Dev Call Mar 3, 2025

CraigElder · March 3, 2025, 11:01pm

Release Update

ArduPilot 4.6 issues list

opened 12:01AM - 14 Nov 24 UTC

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.6 testing. Issues for [C…opter/Rover-4.5 issues are here](https://github.com/ArduPilot/ardupilot/issues/26103) **Reports requiring investigation** - [ ] QuadPlane EK3 velocity divergence before arming ([issue](https://github.com/ArduPilot/ardupilot/issues/29384)) - [ ] CADDX GM2 update slow ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/38)) - [ ] iBUS telemetry not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta2-is-available-for-beta-testing/127445/11)) **Confirmed issues** - [ ] Unknown message 45 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/43), [discussion2](https://discuss.ardupilot.org/t/sending-unknown-message-44-on-mission-planner-with-speedybee-f405-v3-guided-mode/130303)) - [ ] TradHeli internal errors 0X4000000 and 0X4000020 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/23), [issue](https://github.com/ArduPilot/ardupilot/issues/29370)) - [ ] Holybro M10 waiting to configure GPS1 ([discussion](https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930/7), [PR](https://github.com/ArduPilot/ardupilot/pull/29320)) - [ ] on ICM45686 IMUs the SPI transfer overheads can be overwhelming on some boards, especially those with 3 of that sensor. Some PRs to address: https://github.com/ArduPilot/ardupilot/pull/28672 and https://github.com/ArduPilot/ardupilot/pull/27573 ***Plane Specific Issues*** - [ ] the assisted_flight flag oscillates rapidly in fwd transition of tilt quadplanes, possibly leading to incorrect tllt slew rate https://github.com/ArduPilot/ardupilot/issues/28957 ***Heli Specific Issue*** - None ***Wiki Issues*** - [IMU temp cal pages](https://ardupilot.org/copter/docs/common-imutempcal.html) need updating **Enhancements or Issues that may not be resolved before the stable release** - [ ] BLHeli SERVO_BLH_RVMASK mapping is achieved through trial and error (raised by xfacta, [issue](https://github.com/ArduPilot/ardupilot/issues/29325)) - [ ] when the user has configured ESC, FFT or RPM notch and has INS_HNTCx_REF=0 then they end up with a fixed notch. We should have an arming check to tell them they need to set the REF to 1.0 (any non-zero value will do actually) https://github.com/ArduPilot/ardupilot/issues/28786 - [ ] ROS2 attitude control + thrust enhancement request ([discussion](https://discuss.ardupilot.org/t/ros2-interface-for-controlling-thrust-and-attitude/127694)) - [ ] AutoTune should have a vehicle specific (or configurable) AngleP max (reported by Tridge) - [ ] add a warning if the GCS system clock and UTC clock on the flight controller differs by over 20s and signing is active, as signing will fail with a 30s difference - [ ] Custom Build Server for CubeOrangePlus with OpenDroneID shows linker error when out of flash ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/4), [discussion2](https://discuss.ardupilot.org/t/copter-custom-firmware-build-issue-with-remote-id-support-latest-not-4-5-7/125177), Issue) - [ ] Add LDRobot LD19 support ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/8), [issue](https://github.com/ArduPilot/ardupilot/issues/28662)) - [ ] need to provide a clearer message to users when the power status flags change, indicating loss of a power source in flight. A statustext at message level CRITICAL I think is warranted, maybe "POWER STATUS CHANGE" ? (Tridge has details) **Wiki issues/enhancement requests ([Wiki To-Do list](https://github.com/ArduPilot/ardupilot_wiki/issues/4274))** - None **Resolved issues** - [x] LD06 support not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/27), [PR](https://github.com/ArduPilot/ardupilot/pull/29375)) -- fixed ahead of -beta5 - [x] Reboot loop after enabling Scripting ([discussion](https://discuss.ardupilot.org/t/reboot-loop-after-enabling-scr-enable-lua-scripts/130420), [issue](https://github.com/ArduPilot/ardupilot/issues/29315)) -- user using incorrect compiler - [x] possible regression in attitude control in quadplanes? https://github.com/ArduPilot/ardupilot/issues/29060 -- no evidence that there's been a regression despite much effort spent searching - [x] Takeoff throttle behavior for planes without airspeed sensor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/28775), [PR](https://github.com/ArduPilot/ardupilot/pull/28776)) -- intentional change - [x] ESC Telemetry logging issue ([issue](https://github.com/ArduPilot/ardupilot/issues/28807), [PR](https://github.com/ArduPilot/ardupilot/pull/29001)) -- resolved for beta3 - [x] Community dev struggles with build options ([discussion](https://discuss.ardupilot.org/t/build-from-sources-with-custom-features/127879)) -- no response from user - [x] https://github.com/ArduPilot/ardupilot/issues/28969 - [x] Autotune acceleration limiting is not effective ([PR](https://github.com/ArduPilot/ardupilot/pull/28911)) -- resolved for beta3 - [x] Orqa 3030 autopilot config issue ([discussion](https://discuss.ardupilot.org/t/orqa-3030-f450-issue/127483), [PR](https://github.com/ArduPilot/ardupilot/pull/28855)) -- resolved for beta3 - [x] BeagleBoneBlue RC not working with Copter ([discussion](https://discuss.ardupilot.org/t/rc-sbus-works-with-plane-but-not-copter-beaglebone-blue/127540/2)) -- user error related to running as a service - [x] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 ([PR](https://github.com/ArduPilot/ardupilot/pull/28792)) -- resolved for beta3 - [x] plane takeoff regression since 4.5.x: https://github.com/ArduPilot/ardupilot/issues/28681 -- ready for beta2 - [x] on plane when FENCE_AUTOENABLE=3 and FENCE_ENABLE=0 the fence does not enable when arming if there is a RCn_OPTION set to FENCE. This is a regression from 4.5.x. (Tridge has details) Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] on plane the pre-arm check for being inside polygon fence was lost since 4.5.x. Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] Navio2 GPS not working ([discussion](https://discuss.ardupilot.org/t/rover-4-6-0-beta1-is-available-for-beta-testing/126296/4), [conflicting report that it does work](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/9)) -- fixed by refreshing/resetting firmware - [x] arming at mid-stick question ([discuss](https://discuss.ardupilot.org/t/arming-with-throttle-at-mid-stick/127203)) -- no issue - [x] Crossfire receiver does not reconnect after failsafe ([issue](https://github.com/ArduPilot/ardupilot/issues/28797), [PR](https://github.com/ArduPilot/ardupilot/pull/28805)) -- resolved for -beta2 - [x] Copter AutoTune can produce very low maximum acceleration values ([issue](https://github.com/ArduPilot/ardupilot/issues/28799), [PR](https://github.com/ArduPilot/ardupilot/pull/28800)) -- resolved for -beta2 - [x] memory fragmentation and multiple memory regions mean lua scripting can fail with out of memory error even if you have plenty of free memory. Addressed in https://github.com/ArduPilot/ardupilot/pull/26517 - [x] system time may be unstable when using only first GPS timestamp, consider https://github.com/ArduPilot/ardupilot/pull/24022 or similar fix (Tridge has details) - [x] Plane fences ignored ([issue](https://github.com/ArduPilot/ardupilot/issues/28666)) -- cannot reproduce

issues & Pull Requests

github.com/ArduPilot/mavlink

Remove legacy attribute: display="bitmask"

ArduPilot:master ← hamishwillee:patch-1

opened 10:11PM - 12 Feb 25 UTC

hamishwillee

+14 -14

This removes the `display="bitmask"` attribute on fields that reference a bitmas…k enum from the ArduPilot-managed dialects. I believe that to be the entire included set: - [x] ardupilotmega.xml - [x] uAvionix.xml - [x] icarous.xml - None - [x] loweheiser.xml - None - [x] cubepilot.xml - None - [x] csAirLink.xml - None All the enums that use this are marked up as bitmasks using `bitmask="true"`, so the information on the field is inferable. We're heading towards removing the bitmask indication on the field itself. History here is that `display="bitmask"` was added on request of QGC to allow auto-generation of checkbox UI. We later decided that it was better to have on the enum, because that is the thing we know is a bitmask. However neither attribute is actually used in QGC or Mission Planner or MAVProxy. It might be used elsewhere, but unlikely. Upstream removes them in https://github.com/mavlink/mavlink/pull/2215 This falls out of @IamPete1 consistency checker, added in https://github.com/mavlink/mavlink/pull/2206

github.com/ArduPilot/ardupilot

Plane: Adjust slope terminology

ArduPilot:master ← Ventor-Innovations:chore/change-glide-slope-to-alt-slope

opened 08:07AM - 16 Jan 25 UTC

rubenp02

+59 -61

# Plane: Adjust slope terminology Description ----------- ### [Tools](https…://github.com/ArduPilot/ardupilot/commit/37122572185a3ad80386387da498ccae6ca54eaa)/[SITL](https://github.com/ArduPilot/ardupilot/commit/a80b6b61342964c259906e5b1bc9fcfb63ca43e3)/[autotest](https://github.com/ArduPilot/ardupilot/commit/a447419aada2b74d129101ca4d491ad12cc3794b)/[Plane](https://github.com/ArduPilot/ardupilot/commit/e2dbeb04a67c7402164c4aef183a58e34530a5b8): Change glide slope to altitude slope: Smooth altitude changes were always referred to as "glide slopes" despite this not being the appropriate aviation term in the case of a climb. A better option is "altitude slope", which encompasses both smooth climbs and descents. Changed all references to glide slopes, except those that specifically refer to a single kind (like those used for landings), to the more general term. This also includes changing the GLIDE_SLOPE_MIN and GLIDE_SLOPE_THR parameters to ALT_SLOPE_MIN and ALT_SLOPE_MINHGT, respectively. This PR is related to #29077

Partner meeting tomorrow!!

CraigElder · March 4, 2025, 1:05am

Attendee count (max): 13

UTC1100 - Remove legacy attribute: display="bitmask" by hamishwillee · Pull Request #383 · ArduPilot/mavlink · GitHub

Remove legacy attribute display=”bitmask” in mavlink
Merged!

UTC1102 - Move rudder arming up into RC_Channel library by peterbarker · Pull Request #16091 · ArduPilot/ardupilot · GitHub

Move rudder arm/disarm up into RC_Channel
Check tiltrotors don’t do anything
Make sure no regression with rudder arming in auto
Randy’s good with the concept of requiring a neutral rudder before takeoff in auto mode

UTC1113 - Vehicle updates

Couple of new issues since last week
EKF3 velocity divergence before arming
- Several people looking at the logs
- EKF3 velocity divergence pre-arm · Issue #29384 · ArduPilot/ardupilot · GitHub
- Genuine long-standing problem in the EKF3
- Yet to work out what it was about this particular setup which triggered the issue
- Ground not quite level?
  - 7 degrees?
- Patches from Paul coming
  - All divergence in East direction
    - No divergence in North direction
    - Bit of a worry there
    - Indexing bug?
- Disturbing thing is that the operator doesn’t know it is happening
  - Normalised innovations are low
  - Eg vel innovation 0.04
  - But velocity was 10 to over 30m/s when disarmed on the ground!
  - Defeated arming check and GCS displays
  - We have a lot of checks and they missed this!
  - Peter’s adding some sanity checks
  - Adding another check based on speed accuracy vs absolute innovation
  - We don’t have another log of this happening, but it’s been here for many years!
  - Don’t know what the common factor is
  - There may be a regression, even if it replays back to 4.2
    - Could be a regression in the sensor libraries
    - Eg. gathering IMU data has changed extensively
    - Would have to affect all three different IMUs
    - EKF2 thinks everything is fine with the same data…
    - Should allow arming if we’re having to constrain a variance?
      - Things have gotten really out of hand by the point…
    - Time since last reset?
Possible regression in CaddX
- Randy to investigate
Unknown message problem will be fixed
TradHeli RSC RPM issue
- The crash problem has been fixed
- The timeout happening at all is still a mystery
HolyBro M10 waiting-to-configure
New prearm check for loop rate
Quadplane issue is being addressed
MissionPlanner reversed pitch input on stick issue
- Radio calibration problematic…
- Plug for methodical configurator

UTC1146 - Use textual IDs for APJ_BOARD_ID in hwdef by peterbarker · Pull Request #24718 · ArduPilot/ardupilot · GitHub

Use textual IDs for APJ_BOARD_ID in hwdef
Merged!

UTC1150 - AP_HAL_ChibiOS: Make ZeroOneX6 supports Bi-directional DShot by ZeroOne-Aero · Pull Request #29023 · ArduPilot/ardupilot · GitHub

Make ZeroOneX6 support bidir dshot
Fixed the branch up
MergeOnCIPass

UTC1153 - Plane: Adjust slope terminology by rubenp02 · Pull Request #29087 · ArduPilot/ardupilot · GitHub

Change terminology used in Plane for slope terminology
Merged

UTC1155 - Plane: Allow lower speeds in landing final by rubenp02 · Pull Request #29265 · ArduPilot/ardupilot · GitHub

Lower speeds on landing final
So landing speeds can be lower than minimum airspeed
- Must be above the stall speed….
Some integer vs float issues
Might be useful to have in quadplane VTOL approaches
One preflare?!
- Not going to have much effect?
- No throttle control in flare…
Needs logs and testing information

UTC1157 - AP_DDS: Rally Get and Set by tizianofiorenzani · Pull Request #28449 · ArduPilot/ardupilot · GitHub

Get and set rally in AP_DDS
A few scaling issues

UTC0010 - AP_DDS: RC channels message by tizianofiorenzani · Pull Request #28907 · ArduPilot/ardupilot · GitHub

RC channels message for DDS
Tridge approves but a little more work to do before merge

UTC0014 - AP_NavEKF3: revert to primary compass on ground by rishabsingh3003 · Pull Request #29300 · ArduPilot/ardupilot · GitHub

Revert to primary compass on the ground
Looks reasonable to tridge but we should get Paul to look at it
We’ll merge it if we can’t get Paul’s time
Seems to be a problem with changing compass mid-flight here somewhere
- Bias state issues
- Rishabh will confirm

UTC0025 - Plane: autoland: climb above ground not current location by IamPete1 · Pull Request #29357 · ArduPilot/ardupilot · GitHub

Climb above ground not current location
- Doesn’t climb if you’re already high
Merged!

UTC0028 - AP_Airspeed: avoid use of ownptr by peterbarker · Pull Request #29397 · ArduPilot/ardupilot · GitHub

Avoid use of ownptr in AP_Airspeed
Merged!

UTC0032 - AP_GPS: discard SBF packets with claimed length > 256 bytes by peterbarker · Pull Request #29399 · ArduPilot/ardupilot · GitHub

Discard SBF packets with claimed length >256 bytes
Merged!

UTC0035 - AP_NavEKF3: document variance state fields by peterbarker · Pull Request #29407 · ArduPilot/ardupilot · GitHub

Document variance state fields
MergeOnCIPass

UTC0037 - AP_HAL_ChibiOS: ensure UART6_TX gets DMA on BETAFPV-F405-I2C by andyp1per · Pull Request #29410 · ArduPilot/ardupilot · GitHub

Ensure uart6_tx gets DMA
needs a comment as to what uart6_tx is and why it needs DMA
Biump to DevCallEU as this doesn’t seem to achieve the goal

UTC0044 - AP_Filesystem: LittleFS: support JEDEC NOR and enable KakuteH7Mini by tpwrules · Pull Request #29413 · ArduPilot/ardupilot · GitHub

Support JEDEC NOR
16MiB example
Merged!

UTC0046 - AP_DDS: Publish all available GPS instances by tizianofiorenzani · Pull Request #29419 · ArduPilot/ardupilot · GitHub

Publish all GPS instances via DDS
Need to continue to send messages when gps goes bad
Need equivalent of mavlink status-0 and status-1

UTC0050 - AP_NavEKF3: Use the correct extnav variances for posvel fusion by rishabsingh3003 · Pull Request #29420 · ArduPilot/ardupilot · GitHub

Use extnav variances for posvel fusion
Gate tuning might be incorrect
Really want Paul to have a quick look
Question around limits on variance; allowing larger errors might be required for vision position systems

UTC0056 - AP_NavEKF3: correct the scope of posErr by rishabsingh3003 · Pull Request #29421 · ArduPilot/ardupilot · GitHub

Narrow cope of posErr in EKF
Merged!

UTC0100 - off the floor

Partner’s call in the morning
DevCallEU in the evening
We’re in GSoC again