Dev Call Mar 28, 2022

CraigElder · March 28, 2022, 11:00pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Clean up Heli Autotune to reduce flash size

ArduPilot:master ← bnsgeyer:pr-reduce-heli-flash-size

opened 03:31AM - 07 Mar 22 UTC

bnsgeyer

+383 -468

This PR reduces flash size for heli by streamlining some of the functions in hel…i autotune. The functions that were streamlined include the GCS announcements and the dwell_test run and init methods. My initial calculations is that it may save 1200 bytes. Haven't completed testing but I will post once I am happy that it hasn't affected the autotune feature

github.com/ArduPilot/ardupilot

Copter: improve shaping of rate controlled axes

ArduPilot:master ← bnsgeyer:pr-rate-shaping

opened 08:16PM - 14 Mar 22 UTC

bnsgeyer

+254 -89

This PR improves the shaping for rate controlled axes. This would include the y…aw axis in stabilize mode and pitch, roll and yaw axes in Acro mode. The target rate shaping is improved by using the square root controller to provide a first order response to achieve the requested rate. Currently this is done by linearly increasing rate at ACCEL_MAX until the requested rate is achieved. Using the ACCEL_MAX to adjust the shape is not conducive to shaping the response. It doesn't adjust the acceleration request with the size of the rate request. The square root controller does a nice job at that. This adds two parameters to allow users to adjust the rise time of the target rate to achieve the requested rate. One for pitch and roll axes and the other for yaw axis.

github.com/ArduPilot/ardupilot

Disable Solo Gimbal except on CubeSolo and CubeGreen-solo

ArduPilot:master ← peterbarker:pr/disable-hal-solo-gimbal

opened 09:02AM - 18 Mar 22 UTC

peterbarker

+12 -1

`Pixhawk1`: ![image](https://user-images.githubusercontent.com/7077857/158972…293-e6a06ffa-87ae-4ef9-90c1-11ad32bd2733.png) Pixhawk1-1M isn't affected because it's already excluded. CubeSolo is still the same - well, 12 bytes off... I'd note that this means gimbal will stop working for users with a gimbal on CubeOrange. I'm just copying the broken-ness because they'll also be missing OreoLED support....

github.com/ArduPilot/ardupilot

Fix ESCs constantly arming on rover with dshot commands

ArduPilot:master ← andyp1per:pr-rover-bdshot-3d

opened 08:10AM - 25 Mar 22 UTC

andyp1per

+58 -26

Several bugs fixed: - ESCs constantly arming on rover with dshot commands - …Bdshot not working with fewer channels than the full group - Not disabling disabled channels - Not pulling high all channels in a bdshot group (caused random motor movements in disabled channels) - Not ignoring disabled channels for telemetry starting position Although this affects all vehicles it will particularly help rover and plane

github.com/ArduPilot/ardupilot

Shorten dshot pulse width

ArduPilot:master ← andyp1per:pr-dshot-pulse-width

opened 10:22PM - 25 Mar 22 UTC

andyp1per

+36 -19

It is possible to construct valid dshot and neopixel packets using fewer DMA bea…ts. This allows more accurate frequency resolution because a lower frequency is required and the prescaler needed to divide up the system clock frequency can be higher. In testing this allowed ArduCopter to successfully drive BlueJay 0.14 ESCs from an omnibusf4pro-bdshot whereas with the current code the frequency difference is too large and the BlueJay firmware does not recognize the dshot signal. This shortens the dshot pulse to 8 ticks with 3/8 for 0 and 6/8 for 1 This shortens the neopixel pulse to 11 ticks with 4/11 for 0 and 9/11 for 1 This appears to allow BlueJay ESCs to work with ArduPilot which are quite timing sensitive

github.com/ArduPilot/ardupilot

AP_NavEKF3: rewrite getLLH to avoid excessive indenting

ArduPilot:master ← peterbarker:pr/ekf3-getllh-rewrite

opened 11:31PM - 25 Mar 22 UTC

peterbarker

+40 -38

I've had this one on the shelf for a very long time. I rebased it again this …morning and while fixing a conflict noted that in the case that we're doing the "default return is last recorded position" case we don't appear to be setting the altitude in the return object. Meaning the caller probably things we're at 0 AMSL and might choose to have the aircraft climb. You're already pretty stuffed at this point, of course. I'm not fixing that in this PR, but could add it in.

github.com/ArduPilot/ardupilot

SP Racing H7 extreme updates

ArduPilot:master ← andyp1per:pr-spracing-config

opened 06:08PM - 27 Mar 22 UTC

andyp1per

+1218 -1206

Found a few bugs in the hwdef and one build bug This gives the following CPU …load in stabilize: ``` ThreadsV2 ISR PRI=255 sp=0x24069DF0 STACK=1236/1536 LOAD= 2.2% ArduCopter PRI=182 sp=0x2406A3F0 STACK=4096/7168 LOAD=51.0% idle PRI= 1 sp=0x300158D0 STACK= 144/ 352 LOAD= 8.7% UART_RX PRI= 60 sp=0x3003EFA0 STACK= 760/1104 LOAD= 0.7% OTG1 PRI= 60 sp=0x3003E0A8 STACK= 248/ 656 LOAD= 0.2% monitor PRI=183 sp=0x300113F8 STACK= 480/ 848 LOAD= 0.3% timer PRI=181 sp=0x30012678 STACK=1448/1872 LOAD= 2.1% rcout PRI=181 sp=0x30011D38 STACK= 432/ 848 LOAD= 8.9%* rcin PRI=177 sp=0x30011798 STACK= 416/1360 LOAD= 9.8%* io PRI= 58 sp=0x30010A58 STACK=1496/2384 LOAD= 0.5%* storage PRI= 59 sp=0x300120D8 STACK= 792/1360 LOAD= 0.1% UART2 PRI= 60 sp=0x3003D058 STACK= 384/ 656 LOAD= 0.1% UART3 PRI= 60 sp=0x3003C560 STACK= 264/ 656 LOAD= 0.1% UART4 PRI= 60 sp=0x3003BA68 STACK= 384/ 656 LOAD= 0.1% I2C0 PRI=176 sp=0x3003A810 STACK= 872/1360 LOAD= 1.0%* OSD PRI= 59 sp=0x30036590 STACK= 912/1616 LOAD= 0.6%* log_io PRI= 59 sp=0x30036D90 STACK= 264/1656 LOAD= 0.3% UART1 PRI= 60 sp=0x30038580 STACK= 248/ 656 LOAD= 0.2% SPI3 PRI=181 sp=0x30020C98 STACK= 712/1360 LOAD=12.5% FTP PRI= 58 sp=0x24002F30 STACK=1464/2896 LOAD= 0.1% ``` and the following in loiter: ``` ThreadsV2 ISR PRI=255 sp=0x24069DF0 STACK=1236/1536 LOAD= 2.1% ArduCopter PRI=182 sp=0x2406A3F0 STACK=4096/7168 LOAD=58.0% idle PRI= 1 sp=0x300158D0 STACK= 144/ 352 LOAD= 2.8% UART_RX PRI= 60 sp=0x3003EFA0 STACK= 760/1104 LOAD= 0.5% OTG1 PRI= 60 sp=0x3003E0A8 STACK= 248/ 656 LOAD= 0.1% monitor PRI=183 sp=0x300113F8 STACK= 480/ 848 LOAD= 0.3% timer PRI=181 sp=0x30012678 STACK=1456/1872 LOAD= 2.1% rcout PRI=181 sp=0x30011D38 STACK= 432/ 848 LOAD= 8.9%* rcin PRI=177 sp=0x30011798 STACK= 416/1360 LOAD= 9.5%* io PRI= 58 sp=0x30010A58 STACK=1496/2384 LOAD= 0.3%* storage PRI= 59 sp=0x300120D8 STACK= 792/1360 LOAD= 0.1% UART2 PRI= 60 sp=0x3003D058 STACK= 384/ 656 LOAD= 0.1% UART3 PRI= 60 sp=0x3003C560 STACK= 264/ 656 LOAD= 0.1% UART4 PRI= 60 sp=0x3003BA68 STACK= 384/ 656 LOAD= 0.1% I2C0 PRI=176 sp=0x3003A810 STACK= 872/1360 LOAD= 0.9% OSD PRI= 59 sp=0x30036590 STACK= 912/1616 LOAD= 0.6%* log_io PRI= 59 sp=0x30036D90 STACK= 264/1656 LOAD= 0.2% UART1 PRI= 60 sp=0x30038580 STACK= 248/ 656 LOAD= 0.1% SPI3 PRI=181 sp=0x30020C98 STACK= 712/1360 LOAD=12.8% FTP PRI= 58 sp=0x24002F30 STACK=1464/2896 LOAD= 0.1% ``` You can see that neither setup has quite enough idle CPU to accommodate the extra 12% of the second IMU

github.com/ArduPilot/ardupilot

AP_Param: fixed param class conversion code

ArduPilot:master ← tridge:pr-param-class-fix

opened 05:03AM - 28 Mar 22 UTC

tridge

+4 -0

param class conversion was unconditionally overwriting the parameter from the ol…d parameter. This meant if the user has set a value in an old firmware they could not change it in a new firmware. I hit this with ARSPD_TYPE. I had previously set this to 0 in a previous use of the board, and found that it kept resetting to 0 on the new firmware when I tried to enable airspeed To reproduce this bug: - checkout plane 4.1 - set ARSPD_TYPE to 8 then set it back to 0 - now start 4.2 with the same eeprom.bin - set ARSPD_TYPE to 8 and then reboot - fetch parameters and ARSPD_TYPE will be 0, reset by this bug

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.5.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane ReleaseAdmin

This is an issue to gather key issues for the plane 4.2-4.5 release - [ ] disp…lay message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] disable uart reboot checker for non-debug build - [ ] lua scripts sometimes do not start: https://github.com/ArduPilot/ardupilot/issues/25455 - [x] https://github.com/ArduPilot/ardupilot/issues/25157 - [ ] can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height - [ ] scaling of baro gate with height: https://github.com/ArduPilot/ardupilot/issues/25337 - [ ] pitch stick mixing can stall aircraft - [ ] https://github.com/ArduPilot/ardupilot/issues/25283 - [ ] support new DroneCAN ESC status msg - [ ] slow down EFI update in periph - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] add frame to fly to in mavproxy - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [x] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [x] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [x] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [x] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover: 4.2.0 issues list

opened 05:16AM - 28 Feb 22 UTC

rmackay9

Copter Rover ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.2.0 beta testing. … For reference [Copter-4.1 issues ](https://github.com/ArduPilot/ardupilot/issues/16478), [Rover-4.1 issues](https://github.com/ArduPilot/ardupilot/issues/17116). **Reports requiring Investigation** - [ ] Rover running slowly with full SD card but no logs ([discussion](https://discuss.ardupilot.org/t/rover-4-2-cant-go-forward-after-u-turn/89839/2)) - [ ] request for wiki docs on signing firmware ([discussion](https://discuss.ardupilot.org/t/copter-4-2-3-rc3-available-for-beta-testing/89841/14)) - [ ] SoloGimbal broken (also broken in 4.1.x) ([issue](https://github.com/ArduPilot/ardupilot/issues/20923)) - [ ] Missions may complete while the vehicle is disarmed ([issue](https://github.com/ArduPilot/ardupilot/issues/20655)) - [ ] UAvionix Ping disrupts param download ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc2-released-for-beta-testing/84818/3)) - [ ] modalAI Voxl setup problems ([issue](https://github.com/ArduPilot/ardupilot/issues/20481), [discussion](https://discuss.ardupilot.org/t/voxl-position-reference/87230)) **Copter** - [ ] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) - [ ] circle mode can't keep vehicle pointed at center if CIRCLE_RATE > ATC_SLEW_YAW ([issue](https://github.com/ArduPilot/ardupilot/issues/21098)) - [ ] do-change-speed doesn't work if immediately after a TAKEOFF command ([discussion](https://discuss.ardupilot.org/t/copter-4-2-x-cant-accept-do-change-speed-in-auto-mission/87509), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) - [ ] DShot BlueJay not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc4-available-for-beta-testing/85556/3)) -- fixed in 4.2.1-rc1? - [ ] DShot LEDs not working ([issue](https://github.com/ArduPilot/ardupilot/issues/20816)) -- fixed in 4.2.1-rc1? - [ ] AndyP's ongoing alt-hold issues ([PR](https://github.com/ArduPilot/ardupilot/pull/20781)) -- agreed not blocker for 4.2.0 release - [ ] neopixel shows incorrect colours on some boards ([discussion](https://github.com/ArduPilot/ardupilot/issues/20768), [PR](https://github.com/ArduPilot/ardupilot/pull/20432)) - [ ] Copter set-attitude-target doesn't accept roll,pitch angles and yaw rate ([issue](https://github.com/ArduPilot/ardupilot/issues/20444)) **Rover Specific** - none **Enhancement Requests (may or may not be done)** - [ ] request to update mavlink repo ([issue](https://github.com/ArduPilot/ardupilot/issues/20849), [PR](https://github.com/ArduPilot/ardupilot/pull/20927)) - [ ] CubeBlack not-enough-memory with CAN enabled ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/19)) -- many small changes increased memory usage. Not easy to fix. - [ ] OSD Group2 Params LINK_Q Items appear even for disabled OSD screens ([issue](https://github.com/ArduPilot/ardupilot/issues/18418), [PR](https://github.com/ArduPilot/ardupilot/pull/18533)) -- a display issue and quite difficult to fix - [ ] [Custom Build server](https://custom.ardupilot.org/) should support building beta and stable ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta1-available-for-beta-testing/82462/7)) - [ ] Log fence locations ([discussion](https://discuss.ardupilot.org/t/no-polygone-fences-in-the-dataflash-logs/82566), [issue](https://github.com/ArduPilot/ardupilot/issues/20213)) - [ ] SBP (aka Swift) GPS driver should accept yaw ([discussion](https://discuss.ardupilot.org/t/how-to-force-gps-yaw-to-rovers-yaw/82553/2)) **Wiki improvement Requests** - [ ] Improve optical flow wiki ([discussion](https://discuss.ardupilot.org/t/how-to-test-benefits-of-optical-flow-improvements/82488)) - [ ] document DO_LAND_START / AutoRTL ([discussion](https://discuss.ardupilot.org/t/suggestion-being-able-to-define-an-rtl-approach-path-i-e-approach-rtl/85470), [MP PR](https://github.com/ArduPilot/MissionPlanner/issues/2858)) **Resolved Items** - [x] Pixhawk6x issues ([discussion](https://discuss.ardupilot.org/t/copter-4-2-3-rc1-available-for-beta-testing/89506/9), [discussion2](https://discuss.ardupilot.org/t/copter-4-2-3-released/90230/12)) -- resolved with PR https://github.com/ArduPilot/ardupilot/pull/21581 - [x] Rover 4.2.2 using NMEA RTK GPSs cannot attain position estimate (no logs sadly, no public discussion) -- not logs so can't investigate - [x] add Pixhawk1M-bdshot ([discussion](https://discuss.ardupilot.org/t/copter-4-2-3-rc3-available-for-beta-testing/89841/10), [issue](https://github.com/ArduPilot/ardupilot/issues/21504), [PR](https://github.com/ArduPilot/ardupilot/pull/21524#pullrequestreview-1083294319)) -- resolved for 4.3 - [x] BlueRobotics ping sensor not working above 4.0.0 ([discussion](https://discuss.ardupilot.org/t/blue-robotics-ping-sensor-not-working-on-anything-above-ardurover-4-0-0/88007)) -- sensor firmware needs to be upgraded, wiki has been updated to add instructions on how to do this. - [x] climb during precision landing ([discussion](https://discuss.ardupilot.org/t/quad-rises-to-40m-before-landing/86311), [PR](https://github.com/ArduPilot/ardupilot/pull/20982)) -- not included in 4.2 because it is an existing issue. I think we will wait for 4.3 for the fix to go out. - [x] LidarLight broken on CubeOrange, Nora (all H7?) ([issues](https://github.com/ArduPilot/ardupilot/issues/20778)) -- hardware issue - [x] Circle mode should stop at fence ([issue](https://github.com/ArduPilot/ardupilot/issues/20939), [PR](https://github.com/ArduPilot/ardupilot/pull/20964)) -- resolved for 4.2.2-rc1 - [x] OSD not showing latest modes ([PR](https://github.com/ArduPilot/ardupilot/pull/20811)) -- resolved for 4.2.1-rc2 - [x] precision landing yawing during descent when tag lost ([discussion](https://discuss.ardupilot.org/t/fixed-yaw-precision-landing/85618/2), [PR](https://github.com/ArduPilot/ardupilot/pull/20801)) -- resolved for 4.2.1 - [x] Matek H743 has 4 IMUs so INS_ENABLE_MASK needs an extra bit? ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-rc3-released-for-beta-testing/85121), [PR](https://github.com/ArduPilot/ardupilot/pull/20793)) -- resolved for 4.2.1 - [x] CHUTE_ENABLE somehow set to zero (RC switch?) ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc4-available-for-beta-testing/85556/8), [issue](https://github.com/ArduPilot/ardupilot/issues/20788)) -- present in 4.1.x as well - [x] TradHeli internal error from Guided mode ([discussion](https://discuss.ardupilot.org/t/heli-frame-prearm-internal-error-0x100000-l-602-flow-of-ctr/85172), [PR](https://github.com/ArduPilot/ardupilot/pull/20742)) -- resolved for -rc4 - [x] ATC_SLEW_YAW affects yaw speed in Loiter ([issue](https://github.com/ArduPilot/ardupilot/issues/20608), [PR](https://github.com/ArduPilot/ardupilot/pull/20758)) -- resolved for -rc4 - [x] AP_Button's internal error when using PWM input ([issue](https://github.com/ArduPilot/ardupilot/issues/20609)) -- maybe caused by servo tester used during testing -- not a real problem - [x] Chimera EKF issues after acro flight (worse in -rc1 than -beta3). AndyPiper has logs ([PR](https://github.com/ArduPilot/ardupilot/pull/20684), [related PR](https://github.com/ArduPilot/ardupilot/pull/20431)) -- resolved in -rc3 - [x] MatekF765-Wing-bdshot requested ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/12)) -- included in -rc2 - [x] BLHeli_S not working and "all zeros" watchdog ([discussion](https://discuss.ardupilot.org/t/spontaneous-crash-possible-problem-in-4-2bdshot-daily-build-from-feb-22/83297/16), [zeroWD issue](https://github.com/ArduPilot/ardupilot/issues/20092)) -- resolved for -rc2 (we think) - [x] User struggles setting up wheel encoders, camera triggers, brushed-motors-with-relays due to BRD_PWM_COUNT removal ([Rover discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/17), [Copter discussion](https://discuss.ardupilot.org/t/brd-pwm-count-mentioned-in-wiki-but-not-in-parameters-or-in-parameter-list-doc/84155), [Plane issue](https://github.com/ArduPilot/ardupilot/issues/20567), [PR](https://github.com/ArduPilot/ardupilot/pull/20576)) -- resolved for -rc2 - [x] MP param download 30+ seconds on Randy's CubeOrange after CAN_P1_DRIVER = 1 or BTN_ENABLE = 1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20582)) -- resolved in Beta MP (build 1.3.8150.28411 or higher) - [x] Vision Position Estimates treated as offsets from internal origin ([issue](https://github.com/ArduPilot/ardupilot/issues/20585)) -- working correctly - [x] compass learn testing ([discussion](https://discuss.ardupilot.org/t/lane-switch-on-compass-learn-3-flight/84223), [discussion2](https://discuss.ardupilot.org/t/test-results-of-compass-learn-3/84177)) -- FYI only - [x] DO_SET_SERVO does not work on Servo9 ~ 14 on CubeOrange ([discussion](https://discuss.ardupilot.org/t/no-pwm-servo-aux-out-1-movement-on-cube-orange/84325/2), [PR](https://github.com/ArduPilot/ardupilot/pull/20584), [PR](https://github.com/ArduPilot/ardupilot/pull/20577)) -- resolved for -rc2 - [x] RPM spams console until gpio PIN parameter is set ([issue](https://github.com/ArduPilot/ardupilot/issues/20575), [PR](https://github.com/ArduPilot/ardupilot/pull/20579)) -- resolved for -rc2 - [x] Linux crash due to UART or scheduler change? ([issue](https://github.com/ArduPilot/ardupilot/issues/20519), [PR](https://github.com/ArduPilot/ardupilot/pull/20540)) -- resolved for -rc2 - [x] Tradheli autotune not properly exiting rate P/rate D tuning when max allowed gains are not determined ([PR](https://github.com/ArduPilot/ardupilot/pull/20447)) -- resolved for -rc2 - [x] SYSID FF fix ([PR](https://github.com/ArduPilot/ardupilot/pull/20466)) -- resolved for -rc2 - [x] Rover watchdog reset on MatekH743-Mini-bdshot ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623)) -- probably resolved in -rc1 - [x] Balance bot not standing for user with brushed motors ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/7)) -- needed to set SERVOx_FUNCTION = -1 (need better docs?) - [x] Bi-directional dshot doesn't work on Rover ([PR](https://github.com/ArduPilot/ardupilot/pull/20374)) -- fixed in beta3 - [x] landing not slowing at LAND_ALT_LOW (Randy and PeterHall have logs) -- fixed in beta3 - [x] WP_SPEED from Ch6 tuning not working? ([discussion](https://discuss.ardupilot.org/t/wpnav-speed-as-a-chan-6-tune-parameter-working/83217)) -- vehicle config issue, works. - [x] DSHOT reverse range is inverted (4.2 issue. see [issue](https://github.com/ArduPilot/ardupilot/issues/19346), [PR1](https://github.com/ArduPilot/ardupilot/pull/20349), [PR2](https://github.com/ArduPilot/ardupilot/pull/20358)) -- resolved for beta3 - [x] BLHeli passthrough not working on CubeOrange's AUX1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20362)) -- but is likely a hardware issue - [x] MinimOSD not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta2-released/82959), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4231)) -- user needs to set SERIALx_PROTOCOL = 1 - [x] BalanceBot does not stand-up in Acro mode ([discussion](https://discuss.ardupilot.org/t/rover-4-1-3-rc1-released-for-beta-testing/79751/3)) -- resolved in beta3 - [x] takeoff stuck if alt-above-home is lower than alt-above-terrain ([comment](https://github.com/ArduPilot/ardupilot/commit/fb6c3ebb729a4b428da5dd14832cd95d71709a1e#commitcomment-68370961), [issue](https://github.com/ArduPilot/ardupilot/issues/20277), [PR](https://github.com/ArduPilot/ardupilot/pull/20153), [PR2](https://github.com/ArduPilot/ardupilot/pull/20285)) -- fixed in beta2 (the problem was only ever present in master, never made it to a beta) - [x] GPS-for-yaw with DroneCan GPS not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/6), [PR](https://github.com/ArduPilot/ardupilot/pull/20249)) -- resolved in -beta2 - [x] DShot esc issue ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/8), [PR](https://github.com/ArduPilot/ardupilot/pull/20247)) -- resolved in beta2

GSOC

CraigElder · March 29, 2022, 7:07am

Attendee count (max): 18

UTC1100 - Clean up Heli Autotune to reduce flash size by bnsgeyer · Pull Request #20238 · ArduPilot/ardupilot · GitHub

Clean up heli autotune to reduce flash size
Merged!

UTC1105 - Copter: improve shaping of rate controlled axes by bnsgeyer · Pull Request #20307 · ArduPilot/ardupilot · GitHub

Improve shaping of rate-control axis
Reworked to only affect Heli
Wraps old function so should only affect Heli
- That does push flash usage up
Passing in lots of parameters which won’t really change?
- Position control modes, when you enter loiter mode it sets the loiter acceleration limits etc etc
  - So why not here?
- Leonard Randy and Bill agreed they liked this way of doing things this way
- Doing it on mode enter might be nicer?
- Costs on flash and runtime for passing the parameters
- All other parameters change constantly, but these new parameter don’t
New parameters should live in ATC rather than in Copter instead?
- Wouldn’t need to pass them….
Plane is kind of missing out on these new features in ATC a bit
- Sub too
Poking values into the controller rather than passing them in is probably a better way of doing things
More sharing we do across vehicles the better
Parameters inside the ATC?

UTC1118 - Disable Solo Gimbal except on CubeSolo and CubeGreen-solo by peterbarker · Pull Request #20328 · ArduPilot/ardupilot · GitHub

Only enable Solo gimbal on relevant Cubes
Also gets OreoLED
Merged!

UTC1125 - vector3: return w1 not zero vector by xianglunkai · Pull Request #20369 · ArduPilot/ardupilot · GitHub

Return w1 not zero vector
Merged!

UTC1126 - Fix ESCs constantly arming on rover with dshot commands by andyp1per · Pull Request #20374 · ArduPilot/ardupilot · GitHub

Fixes ESCs constantly arming on Rover with shot commands
Put throttle on 2nd 3rd of 4th in pwm group then things wouldn’t work
Merged!

UTC1129 - Shorten dshot pulse width by andyp1per · Pull Request #20379 · ArduPilot/ardupilot · GitHub

Change dshot pulsewidth
Need tridge
Bumped to DevcallEU

UTC1130 - AP_NavEKF3: rewrite getLLH to avoid excessive indenting by peterbarker · Pull Request #20380 · ArduPilot/ardupilot · GitHub

Constant position mode doesn’t set altitude?
- PH thinks the bug does exist
People liked the reformatting

UTC1135 - Blimp: remove duplicated and unused params by Hwurzburg · Pull Request #20381 · ArduPilot/ardupilot · GitHub

Blimp Wiki is up!
This removes duplicated and unused parameters in Blimp
- This isn’t all of them
- But most of them
- Failsafes aren’t working in Blimp right now
Blimp Home — Blimp documentation !!
merged!

UTC1136 - SP Racing H7 extreme updates by andyp1per · Pull Request #20385 · ArduPilot/ardupilot · GitHub

H7 Xtreme updates
Merged!

UTC1139 - AP_Param: fixed param class conversion code by tridge · Pull Request #20388 · ArduPilot/ardupilot · GitHub

fixes parameter keeps getting reset issue
Merged!

UTC1141 - HWDEF: add SLCAN OTG port, correct defaults.param errors by Hwurzburg · Pull Request #20391 · ArduPilot/ardupilot · GitHub

Qiotek H743 in Orca
SLCAN OTG port nor right, defaults.param incorrect
Merged!

UTC1144 - Plane: stable 4.2.0 issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

No Plane update today
New beta released
- Plane 4.2 beta release - #59 by tridge
Played with RC failover
- Throttle-threshold-failsafe does not work in this case as that’s done by the controller
Good text output now for RC failover

UTC1152 - Copter/Rover: 4.2.0 issues list · Issue #20192 · ArduPilot/ardupilot · GitHub

Terrain alt issue
Vehicle hitting ground too faster
- Not slowing down at land alt correctly
  - Caused by subtle change in terrain library
  - Doesn’t slow 10m above home, slows down 10m above terrain
    - Terrain adjustment which got removed
    - Another PR went in to restore the functionality
    - When you arm and takeoff it assumes that the vehicle is on the ground
      - So it zeroes the terrain altitude
Another beta coming out this week
Redux ~middday
- All-zeroes watchdog
  - Scary
  - Peter couldn’t find anything in the log
  - Need to get something in place, even if it just some more logging
  - Bdshot had stack overflows?!
  - Maybe the crash catcher might show something
  - Bumped to DevCallEU

UTC1156 - heli

Autotune testing highlighted an issue
determines max allowable p and d gains
- If it can’t it should stop
Direct-drive fixed-pitch rotor didn’t like autotune
- Spinning at high rate in yaw
- ESC gave up
- No ESC logging
  - Being commanded appropriately
  - Overcurrent shutdown?
  - Overtemp shutdown?
  - Dramatic shortage of ESC manufacturers who understand multirotor requirements
- 10:57 AM] Peter Hall: autotune does tend to catch out such issues.
- [10:59 AM] Peter Hall: its about as agressive as the vehicle will ever see, especially since vehicle are not really they run in when people are autotuning.
Flash-reduction PR to go back into 4.2

UTC0005 - Rover update

Testing is going well
More testers than usual
SCurve navigation
- Will merge soon
- Won’t make 4.2
- Beta3 coming soon

UTC0009 - GSoC

Looking forward to submissions
Just a few more days of the current period
Applications start next Monday

UTC0012 - Conference

Next Friday
- 8th/9th/10th
- Thursday evening US
Tentative schedule
- 2022 ArduPilot Developer Conference Schedule - Google Sheets

UTC0011 - close