Dev call July 29, 2024

CraigElder · July 29, 2024, 10:48pm

issues & Pull Requests

github.com/ArduPilot/ardupilot

Backport: AP_NavEKF2: Fix 3-axis mag fusion per axis error handling

ArduPilot:Copter-4.0 ← JustCurious8:fix_build_issue4.0

opened 04:48PM - 14 Oct 22 UTC

JustCurious8

+337 -386

fixes: #14351 If someone installing latest toolchains from the master or cur…rent stable copter releases then on building the older copter-4.0 firmware (copter-4.0.7 and before) for SITL and STM32 based targets, it is causing a build error. This backport will solve the issue but needs to be tested for current functional behavior of the modifications on actual vehicle.

github.com/ArduPilot/ardupilot

GCS_MAVLink: Add FLIGHT_INFORMATION message

ArduPilot:master ← Winjeel:upstream/add-FLIGHT_DURATION-message

opened 06:27AM - 08 Nov 23 UTC

nexton-winjeel

+74 -0

Adds ~~a new `FLIGHT_DURATION`~~ the `FLIGHT_INFORMATION` message to report the …time that the vehicle armed and took off (if known). This message is needed if connecting a GCS to a vehicle that is already armed/flying, as otherwise these times can't be accurately determined. Also adds an accessor to `AP_Arming` to record the arming time. ~~Requires: https://github.com/ArduPilot/mavlink/pull/336~~

github.com/ArduPilot/ardupilot

Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame

ArduPilot:master ← Winjeel:upstream/copter-autoyaw-mount_control-yaw-is-body-frame

opened 02:37AM - 16 May 24 UTC

nexton-winjeel

+14 -7

The demanded yaw angles in the `MOUNT_CONTROL` and `DO_MOUNT_CONTROL` commands a…re in body frame (and are handled this way in `AP_Mount`). This fixes the Copter handlers where they were being treated as earth frame. It also rejects these messages if an invalid mode is provided, as the yaw control is only applicable when the mode is `MAV_MOUNT_MODE_MAVLINK_TARGETING`. FYI: @rmackay9

github.com/ArduPilot/ardupilot

AP_Scripting: Adds I2C transfer() bindings and an example

ArduPilot:master ← IanBurwell:scr_transfer

opened 02:45PM - 12 Jun 24 UTC

IanBurwell

+255 -6

Adds LUA bindings for the I2CDevice `transfer()` function. This is often needed …over `write_register()` as I2C devices might not have 8 bit registers or desire some other custom transfer. An example script is also added that allows shutdown of a BQ40Z bms chip which would not be possible with LUA without the `transfer()` function. This script has functionality similar to a sibling PR that implements such functionality more generally in the AP_BattMonitor domain.

github.com/ArduPilot/ardupilot

AP_DroneCAN: fix and clean up DNA server

ArduPilot:master ← tpwrules:pr/dna-server-fixup

opened 10:46PM - 13 Jul 24 UTC

tpwrules

+112 -216

Please see commit messages for details. Fixes the following issues: * Correc…tly annotates and validates the node ID parameter set by the user * Fix various cases where invalid node IDs could be used or stored * Fixes 1/256 chance where a node's unique ID could not be registered * Cleans up the code Does not yet address the elephant in the room of multiple servers using the same storage. That will come next; this all makes that easier. Tested on SITL and a Cube Orange on the bench using various configurations of AP_Periph nodes. Tested that the DNA database is preserved and that the DroneCAN GUI tool still works properly as well.

github.com/ArduPilot/ardupilot

AP_Scripting: reduce flash usage

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

opened 04:45AM - 24 Jul 24 UTC

tpwrules

+83 -100

A pile of optimizations to the way bindings are generated and used in order to i…mprove the code and reduce flash usage. Please see the commit messages individually for details. Saves ~4.3K flash on Cube Orange. There are no user visible script changes except for error message text. Tested in SITL and on the bench through my REPL and some example scripts.

github.com/ArduPilot/ardupilot

Make chibios_hwdef.py include error clearer

ArduPilot:master ← peterbarker:pr/include-file-error-better

opened 09:29AM - 24 Jul 24 UTC

peterbarker

+19 -4

Replaces https://github.com/ArduPilot/ardupilot/pull/18479 ``` pbarker@fx:~/…rc/ardupilot(master)$ ./waf configure --board=CubeOrange libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat includes libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/nope which does not exist pbarker@fx:~/rc/ardupilot(master)$ git checkout -b pr/include-file-error-better ```

github.com/ArduPilot/ardupilot

option to allow plane to crosstrack on all mission items

ArduPilot:master ← timtuxworth:pr-crosstrack

opened 12:00AM - 25 Jul 24 UTC

timtuxworth

+16 -5

When a mission is interrupted, by default in Plane it will never crosstrack (i.e…. get right back on the defined mission path) when the mission is resumed. I am working on object avoidance script that diverts the plane from the mission based on rangefinder readings of real obstacles, while running long missions on fixed wing planes with magnetic sensors attached. For those sensors, being "on track" is essential to getting correct data for the client, so getting back on track after the obstacle is mission critical. The code to do this is already in ArduPilot, there is an existing plane.auto_state.next_wp_crosstrack boolean value, but it is only ever set to true when first starting the mission and not set on resume. This PR adds MIS_OPTION bit that sets the next_wp_crosstrack value to true for every new waypoint, which does a much better job of following the required path. Tested in SITL.

github.com/ArduPilot/ardupilot

AP_Scripting: fix failures with require()

ArduPilot:master ← tpwrules:pr/require-fix

opened 10:20PM - 25 Jul 24 UTC

tpwrules

+63 -23

The `require()` function needs the environment of the currently executing script… to get the table of loaded modules. It currently does this by getting the first upvalue of the function currently used to run the script and hoping that is the environment table it needs. However, that function (and hence the upvalues) can change every time the script reschedules, so there is no guarantee that the environment table will be where `require()` needs it, and indeed it is possible to accidentally create a script where `require()` fails with a mysterious Lua error. Correct the issue by splitting the script reference originally used by `require()` into a reference to the function used to run the script, and a separate reference specifically for the environment table, which `require()` now uses. Also add a (n admittedly fragile) test that the issue is resolved. Tested in SITL and on Cube Orange with my REPL that `require()` works properly and the issue is fixed. Bonus: saves 184 bytes of flash on Cube Orange because `lua_getupvalue` is no longer used anywhere

github.com/ArduPilot/ardupilot

Replace PWM_TYPE* with PWMType::

ArduPilot:master ← peterbarker:pr/motors-pwmtype-enum-class

opened 01:10AM - 26 Jul 24 UTC

peterbarker

+85 -81

Unfortunately we have two enumerations which convey similar information but are …different between Copter and Rover. It would be nice to unify them, but that would require parameter conversion (and change-in-name of the most critical parameter on Rover, meaning much documenation change!) In the meantime, add proper namespacing to the enumerations. Also changed blheli to always return "4" in one of the MSP packets. We should really not be bearing internal ArduPilot values like this in one of these packets. Right now in master Copter will put one number in this field and Rover will put a different one - but they're both "DShot150".... if the number is not used we should probably use a flag value rather than a real number so we don't give the wrong impression to any client. Replaces https://github.com/ArduPilot/ardupilot/pull/20009

github.com/ArduPilot/ardupilot

AP_Scripting: adjust string metatable setup to fix sandbox integrity

ArduPilot:master ← tpwrules:pr/scripting-string-sandbox

opened 07:40PM - 26 Jul 24 UTC

tpwrules

+14 -0

In Lua, strings are the only type that come with a default metatable. The metata…ble must be shared by all string objects, and it is set to be the `string` library table each time that library is opened. In Ardupilot's scripting engine, the last script to load then has access to the string metatable as the library is opened fresh for each script, as its `string` library will have been set to the metatable. Therefore, if two scripts are loaded, A first and B second, and script B executes e.g. `string.byte = "haha"`, then `string.byte()` and `s:byte()` for script B are broken. Because the metatable is shared, this also breaks `s:byte()` for script A, which violates the integrity of the sandbox. Fix the issue by disabling the metatable setup functionality when the string libary is opened, then manually opening an additional copy of the library (which won't be given to any script) and setting it as the string metatable during intialization. This will break any script that modifies the string metatable for constructive purposes, but such a script could have been broken if it weren't the only script running anyway. Tested on SITL and Cube Orange with my REPL. Saves 24 bytes of flash on Cube Orange, but costs 770 bytes of Lua state RAM, which I do not love.

github.com/ArduPilot/ardupilot

AP_BattMonitor: ESC: integrate consumed mah if not provided by ESC

ArduPilot:master ← IamPete1:esc_mah

opened 01:51PM - 27 Jul 24 UTC

IamPete1

+20 -6

DroneCAN ESCs don't provide consumed mah, so ESC battery backend currently will …not calculate it. Tested with the `quad-can` model and `BATT2_MONITOR 9`. Master: ![image](https://github.com/user-attachments/assets/2ff66cd0-170a-4bb3-a2b7-fef553d6444b) CurrTot is always 0. This PR: ![image](https://github.com/user-attachments/assets/c70a50b3-2ff5-42e6-ae0d-d0e95560a5c0) CurrTot is increasing. Slope is constant because the ESCs all report a constant current of 0.8 amps in SITL.

github.com/ArduPilot/ardupilot

AP_TemperatureSensor: add logging option to only log sensors with no source

ArduPilot:master ← IamPete1:temp_logging

opened 02:43PM - 27 Jul 24 UTC

IamPete1

+15 -5

If temperature sensors have a source set then there values are logged elsewhere.… ESC and motor temp are logged in the ESC message, battery temperature is logged by the battery monitor. This allows those sensors to not be logged individually while keeping logging of any additional sensors, this reduces log size and makes log review less confusing.

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 - [ ] add ICE_OPTIONS bit for ignoring start on rc channel if it hasn't seen off 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

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)) -

ianburwell · July 29, 2024, 11:15pm

Discord is having server issues and I may not be able to discuss my PR until they revert the bad patch. I will try and join the devcall later to do so.

CraigElder · July 30, 2024, 6:12pm

Attendee count (max): 15

UTC2301 - Backport: AP_NavEKF2: Fix 3-axis mag fusion per axis error handling by JustCurious8 · Pull Request #21966 · ArduPilot/ardupilot · GitHub

Merging fixes into old branches
Older branches are useless without fixes to compilation
We can and should patch older releases with things like this
Tridge supplied patch in Discord chat
This one can be closed with a we-fixed-it-like-this thing

UTC2306 - GCS_MAVLink: Add FLIGHT_INFORMATION message by nexton-winjeel · Pull Request #25489 · ArduPilot/ardupilot · GitHub

Add FLIGHT_INFORMATION message
Should it be on all boards?
Needs patches to build_options and extract_features.py
Turn off on the smaller boards
Perfectly reasonable request - can be merged afterwards

UTC2314 - Copter: Make multiple decisions into a SWITCH statement by muramura · Pull Request #26902 · ArduPilot/ardupilot · GitHub

Convert if to case
Merged!

UTC2316 - Rover: Notify lat and long to the seventh decimal place by muramura · Pull Request #27020 · ArduPilot/ardupilot · GitHub

We won’t get cm
Randy would like all seven digits
Randy would like a print-lat-lng function
Allocation?
%F for print-as-double
- Gcc won’t give warnings

UTC2330 - Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame by nexton-winjeel · Pull Request #27071 · ArduPilot/ardupilot · GitHub

Handle DO_MOUNT_CONTROL yaw angle as body frame
Randy will do some testing
Roll over tilt, no pan
- Needs to rotate the vehicle
Should probably remove this in favour of new gimbal control stuff

UTC2332 - AP_Scripting: Adds I2C transfer() bindings and an example by IanBurwell · Pull Request #27287 · ArduPilot/ardupilot · GitHub

I2c transfer bindings and an example
Changing run_command_int from bool to MAV_RESULT
- Nothing out there was checking the return
Merged!

UTC2340 - Plane: Change IF statement to SWITCH statement by muramura · Pull Request #27366 · ArduPilot/ardupilot · GitHub

Convert case to switch
Could have been done when we were refactoring that code, but no testing data was provided in this PR
Not worth the risk of introducing a bug
Closed

UTC2342 - AP_DroneCAN: fix and clean up DNA server by tpwrules · Pull Request #27543 · ArduPilot/ardupilot · GitHub

Fix and clean up DNA server
Corrects preservation of IDs
Fixes many bugs
No tests for this stuff in autotest?
- Quadplane CAN frames are tested
- But you get the same ID you previously had
Locking fix still coming
- Probably only an issue on Linux due to threading

UTC2345 - board_types.txt: Reserving board IDs for Easy Aerial by rishabsingh3003 · Pull Request #27623 · ArduPilot/ardupilot · GitHub

New policy, only 10-at-a-time
Peter will force-push
And a comment

UTC2351 - AP_Scripting: reduce flash usage by tpwrules · Pull Request #27630 · ArduPilot/ardupilot · GitHub

Optimisations to reduce flash usage in LUA
No real downsides
Code optimisations to use less flash
Remove redundant parameters and function calls
Aerobatics on SimOnHardware is a good stress test

UTC2355 - Make chibios_hwdef.py include error clearer by peterbarker · Pull Request #27633 · ArduPilot/ardupilot · GitHub

Make include error clearer
Merged!

UTC2357 - Plane: move `have_autoenabled_fences` to be private in `ModeTakeoff` by IamPete1 · Pull Request #27638 · ArduPilot/ardupilot · GitHub

Make have_autoenabled a private variable
Mysteriously larger
Merged!

UTC2359 - Plane: option to allow plane to crosstrack on all mission items by timtuxworth · Pull Request #27639 · ArduPilot/ardupilot · GitHub

Option to allow plane to crosstrack
Crosstracking gets disabled after first mission item?!
- Add mission option bit to always use crosstracking
Cross-tracks from where you restart the mission
- There’s a test in navigation.cpp which says if you’re within a radius of your waypoint it would crosstrack
Prev_wp is probably what’s going on
User wants to come back on-line as soon as possible
Rover has an option bit to turn this behaviour on
Explicitly have a set_xtrack to set start of track
- Allows script to decide whether to crosstrack or not
Any mode change wer replace the prev_wp
- So if you come into auto it has already obliterated prev_wp
Get_crosstrack_start_loc returns nil if no crosstrack
When starting avoidance, grab current crosstrack start

UTC0018 - AC_AutoTune: make axis-type enum-class by peterbarker · Pull Request #27642 · ArduPilot/ardupilot · GitHub

Use an enum-class AxisType instead of defines
Merged!

UTC0020 - Copter: add a Mode method to disable crash check by peterbarker · Pull Request #27643 · ArduPilot/ardupilot · GitHub

Add a method onb mode to allow a mode to disable crash checking
Merged!
Follow-up PR to remove units from scalar documentation

UTC0023 - RC_Channel: Express option numbers in bits by muramura · Pull Request #19230 · ArduPilot/ardupilot · GitHub

Rework duplicate-rc-options sanity check
Edge-triggered
- Should we allow duplicate options?
Merged!

UTC0027 - add build option to not send RC_CHANNELS_RAW by peterbarker · Pull Request #27645 · ArduPilot/ardupilot · GitHub

Add option to disable RC_CHANNELS_RAW
Merged!

UTC0029 - Copter: correct skyviper-v2450 compilation by peterbarker · Pull Request #27647 · ArduPilot/ardupilot · GitHub

Fix skyviper compilation
Merged!

UTC0030 - AP_Scripting: fix failures with require() by tpwrules · Pull Request #27652 · ArduPilot/ardupilot · GitHub

LUA: Fix failures with require call
Adds a regression test
Merged!

UTC0033 - https://github.com/ArduPilot/ardupilot/pull/27655

Use enum-class for PWMType
Problems with blheli
Thomas linked the Periph code
Should thie define go into the HAL rcoutput library?
There’s a ChibiOS equivalent of this as well!
Peter will negotiatye with Andy to get this one in

UTC0039 - hwdef: remove MatekL431-Periph by peterbarker · Pull Request #27659 · ArduPilot/ardupilot · GitHub

Remove MatekL431-Periph
Remove GPS instead?
Closed it

UTC0052 - Replace HAL_NO_MONITOR_THREAD with HAL_MONITOR_THREAD_ENABLED by peterbarker · Pull Request #27661 · ArduPilot/ardupilot · GitHub

Change from HAL_NO_MONITOR_THREAD to HAL_MONITOR_THREAD_ENABLED
Merged!

UTC0052 - AP_Scripting: adjust string metatable setup to fix sandbox integrity by tpwrules · Pull Request #27666 · ArduPilot/ardupilot · GitHub

Adjust string metatable set upto fix sandbox integrity
Deleting methods could affect other scripts
Merged!

UTC0054 - AP_BattMonitor: ESC: integrate consumed mah if not provided by ESC by IamPete1 · Pull Request #27672 · ArduPilot/ardupilot · GitHub

Dronecan escs don’t provide cumulative mah
Do the integration for them
Merged!

UTC0059 - AP_BattMonitor: Sum: report average temperature by IamPete1 · Pull Request #27674 · ArduPilot/ardupilot · GitHub

Report average temperature from Sum
Merged!

UTC0101 - AP_TemperatureSensor: add logging option to only log sensors with no source by IamPete1 · Pull Request #27675 · ArduPilot/ardupilot · GitHub

Add logging option to only log sensors with no source
Currently we double-log battery temperatures
Is double-logging really a bug problem?
Don’t want an option, really
merged!

UTC0107 - Plane update

Very little activity happening in beta testing threads
Beta2 is out
No announcement yet for Plane
- Randy announced for others
CubeRed is only difference

UTC0108 - Copter/Rover update

Japan away for the next couple of days
Release in the next few days

UTC0110 - conference update

Slightly more expensive
- Translators are going to be available
Talks in Japanese?
Shuttle bus won’t take everyone
Will probably be catered
Dietary requirements
- Don’t rely on people telling you dietary requirements
  - Add vegetarian options even if nobody tells you
900 is not going to happen in
Receipts for reimbursements, please!

UTC0124 - George

Tridge has had a couple-of-hour call with them
- Tridge needs to follow up with them

Attendee count (max): 15

UTC2301 - Backport: AP_NavEKF2: Fix 3-axis mag fusion per axis error handling by JustCurious8 · Pull Request #21966 · ArduPilot/ardupilot · GitHub

UTC2306 - GCS_MAVLink: Add FLIGHT_INFORMATION message by nexton-winjeel · Pull Request #25489 · ArduPilot/ardupilot · GitHub

UTC2314 - Copter: Make multiple decisions into a SWITCH statement by muramura · Pull Request #26902 · ArduPilot/ardupilot · GitHub

UTC2316 - Rover: Notify lat and long to the seventh decimal place by muramura · Pull Request #27020 · ArduPilot/ardupilot · GitHub

UTC2330 - Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame by nexton-winjeel · Pull Request #27071 · ArduPilot/ardupilot · GitHub

UTC2332 - AP_Scripting: Adds I2C transfer() bindings and an example by IanBurwell · Pull Request #27287 · ArduPilot/ardupilot · GitHub

UTC2340 - Plane: Change IF statement to SWITCH statement by muramura · Pull Request #27366 · ArduPilot/ardupilot · GitHub

UTC2342 - AP_DroneCAN: fix and clean up DNA server by tpwrules · Pull Request #27543 · ArduPilot/ardupilot · GitHub

UTC2345 - board_types.txt: Reserving board IDs for Easy Aerial by rishabsingh3003 · Pull Request #27623 · ArduPilot/ardupilot · GitHub

UTC2351 - AP_Scripting: reduce flash usage by tpwrules · Pull Request #27630 · ArduPilot/ardupilot · GitHub

UTC2355 - Make chibios_hwdef.py include error clearer by peterbarker · Pull Request #27633 · ArduPilot/ardupilot · GitHub

UTC2357 - Plane: move `have_autoenabled_fences` to be private in `ModeTakeoff` by IamPete1 · Pull Request #27638 · ArduPilot/ardupilot · GitHub

UTC2359 - Plane: option to allow plane to crosstrack on all mission items by timtuxworth · Pull Request #27639 · ArduPilot/ardupilot · GitHub

UTC0018 - AC_AutoTune: make axis-type enum-class by peterbarker · Pull Request #27642 · ArduPilot/ardupilot · GitHub

UTC0020 - Copter: add a Mode method to disable crash check by peterbarker · Pull Request #27643 · ArduPilot/ardupilot · GitHub

UTC0023 - RC_Channel: Express option numbers in bits by muramura · Pull Request #19230 · ArduPilot/ardupilot · GitHub

UTC0027 - add build option to not send RC_CHANNELS_RAW by peterbarker · Pull Request #27645 · ArduPilot/ardupilot · GitHub

UTC0029 - Copter: correct skyviper-v2450 compilation by peterbarker · Pull Request #27647 · ArduPilot/ardupilot · GitHub

UTC0030 - AP_Scripting: fix failures with require() by tpwrules · Pull Request #27652 · ArduPilot/ardupilot · GitHub

UTC0033 - https://github.com/ArduPilot/ardupilot/pull/27655

UTC0039 - hwdef: remove MatekL431-Periph by peterbarker · Pull Request #27659 · ArduPilot/ardupilot · GitHub

UTC0052 - Replace HAL_NO_MONITOR_THREAD with HAL_MONITOR_THREAD_ENABLED by peterbarker · Pull Request #27661 · ArduPilot/ardupilot · GitHub

UTC0052 - AP_Scripting: adjust string metatable setup to fix sandbox integrity by tpwrules · Pull Request #27666 · ArduPilot/ardupilot · GitHub

UTC0054 - AP_BattMonitor: ESC: integrate consumed mah if not provided by ESC by IamPete1 · Pull Request #27672 · ArduPilot/ardupilot · GitHub

UTC0059 - AP_BattMonitor: Sum: report average temperature by IamPete1 · Pull Request #27674 · ArduPilot/ardupilot · GitHub

UTC0101 - AP_TemperatureSensor: add logging option to only log sensors with no source by IamPete1 · Pull Request #27675 · ArduPilot/ardupilot · GitHub

UTC0107 - Plane update

UTC0108 - Copter/Rover update

UTC0110 - conference update

UTC0124 - George

UTC0134 - close