Dev Call June 30, 2025

Development Team
1

4.6.2 beta1 Release Update

Issues & Pull Requests

2

Attendee count (max): 17

UTC1100 - Dev Call June 30, 2025

  • Vehicle update
  • 4.6.2-beta1 is out
    • Quite a few changes in there
    • Not many new things have been raised
    • There’s a Plane landing fix tridge wants in
    • Leonard’s backported the autotune fix
    • There’s a PR from Bill still to do
    • Sysid for quadplane
    • No fixed-wing sysid yet
    • There’s a bunch of PRs not marked as anything in the 4.6 backports list?
    • Backport PR vs cherry-picking?
      • We don’t need a backport PR for the most part
      • Randy is happy cherry-picking if it comes back cleanly
      • If you create a backport PR then remove 4.6 from the original PR-to-master
      • Tridge finds the backport PR is trivial because he’s often given a test branch to someone
    • Generally 4.6 is going pretty well

UTC1120 - AP_Scripting: loiter to autoland altitude by landswellsong · Pull Request #30346 · ArduPilot/ardupilot · GitHub

  • Loiter to autoland altitude
  • Prefixing scripted parameters with “Z”
    • No, we don’t like that
    • Migrating to C++ from LUA?
      • Code at the top of the script see if the parameters already exist?
      • wouldn’t we fail to add the parameter?
      • Fetch-by-name and fail to add the table?
      • If you restart the script the parameter will already exist?
      • “Is this a dynamically added parameter?”

UTC1129 - APM Planner 2: remove due to dormancy by yuri-rage · Pull Request #6957 · ArduPilot/ardupilot_wiki · GitHub

  • APM Planner 2 and the Wiki
  • Bill is wanting to keep it
    • Keeping it makes sense
    • Log analysis needs to be able to cope with instances?
  • Arne was maintaining it but seems to have stepped back

UTC1144 - IMU: added support for IIM46234 IMU by tridge · Pull Request #24602 · ArduPilot/ardupilot · GitHub

  • Project with TDK stalled
    • Synced backend for 6 IMUs with filtering between them
  • Can’t do FIFO
    • Parsing is fussy
  • Partner wanted to do non-GPS-takeoffs
  • Now a public part
  • IIM-46230 | TDK InvenSense is probably the part really required
    • +/- 16G
  • None of these have FIFOs meaning they need their own thread
  • Tridge will respond to that partner

UTC1151 - CI: add a regression test for output of clang-scan-build by peterbarker · Pull Request #29184 · ArduPilot/ardupilot · GitHub

  • Clang-scan-build ratchet
  • Too hard for developers to use

UTC0107 - AP_NavEKF: Allow EK3 cores to run different sources by rishabsingh3003 · Pull Request #29750 · ArduPilot/ardupilot · GitHub

  • Allow EKF3 cores to run different sources
  • Merged!

UTC0109 - Plane: reduce speed scaler in assisted flight at low airspeed by tridge · Pull Request #30380 · ArduPilot/ardupilot · GitHub

  • Reduce speed scaler in assisted flight
  • Pete has some problems around consistency of transitions
  • Backward control surfaces are disastrous

UTC0121 - Plane: make RNGFND_LANDING a bitmask by tridge · Pull Request #30458 · ArduPilot/ardupilot · GitHub

  • Make RNGFND_LANDING a bitmask
    • False readings from rangefinders causing qassist to kick in
  • Allows you to enable rangefinder for a specific set of circumstances

UTC0128 - AP_NavEKF3: ground clearance fusion fix by rmackay9 · Pull Request #30490 · ArduPilot/ardupilot · GitHub

  • Fusing bad rangefinder altitudes into EKF
    • Only happens if pos-z is rangefinder
  • Problems around having your Z-height from rangefinder
    • If your rangefinder never becomes good you might have a climb-away bug
  • Leaving this one to Randy

UTC0053 - RC_Channel: remove AUX_FUNC entries based on feature defines by peterbarker · Pull Request #30491 · ArduPilot/ardupilot · GitHub

  • Add defines for RC channel to ensure no new code goes
  • Merged!

UTC0054 - AP_HAL_Linux: Move AnalogIn_IIO scaling constants into hwdef by peterbarker · Pull Request #30497 · ArduPilot/ardupilot · GitHub

  • Avoid use of subtypes in Linux HAL
  • Merged!

UTC0058 - AP_Mount: SToRM32 search continues while disarmed by rmackay9 · Pull Request #30501 · ArduPilot/ardupilot · GitHub

  • Continue to search for gimbals while disarmed
  • Makes it look like our other gimbal
  • Merged!

UTC0104 - AC_AttitudeControl: change default for PSC_VELXY_D to 0.25 for better position control by andyp1per · Pull Request #30502 · ArduPilot/ardupilot · GitHub

  • Change some defaults for velocity controller
    • Will change existing tunes
    • But almost certainly for the better
    • Ratio of P-to-D?
      • What should that be and why?
  • Can see problems in tethered flight
  • Some corners of the flight envelope can cause oscillation because of this D term
  • Should this be a backport?
    • We ordinarily wouldn’t backport tuning changes like this
    • Leonard thinks it will only ever be an improvement
    • Peter thinks we should avoid backporting anything which looks scary in release notes
  • Will go in 4.6.2

UTC0117 - off the floor

  • Second funding request passed for conference
  • Partner call tomorrow
  • New conference website!
  • Message Matt or Pete re: AirBnB style things

UTC0118 - close