Dev Call June 2, 2025

Development Team
1

Release Update

Issues & Pull Requests

2

Attendee count (max): 20

UTC1100 - Release update

  • ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

  • Release for Plane seems to be going OK

  • Will need an update for the EKF attitude bug

    • Paul has a workaround
      • Set the process noise on the mag noise much higher
    • Is pointing at the partitioning of the covariance matrix that is done with 2D fusion
      • Only using small portion of the covariance matrix
      • “Naughty shortcut”
      • “Bug in the partition code”
        • If someone wants to dive into it!
    • Alternative fix is to do 3D fusion on the ground
      • At 2m you lower the process noise on the fusion of the mag
    • All three logs we have show a downward pitch on the vehicle
    • Pre-arm checks did catch the problem
      • On Copter there are many prearms which would catch this problem
      • We could start to look at rates not just angles for pre-arm checks
    • It could be that other people aren’t reporting this?
    • Rebuild with newer version of the tool

  • ECC problems in parameter storage

    • Tridge and Thomas and Andy are looking at the ECC check
    • Try only erasing one parameter page when problems are present
    • Josh has seen this on a MatekH743
      • Slimv3
    • Tridge hasn’t gotten the board from TBS yet
      • Maybe he get work with Josh
        • Theory of bad batch of chips from STM
          • Can get from serial number
      • Two vendors definitely changes the flavour of this significantly
    • Maybe we increased the rate of parameter writes?!

  • Bogus telem messages about missing RC receiver

  • Orientation problem with mags in MP?

    • Internal compass orient ignored

  • SD card on JFB110 not working…

    • Randy will chase

  • Follow bindings almost always returning nil

    • User is probably on a minimised board
    • Maybe an F7?
    • Could also be assigned to follow?

  • Gyro rate pre-arm check

    • Durandal bdshot problem

  • 4.6.1?

    • LD06/LD19 wants one
    • Next week we start a beta for 4.6.1 probably

  • Should we go to partner’s list of boards and backport to 4.6 from master?

UTC1141 - conference

  • Devs register now, please!
    • Links are in #dev-chatter and partners and #conference2025
    • Ping Pete or Matt directly if you can’t find the link and want it!
  • Matt and Pete are up in Richmond this week trying

UTC1142 - GCS_MAVLink: implement sys_status.errors_comm by amilcarlucas · Pull Request #20949 · ArduPilot/ardupilot · GitHub

  • Sys_status.errors_comm is populated
  • Merged!

UTC1145 - Add get_roll_deg, get_pitch_deg and get_yaw_deg to AHRS interface, start using them by peterbarker · Pull Request #28010 · ArduPilot/ardupilot · GitHub

  • Get_roll_deg etc etc in place of the roll/yaw/pitch sensor
  • Merged!

UTC1148 - Allow initializing Camera_Servo to trim, add support for zoom/focus RATE mode. by Williangalvani · Pull Request #29997 · ArduPilot/ardupilot · GitHub

  • Allow initialising camera servo to trim, add support for zoom/focus
  • Servo channel controls zoom
    • Servo min should be fully zoomed out
    • Range-squishing is unfortunate
  • Suggestion made, Willian will chase

UTC1155 - Scripted Arming Checks by timtuxworth · Pull Request #30009 · ArduPilot/ardupilot · GitHub

  • LUA arming checks
  • Tim will bring to quick-approval channel

UTC0001 - Move option bits from SERIALn_OPTIONS to MAVn_OPTIONS by peterbarker · Pull Request #30094 · ArduPilot/ardupilot · GitHub

  • Move option bits from SERIALn_OPTIONS to MAVn_OPTIONS
  • Old parameter still exists
    • We now have a pre-arm check to stop arming if those bits are set
  • Fixed up some wording
  • MergeOnCIPass

UTC0014 - Rover: CONDITION_YAW command to skid-steering Rover by jrcacador · Pull Request #30157 · ArduPilot/ardupilot · GitHub

  • Initial attempt to implement condition_yaw
  • This is looking pretty good
  • Some reviews left

UTC0022 - AC_Autotune: Fix gain load problem when mode set to FAILED by lthall · Pull Request #30174 · ArduPilot/ardupilot · GitHub

  • Fix gain load problem when mode set to failed
  • Randy and Bill are aware
  • Adjustments to autotune to fix gain loads
    • Test added for auxiliary switch
  • More eyes would be nice
  • Bill will do some testing
  • One-liner fix?
    • Leonard tried to make one but it didn’t work out
  • Testing?
    • Set ANGLE_MAX low

UTC0024 - AP_AIS: Populate OADatabase for avoidance by IamPete1 · Pull Request #30185 · ArduPilot/ardupilot · GitHub

  • Feed data from AIS into OADatabase
  • Proper AIS simulator now
  • Some discussions around handling of AIS data
    • Long timeouts required for moored ships

UTC0044 - Copter: add FS_EKF_ACTION report only and notify in all cases by IamPete1 · Pull Request #30189 · ArduPilot/ardupilot · GitHub

  • Add FS_EKF_ACTION report and notify in all cases
  • We might take no action and not notify, but you won’t make a beep and you won’t be able to change to eg. LOITER in some cases
  • Merged!

UTC0048 - copter: auto: provide alt above landing location if landing by IamPete1 · Pull Request #30195 · ArduPilot/ardupilot · GitHub

  • Provide altitude above landing location if landing
  • If you provide a location in landing we throw away the value
  • We will use rangefinder then terrain then above-home
  • New:
  • Use rangefinder, otherwise waypoint location otherwise terrain otherwise above home
  • Disadvantage is that it is
  • Land waypoints should not default to the default altitude, they default to zero
  • Some discussion around the no-nav-altitude stuff use during landing
  • Why not a waypoint then a landing
    • You lose precision at the moment
  • Useful for landing at a precise absolute altitude
  • Quadplane already works this way
  • Is landing slowdown latched?
    • Randy thinks it is
    • Leonard thinks it is not
    • Pete thinks he can test it
    • Vulnerability if it is a state in quadplane if you need to page in the altitude you might come down very slowly!
  • Merged!

UTC0111 - AP_Scripting: LTE driver using SIM7600 AT commands by tridge · Pull Request #30213 · ArduPilot/ardupilot · GitHub

  • LTE drive using SIM7600
  • Merged!
  • AT-command-set LTE modem script

UTC0111 - off the floor

  • Partners call tomorrow

UTC0112 - close

3

The h743 flash issue sounds like the problem I have been having with all my matek boards corrupting when browning out.