Dev call July 22, 2024

CraigElder · July 22, 2024, 10:45pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Copter Fence Fixes

ArduPilot:master ← andyp1per:pr-copter-fences

opened 07:51PM - 02 Jan 24 UTC

andyp1per

+1237 -338

Separated out from https://github.com/ArduPilot/ardupilot/pull/25698 - Implem…ents Min Alt fence on copter - Adds support for auto-enabling fence floors on copter - Messages correctly about fence breach / enablement - Auto-disable floor fence on landing on copter - Always checks breaches regardless of manual recovery state - means the scripting API is up-to-date - Prevent manual recovery logic from engaging when no fence action has been set - allows better control from scripting - Implements FENCE_AUTOENABLE for copter - Implements FENCE_OPTIONS for copter Here is an attempt at describing what this is supposed to do: 1. A fence is a 2D plane in 3D space separating "inside" the fence from "outside" the fence 2. A fence can be in one of four incremental states (so e.g. a fence can only be active if it is already configured): - Unconfigured - the fence is unavailable for use in any way - Configured - the fence is able to be activated by some activation mechanism - Active - the fence is active and will be put into the breached state if the vehicle is "outside" the fence - Breached - the fence is active, the vehicle is "outside" the fence and any breach action will be taken 3. The state of each fence is fully independent of all of the others 4. A fence is configured by setting the appropriate bit in FENCE_TYPES 5. Fences come in two categories - Normal and Auto. By default Max Alt, Circle and Poly fences are considered Normal fences and Min Alt is considered an Auto fence. 6. A fence is activated by one of the following mechanisms: - Setting FENCE_ENABLE to 1 activates all configured normal fences - Setting FENCE_ENABLE to 1 activates all configured auto fences when their autoconditions become true - Setting an RC switch, configured with option 11 (FENCE), high activates all configured fences - Sending the mavlink message MAV_CMD_DO_FENCE_ENABLE actives all fences specified in the message - If FENCE_AUTOENABLE is set to some value causes all normal fences to become auto fences that are activated when their auto conditions become true 7. A fence is de-activated by one of the following mechanisms: - Setting FENCE_ENABLE to 0 de-activates all configured fences - Setting an RC switch, configured with option 11 (FENCE), low de-activates all configured fences - Sending the mavlink message MAV_CMD_DO_FENCE_ENABLE de-actives all fences specified in the message - An automatic landing (RTL in Copter and in Plane if certain options are set, LAND, land in AUTO) will disable all auto fences and ignore all breach actions 8. The following auto-conditions are available: - Ascending above Min Alt by default - On arming via FENCE_AUTOENABLE - On auto takeoff via FENCE_AUTOENABLE 9. The execution of a breach action prevents the execution of any further breach action until the breach action is completed or pilot changes mode or disarms Requires https://github.com/ArduPilot/mavlink/pull/349

github.com/ArduPilot/ardupilot

Detune to stop ground oscillation

ArduPilot:master ← lthall:20240423_GroundOccilation

opened 07:12AM - 20 Jun 24 UTC

lthall

+48 -0

This pr provides the ability to reduce the gains of roll, pitch, and yaw to remo…ve ground oscillation while landed. Each axis has a gain reduction variable that is set when the aircraft is landed. The gain returns to normal in 2 x ATC_INPUT_TC. This is a common problem on aircraft with flexible landing gear. It is often seen as a yaw oscillation during spool up on more solidly built aircraft also.

github.com/ArduPilot/ardupilot

AC_Autotune: Clean up Multi Variables and non functional changes

ArduPilot:master ← lthall:20240624_Autotune_Clean_Up

opened 04:17AM - 24 Jun 24 UTC

lthall

+38 -37

I have moved the multi only variable declaration variables into the AC_AutoTune_…Multi.h. I removed the "f" from the floats. I simplified a couple functions. All these changes should be non-functional. I am a little disgusted by some of the structures that I made here. This still has some work to do before it could be considered "clean".

github.com/ArduPilot/ardupilot

Constellation choice for septentrio gnss

ArduPilot:master ← chiara-septentrio:master

opened 02:05PM - 24 Jun 24 UTC

chiara-septentrio

+18 -0

# Changes ## General overview This pull request adds the feature to chose the …system used for Septentrio receivers through the GPS_GNSS_MODE parameter. Any configuration is possible outside of IMES only (see below) and will take effect on start-up. ## Special case : IMES The IMES system is not implemented as there is no feature for it on the Septentrio receivers. The same way, NavIc and L-Band that can be configured on the receiver but are not present in the current parameters are not implemented. If the user choses to use only IMES, it is treated as an absence of choice and the system is left as is. ## SBAS parameter The Septentrio driver also uses the GPS_SBAS_MODE parameter, this parameter takes precedence over this new feature. To take only this new feature into account, the parameter can be left as NoChange. Redundant choices should not cause any issue. ## Tests This new feature has been tested with the CubeOrangePlus connected to one mosaic-go through its com2 port, and the copter build. It has been tested with all possible configurations. It has also been tested to work as intended with the SBAS parameter. RxControl has been used to monitor the receiver and confirm the drop in satellites used corresponded to the right systems. Example of corresponding parameter and receiver configuration: ![image](https://github.com/ArduPilot/ardupilot/assets/165775238/406570ce-dfd0-4c90-9a1a-799fa4ae3fb0) *Parameter on mission planner* ![image](https://github.com/ArduPilot/ardupilot/assets/165775238/961d1af0-7a2f-44a9-8394-083fc4fcb3b4) *Configuration on RxControl*

github.com/ArduPilot/ardupilot

AP_Scripting: reduce Lua state memory usage

ArduPilot:master ← tpwrules:pr/lua-reduce-ram

opened 12:28AM - 01 Jul 24 UTC

tpwrules

+49 -51

A few re-engineerings to make the state setup more efficient and on-demand. Plea…se see the commits for details. There are no visible changes to scripts except for ones that play games reading `_ENV`, which none in the repo do. There might be a slight downside of increased risk of fragmentation and out of memory problems at inopportune moments, but I think the savings are worth it. Tested some scripts including my REPL in SITL and on Cube Orange. Total savings on Cube Orange: * 104 bytes of statically allocated RAM * 14K of Lua heap memory (reduced by 2/3) * ~800 bytes per running script * 216 bytes of flash

github.com/ArduPilot/ardupilot

AP_TECS: Add a separate stall speed parameter used for minimum speed scaling

ArduPilot:master ← WickedShell:wickedshell/tecs-stall-speed

opened 05:40PM - 03 Jul 24 UTC

WickedShell

+15 -1

When stall prevention is enabled we were scaling from the aircraft's minimum fli…ght speed. However this is normally already picked as being above the stall speed, and for a variety of reasons we may want to pin the aircraft at a higher minimum speed. But if the aircraft was commanded to fly to close to that minimum speed as soon as it banked for a pattern it would command a increase in speed to keep it away from stalling. However if your minimum speed is far from stalling this increase was incorrect. To make it worse what this actually results in happening is an aircraft diving for more speed (over 10 m/s on some aircraft) as well as descending to gain that speed resulting in over 200 foot deviations in altitude control. This was found on a real vehicle (in a rather alarming flight), I've recreated the behavior in the sim easily, and tested the patch in the sim. The one question I have is do we want to keep this parameter within TECS which is the only user currently, or should it be moved into the vehicle side just incase we want to do more with it in the future? If the stall speed isn't configured this will result in no change in behavior.

github.com/ArduPilot/ardupilot

SITL: add simulated slung payload

ArduPilot:master ← rmackay9:sim-slung-payload

opened 06:32AM - 12 Jul 24 UTC

rmackay9

+598 -0

This adds SITL support for a slung payload and is implemented similarly to how t…he Ship landing ship was implemented. The payload can be enabled by setting a new SIM_SLUP_ENABLE parameter to 1. In addition the payload's weight, line length and air resistance (aka drag) can also be adjusted through new parameters This [Physics Classroom wiki page](https://www.physicsclassroom.com/class/waves/Lesson-0/Pendulum-Motion) was used as a reference to come up with this method for updating the payload and vehicle's movements: 1. update the payload's position, velocity using the previous iterations acceleration 2. check that the payload does not fall below the terrain 3. check if the line is taught and that the payload does not move more than the line length from the vehicle 4. calculate gravity and drag forces on the payload 5. calculate the tension force between the payload and vehicle including force countering gravity, drag and centripetal force 6. update the payload's acceleration using the sum of the above forces 7. update the vehicle's acceleration using the opposite of the above forces This has been tested in SITL and seems to move in a plausible way. ![image](https://github.com/user-attachments/assets/681f5a08-337b-4ea0-a99e-cc0dc04b5298) ![image](https://github.com/user-attachments/assets/365b9aec-370c-49d8-b3f6-d4b4b2fc3e68) To add confidence I've checked that the payload reaches the correct maximum speed according to the above linked pendulum document. So with drag removed (e.g. SIM_SLUP_DRAG=0) and the vehicle suddenly stopped so as to cause the pendulum to swing out to 38deg the pendulum reached a maximum speed of 11m/s which is very close to the theoretical 11.17m/s. ![image](https://github.com/user-attachments/assets/5bbe6fe3-02c3-4577-961d-167d922622b8)

github.com/ArduPilot/ardupilot

AP_Mount: Topotek image tracking fix

ArduPilot:master ← rmackay9:topotek-image-tracking-fix

opened 01:00AM - 17 Jul 24 UTC

rmackay9

+112 -36

This replaces PR https://github.com/ArduPilot/ardupilot/pull/26666 This PR ad…ds 3 enhancements to the Topotek driver: 1. versions can be returned by the gimbal in "1.2.3" format (previously it was only "123" 2. gimbal's model name is retrieve 3. image tracking status is improved to handle gimbals that do not have this feature This has been lightly tested on a real gimbal but we need to clear up these issues: 1. the model name appears as "000000000" 2. I don't really understand the new tracking state "waiting" and how the driver should decide what state to put the gimbal into

github.com/ArduPilot/ardupilot

Filter: LowPass: use `calc_lowpass_alpha_dt` in `apply` and prefix all class varables with `_`

ArduPilot:master ← IamPete1:filter_simplfy

opened 09:06PM - 17 Jul 24 UTC

IamPete1

+12 -31

A small simplification to our base low pass filter. It now uses `calc_lowpass_al…pha_dt` and `apply` so the existing code is reused rather than being re-implemented. There are some changes in behavior in the invalid dt/cutoff_freq cases. Previously the local copy of alpha was not updated where as it now is. This should not matter because the two apply methods should not be used together. **Future work** I would like to split the filter in to two classes one for each of the methods outlined here: https://github.com/ArduPilot/ardupilot/blob/5a54d9a2ecbff9a32d26aa7feee72f0056a01027/libraries/Filter/LowPassFilter.h#L25-L39 The two methods should not be mixed, so separate classes will ensure that. Then I would like to add a filter class which includes the cutoff frequency parameter since that is a very common usecase.

github.com/ArduPilot/ardupilot

AP_InertialSensor: Check the gyro/accel id has not been previously registered

ArduPilot:master ← Winjeel:pr/check-imu-before-registering-accel-and-gyro

opened 09:39PM - 17 Jul 24 UTC

joshanne

+18 -0

Discovered on CubeOrangePlus BG3 in a production environment. On the very fir…st boot of the CubeOrangePlus-BG3 after a parameter wipe, 4 IMU instances are registered. These register under the Parameters with the IDs: * INS_ACC_ID 3867682 * INS_ACC2_ID 3867938 * INS_ACC3_ID 3867658 **<< This appears to be a legitimate ICM45686 discovered with CHECK_ICM45686_EXT in CHECK_IMU2_PRESENT** * INS4_ACC_ID 3867658 **<< NOTICE DUPLICATE OF INS_ACC3_ID - This is added when AUX:3867658 is processed** On subsequent boots, it appears the macro `ADD_BACKEND_AUX` filters the AUX IMU so it is never probed or registered in the first place. The problem arises if you take the BG3 out of the box, flash AP and go straight into an accelcal on the first boot. Since IMU4 is registered, it calibrates for IMU4 as well. The next reboot then fails pre-arm check requiring 3D Accel Calibration (even though it's already been performed, because now IMU4 is not present). I've tested this on CubeOrangePlus BG _**and**_ BG3 - and all the IMUs I expect to be present are present with this change in place. Disclosure: I do not fully understand how AUX IMUs are intended to work, I couldn't find a relevant wiki page - as such this may not be the appropriate fix, but it seems to address the experienced issue.

github.com/ArduPilot/ardupilot

DroneCAN: update DSDL compiler

ArduPilot:master ← tpwrules:pr/dronecan-module-update

opened 03:08AM - 22 Jul 24 UTC

tpwrules

+1 -1

Fixes the following issues: * Compound array elements subject to tail array …optimization could be decoded incorrectly, causing a decode failure. * Invalid array lengths could be sent over the wire if a longer-than-max array was encoded (though only the max number of elements was sent). * Lengths were not validated when decoding arrays of compound elements using TAO, causing memory corruption if an invalid length was received. * Union tags were not validated, causing undefined behavior if an invalid tag was received. Tested in SITL using quadplane-can. Also tested on the bench using Cube Orange, including testing that a flight controller with this update can talk to a periph without it.

github.com/ArduPilot/ardupilot

DroneCAN: fix dangerous bug for twin-motor Planes

ArduPilot:master ← robertlong13:pr/dronecan_escminmax_bugfix

opened 02:13PM - 22 Jul 24 UTC

robertlong13

+10 -5

Without this, twin motor planes with DroneCAN ESCs need to set a dummy throttle… channel for the `scale_esc_to_unity` to work correctly. Worse yet, if you don't do this, your ESCs will receive a max throttle command while disarmed as soon as the safety switch is disengaged. The first commit prevents the max-throttle symptom when esc scaling is unconfigured or misconfigured (costs 16 bytes). The second commit allows the left/right throttle servos to be used to configure esc scaling (costs 24 bytes). Params to reproduce this bug on CubeOrange, disengage the safety switch and look at RawCommand coming out of the autopilot in DroneCAN GUI ``` CAN_D1_UC_ESC_BM 3 CAN_P1_DRIVER 1 CAN_P2_DRIVER 1 SERIAL6_PROTOCOL 1 SERVO1_FUNCTION 74 SERVO1_MAX 2000 SERVO1_MIN 1000 SERVO2_FUNCTION 73 SERVO2_MAX 2000 SERVO2_MIN 1000 SERVO3_FUNCTION 0 SERVO4_FUNCTION 0 ```

github.com/ArduPilot/ardupilot

Actions: fix tests that don't like repos not called "ardupilot"

ArduPilot:master ← IamPete1:actions_for_none_ardupilot

opened 05:37PM - 22 Jul 24 UTC

IamPete1

+4 -4

A few of the git safe directory calls assume the repo is called `ardupilot`, if …your fork happens not to be called that then CI fails. GitHub provides us with a environmental variable to get the correct directory which we already use in most places. The tricky one is cygwin which uses the repo name, but on a different path, so in that case I have to some messing about to extract the repo name from `GITHUB_REPOSITORY` and `GITHUB_REPOSITORY_OWNER` (see https://tom-gallacher.co.uk/articles/how-to-github-actions-repo-name/) This also ups the timeout for the environment install scripts from 45 mins to 60 mins. These seem to run a bit slower outside of the main repo, I'm not sure why.

Plane

github.com/ArduPilot/ardupilot

Plane 4.5.x issue tracking

opened 03:03AM - 13 Feb 24 UTC

tridge

Plane DevCallTopic ReleaseAdmin

Pending: - [ ] centre throttle options not working: https://discuss.ardupilot.…org/t/plane-4-5-0-beta-release/112518/14 - fix in mission planner https://github.com/ArduPilot/MissionPlanner/pull/3291 - [ ] ramping of motors on tilt quadplanes not working on back transition - fix https://github.com/ArduPilot/ardupilot/pull/26249 - [ ] POSITION_TARGET_GLOBAL_INT alt is wrong for terrain following - [ ] ALT_ASSIST not working while completing fwd transition? - [ ] terrain following not working from long distances in QRTL - [ ] re-test flightgear and JSBSim recent versions https://discuss.ardupilot.org/t/aircraft-appears-underground-on-ardupilot-flightgear - [ ] should auto-set HAL_USE_ADC=False if no ADC lines in hwdef.dat - [ ] ftp fence upload not working - [ ] exfat with 64G sandisk can't create APM/scripts directory - [x] lua/log corruption on 6x: fix: https://github.com/ArduPilot/ardupilot/pull/26538 - [ ] unplugging CAN battery mon leaves voltage unchanged - should it go to zero? - [ ] should a dead rangefinder report zero distance? - [ ] pitch stick mixing on landing needs to handle changed height - [ ] add AP_STATISTICS_ENABLE for dma.txt and --enable-status in custom build - [ ] is terrain offset handling correct? see angel log7 - [ ] https://github.com/ArduPilot/ardupilot/pull/26808 - [ ] https://github.com/ArduPilot/ardupilot/issues/26815 - [ ] https://github.com/ArduPilot/ardupilot/pull/26762 - [ ] GPS disable/re-enable, EK2 and EK3 did not re-init. Log 32.BIN lift AdNav test - [ ] EK3 switch to source set with no GPS did not disable GPS fusion, log 31.BIN, AdNav tests - [ ] motor test in quad-can not showing RPM on CAN - [x] fix places not using ahrs EAS2TAS - [ ] consider changing all instance indexes to match params, eg. ESC[1] for SERVO1, not ESC[0] (baro, gps, imu etc) - [ ] add logging of ESC StatusExtended DroneCAN msg - [ ] should implement this for plane: https://github.com/ArduPilot/ardupilot/pull/26383 - [ ] baro compensation: https://github.com/ArduPilot/ardupilot/pull/26917 - [ ] surfaces to max on soft reboot, 350ms pulse - [ ] https://github.com/ArduPilot/ardupilot/pull/23658 - [ ] https://github.com/ArduPilot/ardupilot/pull/27115 - [ ] use of 2nd airspeed if ARSPD_USE=0 and ARSPD_PRIMARY=0 and ARSP2_USE=1 - [ ] https://github.com/ArduPilot/ardupilot/issues/27171 - [ ] during fence breach flyto bypasses fence - [ ] errno race condition in GCS_FTP - [ ] should have common mutex in DNA server instances - [ ] remove EK3 dependence on GPS lag for horizon lag size Resolved - [x] https://github.com/ArduPilot/ardupilot/pull/26133 Longer term - [x] https://github.com/ArduPilot/ardupilot/pull/25442 - [ ] rebuild newlib and remove all possible abort() calls

Copter & Rover

github.com/ArduPilot/ardupilot

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.5 testing. The [is…sues list for Copter/Rover-4.4 is here](https://github.com/ArduPilot/ardupilot/issues/23192). [Backport PRs](https://github.com/orgs/ArduPilot/projects/8/views/1). Reports requiring investigation: - [ ] EKF3 altitude slow correction with GPS broken? ([discussion](https://discuss.ardupilot.org/t/ekf3-use-barometer-and-gps-for-altitude-posz/119540), [related PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [ ] Lua scripting binding for "play_tune" not working (reported by muramura in general channel) - [ ] OmnibusF4 lost External Baro support? ([issue](https://github.com/ArduPilot/ardupilot/issues/27315)) - [ ] MR72 CAN rangefinder not adding distances to OA database ([issue](https://github.com/ArduPilot/ardupilot/issues/27216)) - [ ] Alexmos not working ([Plane forum discussion](https://discuss.ardupilot.org/t/plane-4-5-release/115620/19)) - [ ] Auto mode using rangefinder should trigger failsafe if user disables rangefinder (reported by Harris Aerial) - [ ] Custom build server of MatekH743 + flowhold ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/55)) - [ ] DShot 600 jerky movement without being armed ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/21)) -- configuration error (MOT_PWM_TYPE = 0 but SERVO_BLH_MASK non-zero) -- AndyP - [ ] Lua mount:set-angle-target binding doesn't work on Matek H743 mini V3 ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/3)) -- Randy - [ ] CAM messages with Img field "0" appearing in logs without pictures being taken (reported by Randy) -- Randy Confirmed issues: - [ ] **EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650))** - [ ] SCurves internal error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-3-beta1-is-available-for-beta-testing/117962/10)) - [ ] LD06 proximity sensor buffer overflow (reported in Discord Rover channel, [PR](https://github.com/ArduPilot/ardupilot/pull/27059)) - [ ] Rover watchdog on 4.5.1 ([discussion](https://discuss.ardupilot.org/t/rover-4-5-2-beta1-available-for-beta-testing/117186/7)) - [ ] RPLidarS1 erratic distances on Rover ([discussion](https://discuss.ardupilot.org/t/rplidar-s1-erratic-distances/115561), [possible fix](https://github.com/rmackay9/rmackay9-ardupilot/commits/rover-rplidar-update-rate/), [PR](https://github.com/ArduPilot/ardupilot/pull/26835)) -- Randy, Mirkix - [ ] SmartRTL flow of control error ([pre-existing issue](https://github.com/ArduPilot/ardupilot/issues/17416)) -- Randy, PeterB - [ ] APM_Config can't be used to include/exclude features ([issue](https://github.com/ArduPilot/ardupilot/issues/26654)) Enhancements or Issues that may not be resolved before the stable release: - [ ] ESC Telemetry on OSD for Servo9 ([issue](https://github.com/ArduPilot/ardupilot/issues/27064)) -- andy1piper says this is caused by a bug fix and so an enhancement request is required - [ ] DJI RS2 lock/follow not working? ([discussion](https://discuss.ardupilot.org/t/ap-support-for-dji-rs2-rsc2-rs3-gimbals-maybe/91830/39), [issue](https://github.com/ArduPilot/ardupilot/issues/27016)) -- existing issue - [ ] CAM2 using CAM1 servo output ([discussion](https://discuss.ardupilot.org/t/separate-cam1-and-cam2-triggering/117468), [issue](https://github.com/ArduPilot/ardupilot/issues/27015)) - [ ] https://github.com/ArduPilot/ardupilot/issues/26892 - [ ] Rover multiple inclusion fence support ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690/8), [WIP PR](https://github.com/ArduPilot/ardupilot/pull/15550)) - [ ] GPS consistency checks Alt when GPS can't provide alt ([discussion](https://discuss.ardupilot.org/t/incorrect-calculation-of-gps-positions-diffs-during-arming-checks/116033), [issue](https://github.com/ArduPilot/ardupilot/issues/26749)) - [ ] Custom Build server support for CUAV Pixhack v3x with 3 IMUs ([discussion](https://discuss.ardupilot.org/t/ardupilot-custom-firmware-builder-fmuv3-missing-necessary-for-cuav-pixhack-v3x/115823), [product page](https://www.cuav.net/en/pixhack-v3-autopilot/)) - [ ] AP_OSD: Add CRSF link stats display fields ([PR](https://github.com/ArduPilot/ardupilot/pull/25844)) - [ ] Network params not visible for Pixhawk5x ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/13), [issue](https://github.com/ArduPilot/ardupilot/issues/26397)) - [ ] ViewPro does not track GPS location well ([discussion](https://discuss.ardupilot.org/t/viewpro-gimbal-point-camera-here-function/98279/33), known limitation of ViewPro API) Wiki issues/enhancement requests: - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/5916 - [x] Dynamic Notch filter instructions need consolidation ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5878)) - [x] Auto mode LOITER_TURNS does not support CCW? ([discussion](https://discuss.ardupilot.org/t/ccw-loiter-turns/114282)) - [ ] Add vertical position controller tuning instructions ([discussion](https://discuss.ardupilot.org/t/z-oscillation-in-position-hold/113149/4)) - [x] Add warning for AutoTune ESC desync ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5760)) Mission planner issues/enhancement requests: - [ ] add DO_FENCE_ENABLE to Rover (and Copter?) mission command list ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690)) - [ ] fixup camera gimbal page ([discussion](https://discuss.ardupilot.org/t/question-about-camera-gimbal/101063/7)) - [ ] Loiter turns radius incorrect ([issue](https://github.com/ArduPilot/MissionPlanner/issues/3305)) QGC issues/enhancement requests: - [x] QGC sending invalid roll, pitch, yaw angles ([discussion](https://discuss.ardupilot.org/t/mount-invalid-angle-targets-problem/113885), [QGC issue](https://github.com/mavlink/qgroundcontrol/issues/11215)) Resolved issues: - [x] Guided mode yaw when WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/27317), [PR](https://github.com/ArduPilot/ardupilot/pull/27318)) -- fixed ahead of 4.5.5 - [x] https://github.com/ArduPilot/ardupilot/issues/27171 -- resolved ahead of 4.5.4-rc1 - [x] EKF3 endless climb with EK3_OGN_HGT_MASK ([PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [x] Kakute buzzer scream ([issue](https://github.com/ArduPilot/ardupilot/issues/27120)) -- custom developmen issue - [x] https://github.com/ArduPilot/ardupilot/issues/27017 ([PR](https://github.com/ArduPilot/ardupilot/pull/27099)) - [x] CubeOrange with Siyi A8 failing to boot 1 in 20 times ([issue](https://github.com/ArduPilot/ardupilot/issues/26852)) -- fixed with Siyi firmware 0.3.7 - [x] Lua rangefinder broken ([discussion](https://discuss.ardupilot.org/t/send-sensor-distance-by-using-serial-in-script/116238), [PR](https://github.com/ArduPilot/ardupilot/pull/26829)) -- resolved for 4.5.3-beta1 - [x] NoopLoop TOFSense-P noise ([discussion](https://discuss.ardupilot.org/t/rangefiner-on-fast-speed-low-altitude-quadcopter/116591/14)) -- not 4.5.0, cannot reproduce (Rishabh) - [x] Jump message missing from telementry? ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/25), [issue](https://github.com/ArduPilot/ardupilot/issues/26802), [PR](https://github.com/ArduPilot/ardupilot/pull/27003)) -- PeterB -- resolved for 4.5.3-beta1 - [x] RC SBus input on Navio2 ([discussion](https://discuss.ardupilot.org/t/rc-channels-stuck-and-not-following-sys-kernel-rcio-rcin-ch/117191)) -- QGC issue - [x] Avoidance backup for Z-axis is unconstrained ([PR](https://github.com/ArduPilot/ardupilot/pull/26858)) -- fixed for 4.5.3-beta1 - [x] Pixhawk 6C SBUS out not working with Tarot gimbal ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/12), [issue1](https://github.com/ArduPilot/ardupilot/issues/26815), [PR](https://github.com/ArduPilot/ardupilot/pull/26825), [issue 2](https://github.com/ArduPilot/ardupilot/issues/26851), [PR](https://github.com/ArduPilot/ardupilot/pull/26898)) -- fixed in 4.5.2-beta1 - [x] Pixhawk6C mini compass disappearing in flight issue ([4.4 issue](https://github.com/ArduPilot/ardupilot/issues/25946), [4.5 discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/3), [PR](https://github.com/ArduPilot/ardupilot/pull/26929)) -- hardware issue, work around ready for 4.5.3-beta1 - [x] Neopixels broken ([discussion](https://discuss.ardupilot.org/t/multiple-neopixels-dont-flash-in-sync/113620), [issue](https://github.com/ArduPilot/ardupilot/issues/26295), [PR-to-blame](https://github.com/ArduPilot/ardupilot/pull/23974), [PR with fix](https://github.com/ArduPilot/ardupilot/pull/26899)) -- fixed for 4.5.3-beta1 - [x] Stabilize mode Internal Error in Land Detector ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/75), [issue](https://github.com/ArduPilot/ardupilot/issues/26864), [code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/land_detector.cpp#L59), [PR](https://github.com/ArduPilot/ardupilot/pull/26873)) -- fixed for 4.5.3-beta1 - [x] Copter-4.6 filter issue ([discussion](https://discuss.ardupilot.org/t/notch-filters-turn-on-with-a-delay/116276/14)) -- not present in 4.5 - [x] 3 of 12 Pixhawk6X display IOMCU error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/3)) -- AndyP, CUAV -- wrong IOMCU bootloader installed on the board (at factor?) - [x] Gremsy can't be used as 2nd mount ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-does-not-work-if-set-to-mount-2/116127)) -- Randy can't reproduce, assumed ZIO issue, [added warning to wiki](https://github.com/ArduPilot/ardupilot_wiki/pull/5897) - [x] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) -- motor desync probably - [x] EKF loses attitude estimate if COMPASS_LEARN set to 3 (inflight) and GPS-for-yaw used ([PR](https://github.com/ArduPilot/ardupilot/pull/26762)) -- Tridge / PaulR -- resolved for 4.5.2-beta1 - [x] Guide mode using thrust causes internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/26865), [PR](https://github.com/ArduPilot/ardupilot/pull/26866)) -- resolved for 4.5.2-beta1 - [x] [MTF-01 Optical flow sensor](https://robofusion.net/products/mtf-01-integrated-laser-rangefinder-optical-flow-module-for-unmanned-aerial-vehicles-uavs?variant=47234517664063) not working ([discussion](https://discuss.ardupilot.org/t/4-5-0-has-issue-with-connection-to-mtf-01-optical-flow-sensor/116470)) -- set config on sensor to different component id. -- resolved for 4.5.2-beta1 - [x] DAL bug affecting VisualOdometry delay ([issue](https://github.com/ArduPilot/ardupilot/issues/26800), [PR](https://github.com/ArduPilot/ardupilot/pull/26813)) -- resolved for 4.5.2-beta1 - [x] Hereflow requires BRD_BOOTDELAY ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/47), [PR](https://github.com/ArduPilot/ardupilot/pull/26753)) -- resolved for 4.5.2-beta1 - [x] RTL engaged below Home alt and using Terrain alt returning too high? (reported by Tridge and PeterB) -- RTL seems to be acting as expected. It was engaged at 121m above terrain and so that's the altitude it maintained until it returned home. - [x] AP_Mount's default mode being overwritten by RC input ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/69), [PR](https://github.com/ArduPilot/ardupilot/pull/26738)) -- resolved for 4.5.2-beta1 - [x] T265 not working ([discussion](https://discuss.ardupilot.org/t/vision-positioning-using-t265-does-not-work/115679), [related PR](https://github.com/ArduPilot/ardupilot/pull/23240)) -- user was using same sysid/compid as autopilot - [x] Developer issues integrating CAN RangeFinder ([discussion1](https://discuss.ardupilot.org/t/issues-with-interegrating-can-sensor-using-lua/115585/5), [discussion2](https://discuss.ardupilot.org/t/help-related-to-dronecan/115874), [issue](https://github.com/ArduPilot/ardupilot/issues/26704)) -- worked at 1Mbps - [x] GPS_TYPE parameter descriptions in MP using 4.4 ([issue](https://github.com/ArduPilot/ardupilot/issues/26681#issuecomment-2034416514), [PR](https://github.com/ArduPilot/ardupilot/pull/26740)) -- resolved for 4.5.2-beta1 - [x] #26811 - [x] Near Fly-away with 4.4.4 (EKF failsafe was disabled, [discussion](https://discuss.ardupilot.org/t/internal-errors-0x400-l-856-cnstring-nan-uncontrollable-behavior-in-rtl-and-loiter/115598)) -- no further communication, likely bad compass cal - [x] KakuteH7 fails to initialise ([discussion](https://discuss.ardupilot.org/t/kakute-h7-gps-and-radio-problem/115931)) -- also failed on 4.4.4 so Randy has concluded that it is a hardware issue - [x] Siyi mount stalls occasionally and bouncing near pitch and yaw limits ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta4-available-for-beta-testing/115149/11)) -- Siyi firmware / hardware mismatch - [x] do-condition-yaw bug (also in 4.4, [PR](https://github.com/ArduPilot/ardupilot/pull/24719)) -- resolved for beta5 (assuming there is a beta5) - [x] Copters turns North in Guided_NoGPS ([issue](https://github.com/ArduPilot/ardupilot/issues/26357), [discussion](https://discuss.ardupilot.org/t/set-attitude-target-with-guided-no-gps-lack-of-documentation/111845/24), [PR](https://github.com/ArduPilot/ardupilot/pull/26407)) -- fixed for beta5 (assuming there is a -beta5) - [x] ViewPro not holding level during hard maneuvers ([PR](https://github.com/ArduPilot/ardupilot/pull/26556)) -- resolved in beta4 (although no confirmation from user) -- fixed for beta5 (assuming there is a -beta5) - [x] altitude jump when GPS/Non-GPS transitions switching altitude source of ExtNav to Baro (reported by Randy) -- should jump when moving from camera->baro, cannot reproduce otherwise. - [x] MP's MAVFtp can't download SYS files ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3309)) -- SITL only issue - [x] Logging removed on some boards? ([issue](https://github.com/ArduPilot/CustomBuild/issues/70), [PR](https://github.com/ArduPilot/ardupilot/pull/26421)) -- needs backport? - [x] Sending unknown message ([issue](https://github.com/ArduPilot/ardupilot/issues/26358), [PR](https://github.com/ArduPilot/ardupilot/pull/26361)) -- resolved for -beta3 - [x] increasing k_format_version does not reset parameters (dev question, [issue](https://github.com/ArduPilot/ardupilot/issues/26336)) -- cannot reproduce, responses stopped - [x] MAV_CMD_DO_SEND_SCRIPT_MESSAGE not working? ([discussion](https://discuss.ardupilot.org/t/is-mav-cmd-do-send-script-message-unsupported-on-copter-4-5/113787)) -- only supported as Mission command - [x] TKOFF_RPM_MIN working? ([4.3.x discussion](https://discuss.ardupilot.org/t/takeoff-blocked-waiting-for-esc-rpm/113256)) -- fixed in 4.4 - [x] Record video while armed broken ([PR](https://github.com/ArduPilot/ardupilot/pull/26217)) -- resolved for -beta3 - [x] Parachute conversion issue ([issue](https://github.com/ArduPilot/ardupilot/issues/26132), [PR](https://github.com/ArduPilot/ardupilot/pull/26151)) -- resolved for beta2 - [x] Siyi running old camera fw message ([discussion](https://discuss.ardupilot.org/t/siyi-a8-camera-fw-version-reporting-issue/112870), [original discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/673), [PR](https://github.com/ArduPilot/ardupilot/pull/26168)) -- resolved for beta2 - [x] Matek H743 watchdog ([discussion](https://discuss.ardupilot.org/t/locally-compiled-arducopter-4-5-0-beta1-fails-on-matekh743-due-to-watchdog/113029)) -- development environment issue - [x] Stuck thread ([discussion](https://discuss.ardupilot.org/t/stuck-thread-and-failed-data-logging-error/112711/2)) -- exists in 4.4.4 as well, two devs say it's fine so concluded it is a hardware failure on the user's autopilot. - [x] AutoTune crash -- ESC de-sync ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta1-available-for-beta-testing/112504/11)) - [x] Here4 does not support GPS-for-yaw (aka Moving baseline) ([discussion](https://discuss.ardupilot.org/t/gps-yaw-moving-baseline-with-dual-dronecan-here4/112357)) -

CraigElder · July 23, 2024, 8:29pm

Attendee count (max): 17

UTC2301 - common.xml: Add "encoding" field to VIDEO_STREAM_INFORMATION by nexton-winjeel · Pull Request #364 · ArduPilot/mavlink · GitHub

Add field to video_stream_information
Already merged upstream
merged!

UTC2303 - AC_WPNav: Stop parameter changes overriding speeds by lthall · Pull Request #23220 · ArduPilot/ardupilot · GitHub

Allow changing speed by changing parameter
RTL speed and wpnav speeds and if you set the wpnav speed it wil override the rtl speed
Need to remove the change in speed when wpnav_speed is changed
Immediate changes in speed are bad when you’re in RTL and you change WPNAV_SPEED
AC_WPNav: wpnav speed param check fixed by rmackay9 · Pull Request #23544 · ArduPilot/ardupilot · GitHub should stop this happening?
- If RTL_SPEED is not set then perhaps WPNAV_SPEED affects it live?
If there’s still a problem then Randy will help out with it
Do we want RTL_SPEED to act in the same way as WPNAV_SPEED

UTC2313 - Copter Fence Fixes by andyp1per · Pull Request #25875 · ArduPilot/ardupilot · GitHub

Copter fence fixes
Tridge tested this in SITL with Henry
Henry’s found issues, tridge fixed them
- Several times
Some things do need decisions at a higher level
Most around fence autoenable
Some cool subtle issues
For 4.6 we should mark FENCE_AUTOENABLE 1 and FENCE_AUTOENABLE 2 as deprecated
Remove in 4.7
If you want autoenable then you’ll need to use AUTOENABLE 3
Problem with autoenable 1 is a coherent set of behaviours
- E.g. completion of takeoff
  - What happens if auto takeoff and auto landing approach which disables and then pilot takes over in a manually controlled mode?
  - Fence is disabled as in landing sequence (autoenable 1)
  - But will not be re-enabled
  - This is exactly as-documented
  - 3 and 1 act differently
    - Breach actions not taken
    - In 3 if you take over in cruise and go through a polyfence it will breach
      - Will re-enable when you climb back above minimum alt
Henry thinks autoenable 3 is the only viable option
Alt_min enables and disables aren’t consistently used
Autoenable 3 is principle of least surprise
There’s an arming check that you’re not breached when autoenable is 3
If you are in a land and your action is guided
- It would trigger the guided
So our requirements for 4.7 will be fence_enable 1 or fence_autoenable 3
The go-to-guided failsafe is supposed to be for trainining purposes, not containment purposes
- So if a plane pilot breaches then it goes to mid-field
This PR has been going on way too long already
- Andy’s been trying to do one small thing
Easiest way forward is to deprecate 1 and 2
There are pre-existing corner-cases which remain in 1 and 2 which will remain in 4.6
- They’ve been in there a long time
When using aux switch and you flip it on
- You want the fences to be enabled as you fly
- E.g. as soon as you have position it auto enables
- When you’re above it auto enables
Need hysteresis on the altitude fence
Minalt should be consistent regardless of whether you’re using the aux switch or the parameters?
- Fence aux switch on transmitter can be a “save my aircraft” switch
  - Minalt configured but not enabled
    - Can use switch as a “save my aircraft” switch to enable the fence
- Another switch option?
- Does the existing switch option have a different behaviour?
Henry thinks this could go in
If we are going to force users, is 3 exactly right?
- It’s the right one to force at this point
- Add fence margin
Fixed 2m hysteresis on altitude fence
Get this one in and then iterate….
Can we recommend 3 on previous releases?
- Yes, AUTOENABLE 3 should be stated on the Wiki to be the one to use
- Should say 1 and 2 are deprecated
  - Corner cases hard to define
  - Those using 1 or 2 probably don’t understand what it does
- Very few set a min-alt fence
  - 4.4, 4.5, master is a mess
  - But it is no worse than 1 or 2
  - Minalt is an instance breach, however
    - So can’t be used in that case on older releases
- Henry will update the Wiki
- Min-alt fence has always been a mess, less of a mess with Andy’s PR
Ability to change mode in breach?
- Tridge wants the no-change behaviour retained
- Copter has odd behaviour?
  - Remove the !copter_is_landing check in Copter to make it work like Plane?
  - Randy’s OK with the line being removed
Many people on call think that pilot not being able to take control is terrible
- Tridge’s talk with regulator seems to say the opposite. CASA in two circumstances want the failsafe to be absolute, vehicle starts to fly autonomously
- [9:50 AM]Tim Tuxworth: Regulators in Canada will be horrified that the Pilot can’t take control. It’s written into our CAR regulations.
- If you are using fence as mitigation in SORA/SAIL case then having holes and exceptions in the mitigation can be problematic
- Tridge is fine having it as an option

UTC2343 - Detune to stop ground oscillation by lthall · Pull Request #27341 · ArduPilot/ardupilot · GitHub

De-tune to stop ground oscillation
Quadplane has a similar feature
- Special handling on the ground
- Fixed wing loses D and halves P
- Don’t do it on VTOL gains
  - Tridge has a branch…
Don’t want to back off the gains too much
Still maintain amount of control as can have
A moment during takeoff where the gains are backed off
- Preferably should be yaw only
This is something users need to set themselves
- Any time you’re touching the ground you’ve got problems
Back off only enough to stop ground resonance
- Bill has fixed tail oscillations with notch filters before
  - High-range so could notch the relatively low frequency
Why not a vector3 parameter?
- Would change the names to x/y/z
Is 0 a reasonable lower limit?
- Allows for turn-off
- Maybe 0.25 as a lower limit?
Is that the correct place to call it in Copter?
- Yes
- Would go in quadplane.cpp somewhere

UTC0017 - AC_Autotune: Clean up Multi Variables and non functional changes by lthall · Pull Request #27370 · ArduPilot/ardupilot · GitHub

Clean up autotune
Randy will peer at it a bit

UTC0024 - Constellation choice for septentrio gnss by chiara-septentrio · Pull Request #27373 · ArduPilot/ardupilot · GitHub

Constellation choice for Septentrino GNSS
Merged

UTC0032 - AP_Scripting: reduce Lua state memory usage by tpwrules · Pull Request #27426 · ArduPilot/ardupilot · GitHub

Reduce Lua state memory usage
Reduces memory but a script will use more and more memory over time
- Error functions might fail with out-of-memory
Merged!
Flash-usage one coming next

UTC0034 - AP_TECS: Add a separate stall speed parameter used for minimum speed scaling by WickedShell · Pull Request #27442 · ArduPilot/ardupilot · GitHub

planeAdd separate stall speed parameter
Merged

UTC0037 - https://github.com/ArduPilot/ardupilot/pull/27477

Option to immediately climb in AUTO mode
- Don’t use glideslope
Only thing blocking is the param documentation
Can be merged once docs are fixed

UTC0039 - SITL: add simulated slung payload by rmackay9 · Pull Request #27536 · ArduPilot/ardupilot · GitHub

Add slung-payload simulator
Planning on suppressing oscillations
[10:41 AM]Peter Barker: @rmackay9 do you need a GPS or just IMU data to reduce the swinging?
- Probably do need to know the position changing

UTC0046 - AP_HAL_SITL: If HAL_CAN_WITH_SOCKETCAN is undefined, treat it as NONE by muramura · Pull Request #27565 · ArduPilot/ardupilot · GitHub

Fix compilation with feature removed
Merged!

UTC0047 - AP_Mount: Topotek image tracking fix by rmackay9 · Pull Request #27568 · ArduPilot/ardupilot · GitHub

Topotek image tracking fix
Correct version number parsing for new formats
Tracking on/off but also interim where it just highlights in video
Need a follow-up PR to fix a potential overflow on malformed input data

UTC0053 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

Plane update
New beta coming out soon
Only needed to backport CubeRed bootloader fix, not general H7 fix
Several beta testers providing feedback!

UTC0055 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

Copter update
EKF wind estimates can’t be used with something else
- Needs fixing
- Already have a volunteer for it
RPLidar not providing proper distances?
New issue in SmartRTL where it consumes points when switching modes

UTC0056 - off the floor

QGC is trying to get gimbal controls into master release
- They went into stable but not master?!
Funding requests outstanding, please process
reimbursements

UTC0059 - https://github.com/ArduPilot/ardupilot/pull/27578

Quicktune conversion to C++
Tridge doesn’t want this to be part of autotune
Thiswill be available on 1MB boards
Leonard things mode restrictions are a good idea
- Does it make sense to do this in auto?
From guided?
- Two-position switches?!
Quiktune is basically an automated version of the manual process with automated oscillation detection
Autotune is much more finicky
- It’s an autonomous mode
Oscillation-s-max is really the only one you need to worry about
- To 3 or 2 or 1.5 but it is rare
Leonard’ OK with this going in so long as it doesn’t get in his way
- Wants safety mechanisms
Better people run this than autotune if they’re not going to tune their vehicle first
Avoid percentages in user-facing parameters?
- Leonard wants scalars
  - Don’t present gain margin as a percentage
- Tridge likes percentages
  - “Sure you do”
Tridge wants this as close to existing script as much as possible
- One param rename seems fine, “max_reduce”
Configurator gives the user the option of doing quiktune
- Will upload LUA script automatically
- Suggests autotune after quiktune
So this would have parameters as percentages
- Not something we do in Copter
- Shared code
The allocation is interesting
- Allocation in the auxfunc is “interesting”
QUIK_ENABLE doesn’t exist until the object exists
- Move to top-level and base allocation on it?
Default params on SD card means you can’t allocate the vehicle at runtime
Just pay the memory cost all the time?
Maybe patch AP_Parm to not populate from defaults.parm
- Would need to scan eeprom-in-memory to populate defaults ‘though

UTC0158 - AP_InertialSensor: Fix persistent storage of parameter INSn_ACCSCAL_Z by joshanne · Pull Request #27579 · ArduPilot/ardupilot · GitHub

Fix storage of tempcal parameters
Merged!

UTC0159 - AP_InertialSensor: Check the gyro/accel id has not been previously registered by joshanne · Pull Request #27584 · ArduPilot/ardupilot · GitHub

Check gyro/accel cal id registration on CubeOrangePlus
Accelcal on first boot
- Cals accel4
Subsequent boot gives prearm failure!
Need Sid to look at this
Remove warning

UTC0202 - AP_HAL_ChibiOS: Capture the case where the persistent parameter is the newer format INSn_ACC_ID by joshanne · Pull Request #27583 · ArduPilot/ardupilot · GitHub

Capture case where persistent parameter is newer format
For >3 IMUs

UTC0207 - DroneCAN: update DSDL compiler by tpwrules · Pull Request #27606 · ArduPilot/ardupilot · GitHub

Compiler update
Just need to make sure the commit is right to update the submodule
Looks good!

UTC0209 - Actions: fix tests that don't like repos not called "ardupilot" by IamPete1 · Pull Request #27612 · ArduPilot/ardupilot · GitHub

Fix CI for branches not named “ardupilot”
Want to fix the environment install scripts before merging this one

UTC0214 - Filter: LowPass: use `calc_lowpass_alpha_dt` in `apply` and prefix all class varables with `_` by IamPete1 · Pull Request #27582 · ArduPilot/ardupilot · GitHub

Try to tidy LowPass filter
There are ways this changes behaviour
Are there any use cases in our current tree which would trigger it?
PH wants to split LowPass into different two different classes
- One which has apply() and one with apply(dt)
- If we ever mix the two that’s an issue

UTC0223 - DroneCAN: fix dangerous bug for twin-motor Planes by robertlong13 · Pull Request #27610 · ArduPilot/ardupilot · GitHub

Full-throttle on reboot bug
Fix dangerous bug for twin-motor Planes
DroneCAN-related
Maybe init pwm_min/pwm_max to 1000/2000 in AP_HAL::RCOutput
No autotest for CAN reversed ESC
ESC scaling generally problematic
- Would be nice to fix all of this stuff up
- Have motors configure rc output?
Bob will test this on the bench
And add the init to the HAL
left/right forward and 4 vtol quadplanes
Need to be careful around safety button

UTC0236 - AP_HAL_SITL: initialize rcout safety state by robertlong13 · Pull Request #27611 · ArduPilot/ardupilot · GitHub

Related to above, explicitly set initialise safety state in SITL

Attendee count (max): 17

UTC2301 - common.xml: Add "encoding" field to VIDEO_STREAM_INFORMATION by nexton-winjeel · Pull Request #364 · ArduPilot/mavlink · GitHub

UTC2303 - AC_WPNav: Stop parameter changes overriding speeds by lthall · Pull Request #23220 · ArduPilot/ardupilot · GitHub

UTC2313 - Copter Fence Fixes by andyp1per · Pull Request #25875 · ArduPilot/ardupilot · GitHub

UTC2343 - Detune to stop ground oscillation by lthall · Pull Request #27341 · ArduPilot/ardupilot · GitHub

UTC0017 - AC_Autotune: Clean up Multi Variables and non functional changes by lthall · Pull Request #27370 · ArduPilot/ardupilot · GitHub

UTC0024 - Constellation choice for septentrio gnss by chiara-septentrio · Pull Request #27373 · ArduPilot/ardupilot · GitHub

UTC0032 - AP_Scripting: reduce Lua state memory usage by tpwrules · Pull Request #27426 · ArduPilot/ardupilot · GitHub

UTC0034 - AP_TECS: Add a separate stall speed parameter used for minimum speed scaling by WickedShell · Pull Request #27442 · ArduPilot/ardupilot · GitHub

UTC0037 - https://github.com/ArduPilot/ardupilot/pull/27477

UTC0039 - SITL: add simulated slung payload by rmackay9 · Pull Request #27536 · ArduPilot/ardupilot · GitHub

UTC0046 - AP_HAL_SITL: If HAL_CAN_WITH_SOCKETCAN is undefined, treat it as NONE by muramura · Pull Request #27565 · ArduPilot/ardupilot · GitHub

UTC0047 - AP_Mount: Topotek image tracking fix by rmackay9 · Pull Request #27568 · ArduPilot/ardupilot · GitHub

UTC0053 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

UTC0055 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

UTC0056 - off the floor

UTC0059 - https://github.com/ArduPilot/ardupilot/pull/27578

UTC0158 - AP_InertialSensor: Fix persistent storage of parameter INSn_ACCSCAL_Z by joshanne · Pull Request #27579 · ArduPilot/ardupilot · GitHub

UTC0159 - AP_InertialSensor: Check the gyro/accel id has not been previously registered by joshanne · Pull Request #27584 · ArduPilot/ardupilot · GitHub

UTC0202 - AP_HAL_ChibiOS: Capture the case where the persistent parameter is the newer format INSn_ACC_ID by joshanne · Pull Request #27583 · ArduPilot/ardupilot · GitHub

UTC0207 - DroneCAN: update DSDL compiler by tpwrules · Pull Request #27606 · ArduPilot/ardupilot · GitHub

UTC0209 - Actions: fix tests that don't like repos not called "ardupilot" by IamPete1 · Pull Request #27612 · ArduPilot/ardupilot · GitHub

UTC0214 - Filter: LowPass: use `calc_lowpass_alpha_dt` in `apply` and prefix all class varables with `_` by IamPete1 · Pull Request #27582 · ArduPilot/ardupilot · GitHub

UTC0223 - DroneCAN: fix dangerous bug for twin-motor Planes by robertlong13 · Pull Request #27610 · ArduPilot/ardupilot · GitHub

UTC0236 - AP_HAL_SITL: initialize rcout safety state by robertlong13 · Pull Request #27611 · ArduPilot/ardupilot · GitHub

UTC0238 - close