn't work if immediately after a TAKEOFF command ([discussion](https://discuss.ardupilot.org/t/copter-4-2-x-cant-accept-do-change-speed-in-auto-mission/87509), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) - [ ] DShot BlueJay not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc4-available-for-beta-testing/85556/3)) -- fixed in 4.2.1-rc1? - [ ] DShot LEDs not working ([issue](https://github.com/ArduPilot/ardupilot/issues/20816)) -- fixed in 4.2.1-rc1? - [ ] AndyP's ongoing alt-hold issues ([PR](https://github.com/ArduPilot/ardupilot/pull/20781)) -- agreed not blocker for 4.2.0 release - [ ] neopixel shows incorrect colours on some boards ([discussion](https://github.com/ArduPilot/ardupilot/issues/20768), [PR](https://github.com/ArduPilot/ardupilot/pull/20432)) - [ ] Copter set-attitude-target doesn't accept roll,pitch angles and yaw rate ([issue](https://github.com/ArduPilot/ardupilot/issues/20444)) **Rover Specific** - none **Enhancement Requests (may or may not be done)** - [ ] request to update mavlink repo ([issue](https://github.com/ArduPilot/ardupilot/issues/20849), [PR](https://github.com/ArduPilot/ardupilot/pull/20927)) - [ ] CubeBlack not-enough-memory with CAN enabled ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/19)) -- many small changes increased memory usage. Not easy to fix. - [ ] OSD Group2 Params LINK_Q Items appear even for disabled OSD screens ([issue](https://github.com/ArduPilot/ardupilot/issues/18418), [PR](https://github.com/ArduPilot/ardupilot/pull/18533)) -- a display issue and quite difficult to fix - [ ] [Custom Build server](https://custom.ardupilot.org/) should support building beta and stable ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta1-available-for-beta-testing/82462/7)) - [ ] Log fence locations ([discussion](https://discuss.ardupilot.org/t/no-polygone-fences-in-the-dataflash-logs/82566), [issue](https://github.com/ArduPilot/ardupilot/issues/20213)) - [ ] SBP (aka Swift) GPS driver should accept yaw ([discussion](https://discuss.ardupilot.org/t/how-to-force-gps-yaw-to-rovers-yaw/82553/2)) **Wiki improvement Requests** - [ ] Improve optical flow wiki ([discussion](https://discuss.ardupilot.org/t/how-to-test-benefits-of-optical-flow-improvements/82488)) - [ ] document DO_LAND_START / AutoRTL ([discussion](https://discuss.ardupilot.org/t/suggestion-being-able-to-define-an-rtl-approach-path-i-e-approach-rtl/85470), [MP PR](https://github.com/ArduPilot/MissionPlanner/issues/2858)) **Resolved Items** - [x] climb during precision landing ([discussion](https://discuss.ardupilot.org/t/quad-rises-to-40m-before-landing/86311), [PR](https://github.com/ArduPilot/ardupilot/pull/20982)) -- not included in 4.2 because it is an existing issue. I think we will wait for 4.3 for the fix to go out. - [x] LidarLight broken on CubeOrange, Nora (all H7?) ([issues](https://github.com/ArduPilot/ardupilot/issues/20778)) -- hardware issue - [x] Circle mode should stop at fence ([issue](https://github.com/ArduPilot/ardupilot/issues/20939), [PR](https://github.com/ArduPilot/ardupilot/pull/20964)) -- resolved for 4.2.2-rc1 - [x] OSD not showing latest modes ([PR](https://github.com/ArduPilot/ardupilot/pull/20811)) -- resolved for 4.2.1-rc2 - [x] precision landing yawing during descent when tag lost ([discussion](https://discuss.ardupilot.org/t/fixed-yaw-precision-landing/85618/2), [PR](https://github.com/ArduPilot/ardupilot/pull/20801)) -- resolved for 4.2.1 - [x] Matek H743 has 4 IMUs so INS_ENABLE_MASK needs an extra bit? ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-rc3-released-for-beta-testing/85121), [PR](https://github.com/ArduPilot/ardupilot/pull/20793)) -- resolved for 4.2.1 - [x] CHUTE_ENABLE somehow set to zero (RC switch?) ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc4-available-for-beta-testing/85556/8), [issue](https://github.com/ArduPilot/ardupilot/issues/20788)) -- present in 4.1.x as well - [x] TradHeli internal error from Guided mode ([discussion](https://discuss.ardupilot.org/t/heli-frame-prearm-internal-error-0x100000-l-602-flow-of-ctr/85172), [PR](https://github.com/ArduPilot/ardupilot/pull/20742)) -- resolved for -rc4 - [x] ATC_SLEW_YAW affects yaw speed in Loiter ([issue](https://github.com/ArduPilot/ardupilot/issues/20608), [PR](https://github.com/ArduPilot/ardupilot/pull/20758)) -- resolved for -rc4 - [x] AP_Button's internal error when using PWM input ([issue](https://github.com/ArduPilot/ardupilot/issues/20609)) -- maybe caused by servo tester used during testing -- not a real problem - [x] Chimera EKF issues after acro flight (worse in -rc1 than -beta3). AndyPiper has logs ([PR](https://github.com/ArduPilot/ardupilot/pull/20684), [related PR](https://github.com/ArduPilot/ardupilot/pull/20431)) -- resolved in -rc3 - [x] MatekF765-Wing-bdshot requested ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/12)) -- included in -rc2 - [x] BLHeli_S not working and "all zeros" watchdog ([discussion](https://discuss.ardupilot.org/t/spontaneous-crash-possible-problem-in-4-2bdshot-daily-build-from-feb-22/83297/16), [zeroWD issue](https://github.com/ArduPilot/ardupilot/issues/20092)) -- resolved for -rc2 (we think) - [x] User struggles setting up wheel encoders, camera triggers, brushed-motors-with-relays due to BRD_PWM_COUNT removal ([Rover discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/17), [Copter discussion](https://discuss.ardupilot.org/t/brd-pwm-count-mentioned-in-wiki-but-not-in-parameters-or-in-parameter-list-doc/84155), [Plane issue](https://github.com/ArduPilot/ardupilot/issues/20567), [PR](https://github.com/ArduPilot/ardupilot/pull/20576)) -- resolved for -rc2 - [x] MP param download 30+ seconds on Randy's CubeOrange after CAN_P1_DRIVER = 1 or BTN_ENABLE = 1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20582)) -- resolved in Beta MP (build 1.3.8150.28411 or higher) - [x] Vision Position Estimates treated as offsets from internal origin ([issue](https://github.com/ArduPilot/ardupilot/issues/20585)) -- working correctly - [x] compass learn testing ([discussion](https://discuss.ardupilot.org/t/lane-switch-on-compass-learn-3-flight/84223), [discussion2](https://discuss.ardupilot.org/t/test-results-of-compass-learn-3/84177)) -- FYI only - [x] DO_SET_SERVO does not work on Servo9 ~ 14 on CubeOrange ([discussion](https://discuss.ardupilot.org/t/no-pwm-servo-aux-out-1-movement-on-cube-orange/84325/2), [PR](https://github.com/ArduPilot/ardupilot/pull/20584), [PR](https://github.com/ArduPilot/ardupilot/pull/20577)) -- resolved for -rc2 - [x] RPM spams console until gpio PIN parameter is set ([issue](https://github.com/ArduPilot/ardupilot/issues/20575), [PR](https://github.com/ArduPilot/ardupilot/pull/20579)) -- resolved for -rc2 - [x] Linux crash due to UART or scheduler change? ([issue](https://github.com/ArduPilot/ardupilot/issues/20519), [PR](https://github.com/ArduPilot/ardupilot/pull/20540)) -- resolved for -rc2 - [x] Tradheli autotune not properly exiting rate P/rate D tuning when max allowed gains are not determined ([PR](https://github.com/ArduPilot/ardupilot/pull/20447)) -- resolved for -rc2 - [x] SYSID FF fix ([PR](https://github.com/ArduPilot/ardupilot/pull/20466)) -- resolved for -rc2 - [x] Rover watchdog reset on MatekH743-Mini-bdshot ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623)) -- probably resolved in -rc1 - [x] Balance bot not standing for user with brushed motors ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/7)) -- needed to set SERVOx_FUNCTION = -1 (need better docs?) - [x] Bi-directional dshot doesn't work on Rover ([PR](https://github.com/ArduPilot/ardupilot/pull/20374)) -- fixed in beta3 - [x] landing not slowing at LAND_ALT_LOW (Randy and PeterHall have logs) -- fixed in beta3 - [x] WP_SPEED from Ch6 tuning not working? ([discussion](https://discuss.ardupilot.org/t/wpnav-speed-as-a-chan-6-tune-parameter-working/83217)) -- vehicle config issue, works. - [x] DSHOT reverse range is inverted (4.2 issue. see [issue](https://github.com/ArduPilot/ardupilot/issues/19346), [PR1](https://github.com/ArduPilot/ardupilot/pull/20349), [PR2](https://github.com/ArduPilot/ardupilot/pull/20358)) -- resolved for beta3 - [x] BLHeli passthrough not working on CubeOrange's AUX1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20362)) -- but is likely a hardware issue - [x] MinimOSD not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta2-released/82959), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4231)) -- user needs to set SERIALx_PROTOCOL = 1 - [x] BalanceBot does not stand-up in Acro mode ([discussion](https://discuss.ardupilot.org/t/rover-4-1-3-rc1-released-for-beta-testing/79751/3)) -- resolved in beta3 - [x] takeoff stuck if alt-above-home is lower than alt-above-terrain ([comment](https://github.com/ArduPilot/ardupilot/commit/fb6c3ebb729a4b428da5dd14832cd95d71709a1e#commitcomment-68370961), [issue](https://github.com/ArduPilot/ardupilot/issues/20277), [PR](https://github.com/ArduPilot/ardupilot/pull/20153), [PR2](https://github.com/ArduPilot/ardupilot/pull/20285)) -- fixed in beta2 (the problem was only ever present in master, never made it to a beta) - [x] GPS-for-yaw with DroneCan GPS not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/6), [PR](https://github.com/ArduPilot/ardupilot/pull/20249)) -- resolved in -beta2 - [x] DShot esc issue ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/8), [PR](https://github.com/ArduPilot/ardupilot/pull/20247)) -- resolved in beta2

GSOC

CraigElder · July 12, 2022, 1:52pm

Attendee count (max): 18

UTC11100 - Add VSCode tasks and recommended extensions by TunaLobster · Pull Request #4411 · ArduPilot/ardupilot_wiki · GitHub

Vscode instructions
Eventually removing Eclipse and getting people to use vscode instead
- Henry doesn’t like vscode much
- Randy’s unsure about that
merged

UTC1103 - System id improvements by fbredeme · Pull Request #4389 · ArduPilot/ardupilot_wiki · GitHub

System-id improvements
- Use-case…
- Weird i-gain results?
  - Also didn’t let autotune have a really good look at it
  - Massive phase lag?
Does this belong on the Wiki?
- Perhaps a blog post?
- Josh likes having the maths in the Wiki
9:05 AM] Peter Hall: There are some nice controls diagrams.
[9:06 AM] Emre Saldıran: Bill, we also used sys id to optimize arucopter controller with CONDUIT.
[9:07 AM] Emre Saldıran: The resulting integrator gains were way bigger than the P and D again
[9:07 AM] BillGeyer: I think the disturbance rejection requirements were very high which drove the I gain to meet the requirement
[9:09 AM] Charlie Johnson: Is there a paper to go along with this? If so, can that be added to the academic page?
[9:09 AM] Peter Hall: Dev wiki rather than copter?
[9:09 AM] Peter Hall: It would be a shame to loose this write up.
[9:10 AM] Josh Henderson: ^^ +1000%
Leonard thinks there’s some good stuff in here
- Tridge points out the “View file” option in github
Henry: Vehicle wikis want “how do I set parameters to do something, how do I get something done?
- The vast amount of maths in here is off-putting for the average user
- Leonard thinks we shouldn’t be coddling people so much
  - So we should put the controller diagrams in
  - We spend a lot of time focussing on people who aren’t interested in multirotors
    - Just a means to an ends
  - We shouldn’t deliberately remove stuff from the Wiki that these people don’t care about or get annoyed out
- Leonard likes the systemid stuff, how you build a model etc etc
- Supporting this is difficult
- Comparisons to autotune were flawed in this paper
  - Perhaps it was removed now?
Leonard and Bill will discuss this

UTC1119 - Deprecate Eclipse and Cygwin as Windows build environments by Hwurzburg · Pull Request #4343 · ArduPilot/ardupilot_wiki · GitHub

Deprecate Eclipse and Cygwin
- Wait until Randy moves
Archiving everything except wsl2
When cygwin?
- Executable for MissionPlanner
  - Pre-built-in parameters useful
- Faster frame rates
- Niche
Currently our wsl2 instructions don’t include flashing-board instructions
People apparently just use MissionPlanner
“Cygwin and eclipse are no longer recommended for building” is in here

UTC1128 - Better ci by khancyr · Pull Request #679 · ArduPilot/pymavlink · GitHub

Moved to DevCallEU
Pymavlink improve CI

UTC1132 - AP_Vehicle: add AIS by IamPete1 · Pull Request #18332 · ArduPilot/ardupilot · GitHub

Add AIS to AP_Vehicle
Merged!

UTC1139 - LD06 Proximity Sensor Integration by Adithya-Patil · Pull Request #20138 · ArduPilot/ardupilot · GitHub

LD06 sensor integration
Needs out-of-range information
Needs to use the range parameters
Should set the default values for the proximity sensor rather than the current mess
Too many false positives from proximity sensors generally

UTC1153 - Copter/Rover: Enhance the Mission Change detector by lthall · Pull Request #20701 · ArduPilot/ardupilot · GitHub

Optimise ability to add waypoints while mission is running without auto stopping and restarting the mission every time unnecessarily
Doesn’t stop/reset unless required
- If it does then will calculate a stopping point and go from there
These changes more closely binds the mission to waypoint navigation library which isn’t great
- May not work well with external path planners
This is a very large cost….
Missions should run off and finish… so why are we paying so much time trying to fix the upload corner cases?
1900 bytes on Matek405
Large development/maintenance cost for this?
This would be simpler if it didn’t try to handle splines…
Why not do this more like EKF resets?
- Three timestamps, one for each?
This is all about not doing a reset unless you need to
Allows you to change the next 3 waypoints and maybe not come to a stop
Use case:
- Delivery aircraft to determine route when it reaches a point in the sky
Maybe restrict to 1MB boards
LUA script?
Too much of a maintenance cost?
If you don’t reset when it should be reset then bad things happen
Randy thinks leave this out for now
Randy’s going to poke MO on ftp upload for missions in MP

UTC0016 - Plane: added NAV_DELAY support by tridge · Pull Request #20941 · ArduPilot/ardupilot · GitHub

NAV_DELAY for planes
- Shouldn’t this let quadplanes hover?
- This is very different behavior to Copter
NAV_DELAY is weird
- “Stop navigating”!?
- Use LOITER_TIME instead
This implementation only works on the ground
Synchronise swarm of quadplanes….
Behaviour when armed can change in the future if a good use case can be found for it

UTC0034 - AP_Param: add `@SYS/defaults.parm` and log default values by IamPete1 · Pull Request #20972 · ArduPilot/ardupilot · GitHub

Parameter defaults again
Tridge will test

UTC0035 - Tramp VTX Protocol by andyp1per · Pull Request #21005 · ArduPilot/ardupilot · GitHub

Tramp vtx protocol
Reviews left
Will come back to DevCallEU

UTC0047 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

No new Plane stable release as waiting for stuff to go into master
- Need to go through these with PH

UTC0048 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

Copter 4.2.2 rc is out there
Partner who had problems turned out not to be this rc
Really was no problem
No feedback from community/beta testers
Another push to get people to test/respond
BLping might not be working?
- Above 4.0
SF45 power-cycle issue?
- Saelee trace required….
Torqeedo motor is being used by someone else which is nice
- Twin-torqeedo support coming soon…

UTC0052 - GSoC

Emre is doing well
- Custom controller stuff
- Parameter stuff was complex
  - Worked through that
    - Has blog post and open PR
Sanket / ROS integration
- Trying to get ROS working as offboard navigation
Shiv / Docking
- Going very well

UTC0054 - AP_Control: change autotune I determination for Roll axis by Hwurzburg · Pull Request #21027 · ArduPilot/ardupilot · GitHub

Change autotune i determination
Need Paul for this

UTC0055 - build: added --ubsan and --ubsan-abort options by tridge · Pull Request #21163 · ArduPilot/ardupilot · GitHub

Undefined behaviour sanitiser
Finds a lot of issues we need to look at it
- Including indexing beyond end of array
Merged

UTC0100 - SITL: Make Yaw control scale with aircraft size by lthall · Pull Request #21128 · ArduPilot/ardupilot · GitHub

Many small PRs from Leonard
- He’d like people to look through them….

UTC0102 - AP_Rally: tidy calculation of nearest rally/home by peterbarker · Pull Request #21082 · ArduPilot/ardupilot · GitHub

Tidy rally point calculation
Merged

UTC0106 - Plane: add yaw input shaping command model by IamPete1 · Pull Request #21107 · ArduPilot/ardupilot · GitHub

Really want to keep same names between Copter and Plane
This is the new yaw input shaping stuff
RAT vs RATE
Q_PLT_ for QuadPlane?
Will drop Copter changes and use PLT on quadplane

UTC0112 - Correct gcs_out_of_space_to_send methodname by peterbarker · Pull Request #21147 · ArduPilot/ardupilot · GitHub

Merged

UTC0016 - Increase Boardname Length & Output Fields for Vehicle Manufacturer's in Banners · Issue #21137 · ArduPilot/ardupilot · GitHub

Full board name in messages
Want to stop sending the MCU Id in statustext
But need it in both tlogs and bin logs
- Add as MSG in bin logs
- May break people parsing the logs for the MCU ID
- Emit autopilot_version to GCS when sending banner
Version.h entries can be overridden now-adays so MissionPlanner’s interface shows ByBigQuadCopterCompany

UTC0025 - close

UTC0027 - AP_SerialManager: eliminate get_mavlink_channel by peterbarker · Pull Request #21165 · ArduPilot/ardupilot · GitHub

Eliminate get_mavlink_channel method
Merged