Dev Call March 6, 2023

CraigElder · March 6, 2023, 10:53pm

Issues & Pull Requests

github.com/ArduPilot/mavlink

common: add set camera zoom and focus

ArduPilot:master ← rmackay9:camera-zoom-msgs

opened 08:06AM - 06 Mar 23 UTC

rmackay9

+152 -0

This adds commands from upstream to set camera zoom and focus and related enums:… - MAV_CMD_SET_CAMERA_ZOOM and CAMERA_ZOOM_TYPE enum - MAV_CMD_SET_CAMERA_FOCUS and SET_FOCUS_TYPE .. and also camera tracking messages and enums which I hope to implement in the future - MAV_CMD_CAMERA_TRACK_POINT - MAV_CMD_CAMERA_TRACK_RECTANGLE - MAV_CMD_CAMERA_STOP_TRACKING - CAMERA_FOV_STATUS - CAMERA_TRACKING_IMAGE_STATUS - CAMERA_TRACKING_GEO_STATUS - CAMERA_TRACKING_STATUS_FLAGS enum - CAMERA_TRACKING_MODE enum - CAMERA_TRACKING_TARGET_DATA enum These are required for implementation of the [new MAVLink camera controls](https://mavlink.io/en/services/camera.html) used by cameras including the Gremsy ZIO.

github.com/ArduPilot/ardupilot

Add fuel pressure to EFI_STATUS

ArduPilot:master ← robertlong13:efi_fuel_pressure

opened 04:47PM - 01 Jan 23 UTC

robertlong13

+21 -3

These are the changes that will need to be made if https://github.com/ArduPilot/…mavlink/pull/297 is accepted. There are two ways to go about the AP_EFI change 1. Just pass the fuel pressure straight in, knowing that a real sensor is extremely unlikely to report 0 (indicating that the MAVLink extension is unsupported), and knowing that the consequences of this happening are also trivial. 2. Properly handle setting fuel pressure to 0.0001 if a true-zero is read from a sensor I went with the latter, though it's overkill. I also added a binding for "fuel_pressure_status" in Lua, so that backends can indicate that they support fuel pressure measurement and can even handle above/below warnings if they want to. This is a WIP until the above PR is accepted, then I will add a commit moving the mavlink submodule to the correct commit.

github.com/ArduPilot/ardupilot

HAL ChibiOS: Interrupt storm pin retry

ArduPilot:master ← IamPete1:interupt_storm_reset

opened 01:40PM - 22 Feb 23 UTC

IamPete1

+73 -7

ISR flood code can trigger at boot if the connected device is not yet powered. O…nce fully powered the only way to clear the internal error (and get the function to work) is to soft reboot the flight controller. Instead this waits 10 seconds and has another go at enabling. Currently only the `PWMSource` path will allow re-enable on a `set_pin` call. In order to re-enable the vehicle must be disarmed and have waited 10 seconds since last ISR or disarm. It then will re-enable the interrupt. ISR flood is no longer a internal error if disarmed. There is a new arming check to prevent arming if a pin is disabled due to a flood. #20609 Some example messages: ``` Button: retrying pin 50 after ISR flood ISR flood on pin 50 PreArm: Pin 50 disabled (ISR flood) ```

github.com/ArduPilot/ardupilot

Add and use some AP_Notify options for LEDs

ArduPilot:master ← peterbarker:pr/AP_NOTIFY_PROFILED_ENABLED

opened 03:52AM - 01 Mar 23 UTC

peterbarker

+97 -6

This should be NFC across the board - except on SkyViper where we save some byte…s. A follow-up to this PR (https://github.com/ArduPilot/ardupilot/pull/23073) disables ProfiLED on all boards except the one user of it (HerePro), saving ~750 bytes on a lot of boards. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * Hitec-Airspeed 0 KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M * * * * * * * f103-QiotekPeriph 0 f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 -2560 ```

github.com/ArduPilot/ardupilot

Copter: pause resume reporting

ArduPilot:master ← Charlie-Burge:pause-resume-reporting

opened 11:00PM - 01 Mar 23 UTC

Charlie-Burge

+17 -6

I think the reporting can be a little confusing for pause and resume in AUTO. If… either the GCS or companion computer get out of sync with AP's paused sate, then the GCS will receive reports for the command failing. This isn't the case for GUIDED mode where the command is always accepted. If the aircraft is already paused, rather than reporting a failure to pause, and sending the GCS a status text message, we can just return success as the aircraft has already paused. Similarly for resume.

github.com/ArduPilot/ardupilot

Check configured AHRS type last in order to provide a more meaningful error to the user

ArduPilot:master ← andyp1per:pr-ahrs-type

opened 03:05PM - 04 Mar 23 UTC

andyp1per

+8 -7

Currently EKF issues before arming result in the message: ``` PreArm: AHRS: no…t using configured AHRS type ``` Because DCM fallback causes the configured type not to match the actual type. This PR moves the check so that the EKF check is hit first and results in ``` AHRS: Not healthy ``` Which is slightly more meaningful

github.com/ArduPilot/ardupilot

Add and use per-link mavlink message forward filtering

ArduPilot:master ← peterbarker:pr/gremsy-filtering

opened 03:02AM - 06 Mar 23 UTC

peterbarker

+127 -22

This allows a serial port being used to connect a Gremsy gimbal to NOT be marked… as "private" - at least with firmware 7.7.3 on the gimbal. A list of mavink IDs is passed into the GCS_MAVLINK object for the link, and the link filters those IDs out. Past this patch, we routinely only get heartbeats from the gimbal. All other regularly-sent packets are filtered out. A GCS is free to request parameters from the gimbal, and they will work normally, as will any other random pieces of data that the gimbal might be requested to return (e.g. the gimbal device information message can be requested and will be returned). Having the gimbal device information floating around can be useful for the GCS to display more information: ![image](https://user-images.githubusercontent.com/7077857/223007006-934e0928-0735-40fd-aa42-ed48ecc3b73c.png) A similar pattern might be used to create a blacklist, or a "no-forward-to" list (which we might be able to use to fix the Solo gimbal). Based on a precursor PR https://github.com/ArduPilot/ardupilot/pull/23107 which gives us the `GCS_MAVLINK &link` object to play with and https://github.com/ArduPilot/ardupilot/pull/23105 which allowed for easily checking whether we should include the filtering based on the sole user. This work sponsored by Harris Aerial

github.com/ArduPilot/ardupilot

AP_Periph: limit peripheral mag to 25Hz by default

ArduPilot:master ← tridge:pr-periph-mag-rate

opened 09:58AM - 06 Mar 23 UTC

tridge

+22 -8

we only read mag on the vehicles at 10Hz. Some magnetometers were reporting data… at 500Hz (see MMC5xx3 driver) by sampling more slowly the data is accumulated and averaged on the node which saves a lot of bandwidth this also drops the MMC5xx3 driver to 100Hz, from current I2C read at 1kHz. That used too much I2C bandwidth

github.com/ArduPilot/MAVProxy

fix re-request forever bug

ArduPilot:master ← magicrub:rerequest_forever_bug

opened 07:08PM - 16 Feb 23 UTC

magicrub

+11 -3

If partial WP re-request fails then request all. This happens where there's miss…ion transactions done by other GCSs using the same link and MAVProxy gets confused. This simply checks to see if it happened 5 times and it so just starts a whole new wp fetch to start over it's state machine. Users like me have been suffering from this for YEARS. Luckily it's open source so I can fix it myself :) Open-source FTW!!! Closes https://github.com/ArduPilot/MAVProxy/issues/700 and https://github.com/ArduPilot/MAVProxy/issues/918

github.com/ArduPilot/ardupilot

Add AUX_FUNC::BATTERY_MPPT_ENABLE for MPPT enable override

ArduPilot:master ← magicrub:pr/mppt_enable_param2

opened 10:49PM - 17 Feb 23 UTC

magicrub

+41 -5

This replaces PR https://github.com/ArduPilot/ardupilot/pull/22869 (adding param… to turn on/off MPPT) This is on top of PR https://github.com/ArduPilot/ardupilot/pull/22964 (param and MPPT optimize) This adds a new AUX_FUNC::BATTERY_MPPT_ENABLE to allow an easy method to enable/disable an MPPT at any time. Uses 280 Bytes of flash on CubeOrange

github.com/ArduPilot/ardupilot

SITL /w Real HW: allow realtime intervals without code changes

ArduPilot:master ← magicrub:pr/realtime_interval

opened 12:03AM - 03 Mar 23 UTC

magicrub

+22 -5

I don't expect this to merge, it's more of a discussion piece. This allows ce…rtain functions in SITL running with SIM_SPEEDUP > 1 to act as if it was 1. This is particularly helpful when interacting with real hardware where serial ports could clog and/or real-world timing is important. I've included two examples that would work better while SIM_SPEEDUP > 1: - ADSB: Not a great random library to pick but it at least shows that a fast speedup would clog the serial ports - ICEngine: As of now we have no way to start a gas/petrol engine because the timing would be unrealistic. This makes it work. Other thoughts: - Current implementation costs about 16 bytes of flash no matter how many of them you use. - I don't know if AP_Common is the right library for this - Using ```AP::sitl()->speedup``` is just the desired speedup, would be better to figure out the actual run speed. Is it hiding somewhere in ```libraries/SITL``` or ```libraries/AP_HAL_SITL```? - this is also very useful when testing or demonstrating failsafes that involve a timeout - maybe this needs a bitmask or OPTIONS thing?

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.3.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] add waf docs target? - [ ] mission on sdcard - [ ] 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-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] AHRS_TRIM_XY over 7.5 deg interferes with landing detector - [ ] KDECAN not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22952), [discussion](https://discuss.ardupilot.org/t/kdecan-telemetry-not-working-in-4-3-series-firmware/96730)) - [ ] internal error on takeoff ([discussion](https://discuss.ardupilot.org/t/consistently-getting-internal-error-0x100000-i-57-flow-of-ctrl/95839)) - [ ] Rover-4.4.0 with RTK UM980 doesn't find GPS ([discussion](https://discuss.ardupilot.org/t/about-rtk-module-supporting/95348)) - [ ] waiting for terrain data in stabilize mode with ter_pend = 0 ([discussion](https://discuss.ardupilot.org/t/prearm-waiting-for-terrain-data-i-couldnt-get-rid-of-the-error/95415/19)) - [ ] trajectory discrepancy in Non-GPS ([discussion](https://discuss.ardupilot.org/t/huge-trajectory-tracking-error-when-using-position-velocity-typemask/95483)) - [ ] baro drift before takeoff leads to flip ([discussion](https://discuss.ardupilot.org/t/barometer-drift-before-takeoff/95436)) - [ ] balancebot not protecting backwards? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta5-available-for-beta-testing/93379/7)) Copter specific issues (confirmed to be real) - [ ] Copter do-change-speed mission command not working after takeoff command ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) -- existing issue in 4.2 as well Rover specific (confirmed to be real) - [ ] RoverS-Curves don't track a straight line as well as L1 ([issue](https://github.com/ArduPilot/ardupilot/issues/22183)) - [ ] internal error when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta2-has-been-released/91551/3)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) GCS specific issues (confirmed to be real) - [ ] Mission Planner needs updates for MNT1_ param name changes ([Plane user issue](https://github.com/ArduPilot/ardupilot/issues/21989), [Copter](https://discuss.ardupilot.org/t/gimbal-configuration-is-not-possible/93396/11)) Wiki related requests: - none Enhancement Requests (may or may not be done) - [ ] Servo pitch+yaw gimbal should use pitch servo to correct yaw when vehicle is rolled 90deg ([discussion](https://discuss.ardupilot.org/t/gimbal-poi-feature/92234/7), [enhancement request](https://github.com/ArduPilot/ardupilot/issues/22440)) -- future enhancement --- Resolved Issues - [x] duplicate log FMT messages ([issue](https://github.com/ArduPilot/ardupilot/issues/22662), [PR](https://github.com/ArduPilot/ardupilot/pull/22670)) -- resolved in master - [x] Gremsy driver sending gimbal feed-forward values when vehicle is disarmed and pilot provides yaw input ([PR](https://github.com/ArduPilot/ardupilot/pull/22604)) -- resolved for 4.3.4 - [x] Surface Tracking oscillation with US-D1 lidar ([discussion](https://discuss.ardupilot.org/t/massive-amounts-of-noise-on-us-d1-radar-rangefinder-leads-to-erratic-altitude-hold/93132)) - [x] Surface Tracking using raw lidar instead of filt or interpolated leads to momentary fast climb ([PR](https://github.com/ArduPilot/ardupilot/pull/22611)) -- resolved for 4.3.4 - [x] Internal Error I:917 ([discussion1](https://discuss.ardupilot.org/t/internal-errors-0x100000-l-917-flow-of-ctr/87033/3), [discussion2](https://discuss.ardupilot.org/t/internal-errors-0x100000-i-921-flow-of-ctr-twitching-motion-in-loiter-during-forward-flight/93126), [discussion3](https://discuss.ardupilot.org/t/prearm-internal-errors-0x100000-l-921-flow-of-ctrl/93986), [PR](https://github.com/ArduPilot/ardupilot/pull/22298)) -- resolved for Copter-4.3.3-rc1 - [x] gimbal yaw jumps to far left when RC input > 1700 ([issue](https://github.com/ArduPilot/ardupilot/issues/22225), [PR](https://github.com/ArduPilot/ardupilot/pull/22442)) -- resolved for 4.3.3-rc1 - [x] baro alt error 5808m ([discussion1](https://discuss.ardupilot.org/t/copter-4-3-1-rc1-available-for-beta-testing/93378/7), [discussion2](https://discuss.ardupilot.org/t/prearm-error-gps-alt-error-5850m-see-baro-alterr/94099/3)) -- needed to set BARO_OPTIONS = 1 - [x] Kakute H7 V2 config error ([discussion](https://discuss.ardupilot.org/t/holybro-kakute-h7-v2-config-error-ins-unable-to-initialise-driver/92003)) -- resolved for 4.3.0-beta3 - [x] Arming check for slow loop rate triggering during motor test and compassmot ([issue](https://github.com/ArduPilot/ardupilot/issues/22388), [PR to revert for 4.3](https://github.com/ArduPilot/ardupilot/pull/22413)) - [x] message rates from a file not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22361), [PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4820)) -- wiki dev docs were wrong, fixed with PR - [x] slow param download with Pixracer on 4.3 vs 4.2 ([discussion](https://discuss.ardupilot.org/t/slow-parameter-loading-in-4-3/94075/3)) -- cannot reproduce, no response to request for logs - [x] AHRS and GPS differ pre-arm when doing non-GPS nav ([issue](https://github.com/ArduPilot/ardupilot/issues/22383), [PR](https://github.com/ArduPilot/ardupilot/pull/22393)) -- resolved for 4.3.3-rc1 - [x] SBus output not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14)) -- could not reproduce, receiver outputting SERIAL_CONFIG_8E1I instead of SERIAL_CONFIG_8E2I - [x] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) -- no logs, cannot progress - [x] Sporty takeoff ([discussion](https://discuss.ardupilot.org/t/feedback-and-assistance-with-new-takeoff-behaviour/94121)) -- change in behaviour, Leonard says param changes fix it - [x] prearm RNGFND1_PIN=103, set SERVO3_FUNCTION=-1. ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14), [PR](https://github.com/ArduPilot/ardupilot/pull/22375)) -- resolved for Copter-4.3.3 - [x] boot fails if too many dshot LEDs ([issue](https://github.com/ArduPilot/ardupilot/issues/22263), [discussion](https://discuss.ardupilot.org/t/problem-in-copter-4-3-with-the-subsytem-led-preventing-the-drone-from-startup/93992)) -- classified by Andy as an enhancement request. - [x] Siyi A8 mount always unhealthy ([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/92133/30), [PR](https://github.com/ArduPilot/ardupilot/pull/22313)) -- resolved for 4.3.1 - [x] AutoTune gains not loaded during pilot testing ([PR](https://github.com/ArduPilot/ardupilot/pull/22193)) -- resolved for 4.3.2 - [x] Solo gimbal not pointing down past 45 deg ([issue](https://github.com/ArduPilot/ardupilot/issues/22190)) -- RC6_TRIM issue - [x] Gimbal yaw-reset after pitch changed ([issue](https://github.com/ArduPilot/ardupilot/issues/22095)) -- QGC gimbal control issue - [x] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) -- user frame issue. - [x] Gremsy gimbal overloaded with high update rate of vehicle attitude messages ([PR](https://github.com/ArduPilot/ardupilot/pull/22151)) -- resolved for 4.3.1-beta1 - [x] User can't find Benewake H30 lidar ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/5)) -- not on sale yet - [x] SkyViper Journey broken (4.0.8 works, >4.1 does not) ([issue](https://github.com/ArduPilot/ardupilot/issues/21932), [PR](https://github.com/ArduPilot/ardupilot/pull/22134)) -- resolved for 4.3.1-beta1 - [x] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [x] Rover S-Curve tuning instructions ([wiki](https://ardupilot.org/rover/docs/rover-tuning-navigation.html)) - [x] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771), [PR](https://github.com/ArduPilot/ardupilot/pull/21830)) -- resolved for beta2 - [x] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) -- resolved for 4.3.0-beta2 - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · March 8, 2023, 2:37am

Attendee count (max): 16

UTC1101 - common: add set camera zoom and focus by rmackay9 · Pull Request #304 · ArduPilot/mavlink · GitHub

Zoom and focus mavlink messages
No camera IDs present?
Merged!
Missions and mavlink commands

UTC1104 - Scripting: implement a tilting rudder as a lua script by tridge · Pull Request #21148 · ArduPilot/ardupilot · GitHub

Add tilting rudder as a LUA script
Pete suggested some interfaces
Unusual vehicle
Thrust-vectored Copter….
700 bytes of flash more
Flash concerns
- We have -Os to play with
- And the uavcan->libcanard change
- And removal of ek2

UTC1118 - Add fuel pressure to EFI_STATUS by robertlong13 · Pull Request #22551 · ArduPilot/ardupilot · GitHub

Fuel pressure into EFI_STATUS
And fixes for compiling against mavlink master

UTC1120 - HAL ChibiOS: Interrupt storm pin retry by IamPete1 · Pull Request #23004 · ArduPilot/ardupilot · GitHub

Interrupt storm pin retry
- For bad hardware on boot
Maybe for 4.5 instead of master for now

UTC1127 - Plane: titrotor: is_motor_tilting: dont cast to uint8 by IamPete1 · Pull Request #23031 · ArduPilot/ardupilot · GitHub

Fix limit of 8 tilting motors
Merged!

UTC1128 - Add and use some AP_Notify options for LEDs by peterbarker · Pull Request #23068 · ArduPilot/ardupilot · GitHub

Turn various notify LED options off
Merged

UTC1130 - IOMCU: allow forcing of heater to enabled on some boards by tridge · Pull Request #23069 · ArduPilot/ardupilot · GitHub

Allow forcing of heater to enabled on some boards
Merged!

UTC1133 - Bdshot versions of Pixhawk6C and ZealotH743 by andyp1per · Pull Request #23072 · ArduPilot/ardupilot · GitHub

Bdshot versions of ZealotH743 and Pixhawk6c
Still no dynamic DMA allocations!
Merged!

UTC1135 - Copter: pause resume reporting by Charlie-Burge · Pull Request #23077 · ArduPilot/ardupilot · GitHub

pause/resume reporting
Small changes required

UTC1137 - Turn ProfiLED SPI driver off by default by peterbarker · Pull Request #23073 · ArduPilot/ardupilot · GitHub

Turn profiled off by default
Only used on HerePro
Needs a named spi bus anyway!
MergeOnCIPass

UTC1139 - AP_BatteryMonitor: add max of type by IamPete1 · Pull Request #23082 · ArduPilot/ardupilot · GitHub

Monitor that takes max voltage of other monitors
Scripting backend would be awesome
- There’s an open PR….
- BattMonitor: add scripting backend by robertlong13 · Pull Request #22786 · ArduPilot/ardupilot · GitHub
- Needs some rework
- 3.3kB!
- Would it be performant enough to run Mr Challinger’s EKF-based battery estimator?
  - At 10Hz probably

UTC1156 - AP_Arming: add INS batch sampling initialized check by IamPete1 · Pull Request #23089 · ArduPilot/ardupilot · GitHub

Ensure INS batch sampling is running if it is enabled
Merged!

UTC1156 - AP_GPS:make Unicore reset to rover in all cases by Hwurzburg · Pull Request #23094 · ArduPilot/ardupilot · GitHub

Make unicore reset to rover in all cases
Merged!

UTC1157 - Copter: add surface tracking time constant by lthall · Pull Request #23097 · ArduPilot/ardupilot · GitHub

Add surface tracking time constant
How quickly vehicle reacts to surface geometry
Filters terrain distance above ekf origin
- Keeps control loops stable
Merged!
May help with autorotation

UTC0000 - Check configured AHRS type last in order to provide a more meaningful error to the user by andyp1per · Pull Request #23101 · ArduPilot/ardupilot · GitHub

Change the way we tell people their AHRS is not healthy
We need to do better in terms of telling the user what is wrong
Peter thinks this is an improvement, but we need a better example of where this is better!
- E.g. getting more information back from the EKF3 when something is wrong with it

UTC0013 - Add and use per-link mavlink message forward filtering by peterbarker · Pull Request #23108 · ArduPilot/ardupilot · GitHub

Filter traffic from Gremsy gimbal
Why do we still send heartbeats out?
- So parameters can be changed!
Randy doesn’t think we should be bearing these things as mavlink nodes
Tridge thinks we should allow it to be used as mavlink routing
Add a Serial option bit
Peter will go back to his client and get exactly why this is needed
- Because client wants to be able to manipulate gimbal via mavlink!

UTC0031 - fix re-request forever bug by magicrub · Pull Request #1152 · ArduPilot/MAVProxy · GitHub

Fix request-forever bug
But breaks other things
- Probably with timeouts
Tridge will try to reproduce and fix it

UTC0035 - Add AUX_FUNC::BATTERY_MPPT_ENABLE for MPPT enable override by magicrub · Pull Request #22965 · ArduPilot/ardupilot · GitHub

Add enable override for mppt
Would be nice to have this generic for batteries
Merged!
Should we remove ADSB-out on Pixhawk1-1M-bdshot

UTC0043 - SITL /w Real HW: allow realtime intervals without code changes by magicrub · Pull Request #23090 · ArduPilot/ardupilot · GitHub

Realtime interfaces without code changes
Method call to always get realtime ms for use in SITL
- To work with hardware devices
There’s a “native_millis” method
- For SITL talking to real CAN hardware
when can you use this?
- Sometimes the hardware will be real, sometimes it won’t be
- SIM_ parameters
Macro?
- SITL/SITL.h
Pull the actual speedup out of SIM_Aircraft

UTC0051 - Fix Failing Tests by lthall · Pull Request #23109 · ArduPilot/ardupilot · GitHub

Fix tests on the 4.3 branch
Removing the GyroFFT test is OK by Peter - it’s flapping and annoying
Tridge says nobody runs AirMode on quadplanes
- Just there to add stuff in common
The Docker image changes kind of stuffed us up
- We’ll version the Docker images in future

UTC0108 - Copter: Add Radio Failsafe Brake Mode option by lthall · Pull Request #23110 · ArduPilot/ardupilot · GitHub

Add failsafe for Copter to go into Brake when getting radio failsafe
- Important in some situations where you need to get controlled situation
Plane has special code to neutralize stick positions

UTC0118 - Copter: Add Radio Failsafe Brake Mode option by lthall · Pull Request #23110 · ArduPilot/ardupilot · GitHub

Feed data back at 25Hz from AP_Periph
- One of our compasses was shoving stuff back at 500Hz!

UTC0122 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
Are we feature-complete for 4.4?
Many 4.5 things coming!
We didn’t do a rebase of a 4.3 thing
Hopefully no rebase for 4.5
Bill would like Autorotate in
Could get the Plane code out there
12.2 compiler went well
Want to drop gcc6 compiler
Need to release Tracker!

UTC0129 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

4.3.5 beta is out there
- Landing detector change
4.4 next!
No massive issues out there?
Rover is still in purgatory
- Not following curves - needs i-term

UTC0031 - GSoC

List of potential projects
If you want to be a mentor please ping Randy
Please help update projects list

UTC0031 - Conference update

Book at hotel….
There are airbnbs around
If you’re not on the participant list, please fix that because it’s important for food

Attendee count (max): 16

UTC1101 - common: add set camera zoom and focus by rmackay9 · Pull Request #304 · ArduPilot/mavlink · GitHub

UTC1104 - Scripting: implement a tilting rudder as a lua script by tridge · Pull Request #21148 · ArduPilot/ardupilot · GitHub

UTC1118 - Add fuel pressure to EFI_STATUS by robertlong13 · Pull Request #22551 · ArduPilot/ardupilot · GitHub

UTC1120 - HAL ChibiOS: Interrupt storm pin retry by IamPete1 · Pull Request #23004 · ArduPilot/ardupilot · GitHub

UTC1127 - Plane: titrotor: is_motor_tilting: dont cast to uint8 by IamPete1 · Pull Request #23031 · ArduPilot/ardupilot · GitHub

UTC1128 - Add and use some AP_Notify options for LEDs by peterbarker · Pull Request #23068 · ArduPilot/ardupilot · GitHub

UTC1130 - IOMCU: allow forcing of heater to enabled on some boards by tridge · Pull Request #23069 · ArduPilot/ardupilot · GitHub

UTC1133 - Bdshot versions of Pixhawk6C and ZealotH743 by andyp1per · Pull Request #23072 · ArduPilot/ardupilot · GitHub

UTC1135 - Copter: pause resume reporting by Charlie-Burge · Pull Request #23077 · ArduPilot/ardupilot · GitHub

UTC1137 - Turn ProfiLED SPI driver off by default by peterbarker · Pull Request #23073 · ArduPilot/ardupilot · GitHub

UTC1139 - AP_BatteryMonitor: add max of type by IamPete1 · Pull Request #23082 · ArduPilot/ardupilot · GitHub

UTC1156 - AP_Arming: add INS batch sampling initialized check by IamPete1 · Pull Request #23089 · ArduPilot/ardupilot · GitHub

UTC1156 - AP_GPS:make Unicore reset to rover in all cases by Hwurzburg · Pull Request #23094 · ArduPilot/ardupilot · GitHub

UTC1157 - Copter: add surface tracking time constant by lthall · Pull Request #23097 · ArduPilot/ardupilot · GitHub

UTC0000 - Check configured AHRS type last in order to provide a more meaningful error to the user by andyp1per · Pull Request #23101 · ArduPilot/ardupilot · GitHub

UTC0013 - Add and use per-link mavlink message forward filtering by peterbarker · Pull Request #23108 · ArduPilot/ardupilot · GitHub

UTC0031 - fix re-request forever bug by magicrub · Pull Request #1152 · ArduPilot/MAVProxy · GitHub

UTC0035 - Add AUX_FUNC::BATTERY_MPPT_ENABLE for MPPT enable override by magicrub · Pull Request #22965 · ArduPilot/ardupilot · GitHub

UTC0043 - SITL /w Real HW: allow realtime intervals without code changes by magicrub · Pull Request #23090 · ArduPilot/ardupilot · GitHub

UTC0051 - Fix Failing Tests by lthall · Pull Request #23109 · ArduPilot/ardupilot · GitHub

UTC0108 - Copter: Add Radio Failsafe Brake Mode option by lthall · Pull Request #23110 · ArduPilot/ardupilot · GitHub

UTC0118 - Copter: Add Radio Failsafe Brake Mode option by lthall · Pull Request #23110 · ArduPilot/ardupilot · GitHub

UTC0122 - Plane: stable 4.3.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0129 - Copter/Rover-4.3 issues list · Issue #21711 · ArduPilot/ardupilot · GitHub

UTC0031 - GSoC

UTC0031 - Conference update

UTC0033 - close