Dev call May 13 2024

CraigElder · May 13, 2024, 11:00pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Add support for system ID of position controller

ArduPilot:master ← bnsgeyer:pr-sysid-poscontrol

opened 11:00PM - 28 Aug 23 UTC

bnsgeyer

+244 -75

This PR adds additional inputs to conduct System ID on the position controller. … It adds the following inputs longitudinal velocity (body axis fwd/aft) lateral velocity (body axis left/right) position disturbance in body longitudinal axis position disturbance in body lateral axis velocity disturbance in body longitudinal axis velocity disturbance in body lateral axis this also includes the PSC logging during the system ID at the system ID logging rate. It allows the pilot to make velocity command inputs over top of the axis being swept but it is debatable whether this is even necessary since it should hold position except for the axis being swept. so far i have tested this in SITL. would like @lthall to look at it. Not getting the expected response for the pilot velocity commanded inputs.

github.com/ArduPilot/ardupilot

AP_ESC_Telem: support Extended DShot Telemetry v2

ArduPilot:master ← mbuzdalov:edt-v2-support

opened 03:16PM - 25 Feb 24 UTC

mbuzdalov

+221 -17

### Description [Edited 2024-05-04 to reflect the new changes] This PR adds s…upport for Extended DShot Telemetry v2, the specification for which is available [here](https://github.com/bird-sanctuary/extended-dshot-telemetry). Currently, recent versions of Bluejay support this specification, AM32 may support it soon, and BlHeli32 possibly has some limited support. Notably, EDTv2 introduces two new types of messages, which are useful to investigate the performance of ESCs: - the "stress level" message that contains a number in the range [0..255], which is the greater the more effort an ESC had to make during commutation; - the "status" message contains three bits for different warning levels: - "alert": the lowest level, Bluejay relates it to demag events, - "warning": the middle level, Bluejay relates it to desync events, - "error": the highest level, Bluejay relates it to stall events, as well as the maximum stress level encountered, which is in the range [0..15]. The existing EDT parser handles these messages, but ignores them. This PR propagates them all the way through the `AP_ESC_Telem` machinery and logs the obtained information using a new log message, `EDT2`, which contains the following fields: - `Instance`: the ESC instance identifier; - `Stress`: the latest stress measurement, in the range [0..255]; - `MaxStress`: the maximum stress level since latest arming, in the range [0..15]; - `Status`: a combination of the status bits from above and of the info on what has been received: - bit 0: true if the message contains up-to-date stress data; - bit 1: true if the message contains up-to-date status data; - bit 2: true if the last status had the "alert" bit (e.g. demag); - bit 3: true if the last status had the "warning" bit (e.g. desync); - bit 4: true if the last status had the "error" bit (e.g. stall). ### Design decisions - As the log message comes from two different messages, which come at different rates, the "up-to-date" bits were introduced to see how recently a certain value has been updated. An alternative would be some kind of stall data logic, but EDTv2 messages come really irregularly anyway, and there is no NaN marker for integral values. - Two different stress components had to be introduced, because they are related in a vendor-dependent non-trivial way (it is not linear scaling), and certain events appear to be noticed in either of these measurements. - If updates come more frequently than the logger writes them, the records are merged in a natural way, e.g. stress levels are maxed, status bits are OR-ed. - The new macro, `EDTV2_SUPPORT`, controls inclusion of all relevant code (apart from message declarations, which cannot be easily defined out). By default, the support is enabled when either the board itself, or the IOMCU, support bidirectional DShot, so that potential EDTv2 data can come in. One may forcibly set it to 0, so that the code does not get compiled. Note that in the case of boards with IOMCU, this also requires recompiling the IOMCU firmware, because the DShot telemetry structures are different (to save bandwidth if one does not want EDTv2). ### Tests performed This PR was tested on: - a quadcopter using the FlywooF405S-AIO controller, running Bluejay on ESCs; - a coax copter using the MatekH743-WLITE controller, running also Bluejay; - a test stand using the Pixhawk6C and two Holybro ESCs, all donated by Holybro. One ESC was running BlHeli32, another one AM32, with one motor from the coax copter also connected to the Pixhawk. Example dataflash logs: - from FlywooF405S: [24-05-04_01-02-22_newedt.bin.zip](https://github.com/ArduPilot/ardupilot/files/15206599/24-05-04_01-02-22_newedt.bin.zip) - from the coax: [2024-05-04-newedt.bin.zip](https://github.com/ArduPilot/ardupilot/files/15206603/2024-05-04-newedt.bin.zip) - multiple logs from Pixhawk6C: [EDTv2.zip](https://github.com/ArduPilot/ardupilot/files/15206605/EDTv2.zip) For Pixhawk, tests have been performed with all combinations of: - main firmware: Pixhawk6C, Pixhawk6C-bdshot - IOMCU options: `BRD_IO_DSHOT=0,1` - motors and servos connected to: FMU, IOMCU In all cases, motors and servos behaved as expected, and EDTv2 logs were written when appropriate. The AM32 ESC had problems starting at lower voltages and in the PWM mode, which I mainly attribute to some exceptionally high magnet cogging of the corresponding motor. The only meaningful logs were produced by the Bluejay-driven motor (instance 3 or 11), which is somewhat expected.

github.com/ArduPilot/ardupilot

AP_Proximity: add RPLidar S2, remove memory copy for each measurement

ArduPilot:master ← mirkix:pr-addRPLidarS2

opened 06:58AM - 17 Apr 24 UTC

mirkix

+40 -133

This PR adds RPLidar S2 support. RPLidar S2 sends out data with 1MBit/s via seri…al, at the moment the driver copy / move data in the driver internal buffer with each measurement, which result in high MCU load (S2 send up to 32.000 measurements per second). With this PR the driver consume the data direct from serial driver which result in a less MCU load. For RPLidar S2 set `SERIALx_BAUD 1000` Tested with: - [x] RPLidar A1 - [ ] RPLidar A2 - [ ] RPLidar C1 - [x] RPLidar S1 - [x] RPLidar S2

github.com/ArduPilot/ardupilot

AP_Scripting: add lua-language-server checks and docs generation.

ArduPilot:master ← IamPete1:scripting_checks_2

opened 03:18AM - 07 May 24 UTC

IamPete1

+507 -126

This updates the docs and adds configuration and helpers to run lua-language-ser…ver. It is smarter than the current luacheck checks we run allowing type checking. https://luals.github.io/ This is the same checker that is used in by the recommended VSCode extension. The new check is added as part of CI. Lots of stuff currently fails, rather than trying to fix (for the most part) this just adds overrides to ignore warnings in those files. The eventual goal would be to gradually resolve those warnings over time. Most of these failures are relatively harmless, but there are some quite nasty ones in there. The tool checks the scripts against the lua documentation file, there are lots of updates to it to ensure that it is correct. The check can be run locally (after installation) with `python ./Tools/scripts/run_lua_language_check.py` but the recommended way would be to use the VSCode extension which reports the same issues in any case (although we should add the VSCode config to point the extension at the new setup file). This also enables automatic generation of the docs in a easier to read `.md` format. This can be generated with `./Tools/scripts/generate_lua_docs.sh`. This is added to CI and the docs are uploaded as a artefact. For example: [ScriptingDocs.md](https://github.com/ArduPilot/ardupilot/files/15228951/ScriptingDocs.md) The eventual goal would be to convert this to a rst format for direct inclusion into the wiki.

github.com/ArduPilot/ardupilot

GCS_MAVLink: deny attempt to do partial upload while mission transfer in progress

ArduPilot:master ← peterbarker:pr/fencefullandpartialtransferfix

opened 12:17PM - 08 May 24 UTC

peterbarker

+43 -0

Fixes this internal error: ``` ardurover: #4 0x0000604a12ed5b75 in AP_HAL::du…mp_stack_trace () at ../../libraries/AP_HAL_SITL/system.cpp:147 ardurover: No locals. ardurover: #5 0x0000604a12ed5757 in AP_HAL::panic (errormsg=0x604a1302b4cd "AP_InternalError::error_t::%s") at ../../libraries/AP_HAL_SITL/system.cpp:51 ardurover: ap = {{gp_offset = 16, fp_offset = 48, overflow_arg_area = 0x7ffd7b9dec00, reg_save_area = 0x7ffd7b9deb40}} ardurover: #6 0x0000604a12dc0d9f in AP_InternalError::error (this=0x604a13139258 <instance>, e=AP_InternalError::error_t::flow_of_control, line=217) at ../../libraries/AP_InternalError/AP_InternalError.cpp:28 ardurover: buffer = "flow_of_ctrl", '\000' <repeats 36 times>, <incomplete sequence \354> ardurover: #7 0x0000604a12fd4eee in MissionItemProtocol_Fence::allocate_receive_resources (this=0x604a14c4a930, count=0) at ../../libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp:217 ardurover: allocation_size = 0 ardurover: #8 0x0000604a12fd4ff4 in MissionItemProtocol_Fence::allocate_update_resources (this=0x604a14c4a930) at ../../libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp:240 ardurover: _item_count = 0 ardurover: ret = 24650 ardurover: #9 0x0000604a12fd3f9c in MissionItemProtocol::handle_mission_write_partial_list (this=0x604a14c4a930, _link=..., msg=..., packet=...) at ../../libraries/GCS_MAVLink/MissionItemProtocol.cpp:231 ardurover: ret_alloc = 32765 ardurover: #10 0x0000604a12ddd41c in GCS_MAVLINK::handle_mission_write_partial_list (this=0x604a14c44360, msg=...) at ../../libraries/GCS_MAVLink/GCS_Common.cpp:783 ardurover: packet = {start_index = 3, end_index = 3, target_system = 1 '\001', target_component = 1 '\001', mission_type = 1 '\001'} ardurover: use_prot = 0x604a14c4a930 ardurover: #11 0x0000604a12de5238 in GCS_MAVLINK::handle_common_mission_message (this=0x604a14c44360, msg=...) at ../../libraries/GCS_MAVLink/GCS_Common.cpp:4316 ardurover: No locals. ardurover: #12 0x0000604a12de4d75 in GCS_MAVLINK::handle_message (this=0x604a14c44360, msg=...) at ../../libraries/GCS_MAVLink/GCS_Common.cpp:4068 ``` The included autotest recreates the problem before the patch is applied.

github.com/ArduPilot/ardupilot

waf: move setting of ROMFS flags to embed step

ArduPilot:master ← IamPete1:romfs_embed_flags

opened 03:45PM - 11 May 24 UTC

IamPete1

+8 -23

Currently on ChibiOS these flags are set before files are added from `ROMFS_cust…om` so the flags may be incorrect. This moves the setting of the flags to the same step as where the files are imbedded so nothing is missed. This also has the advantage of unifying the approach across all boards. I have tested imbedding a script in SITL, I have built a ChibiOS board and grepped the bin to see that the script is embedded correctly, but I have not had a chance to flash to a board to double check.

github.com/ArduPilot/ardupilot

Add AutoIP option to network options for link local addressing

ArduPilot:master ← Ryanf55:network-autoip

opened 07:20AM - 12 May 24 UTC

Ryanf55

+30 -1

# Purpose Allow a zero-configuration of IP addressing a vehicle using IPv4 li…nk local addressing. This is enabled with bit 1 of the `NET_OPTIONS` parameter enabled to turn on `AUTOIP`. Link local is great because you don't need to bother with all the fiddly `NET_IPADDR` params. Sensor data (such as the Trimble PX-1) can take advantage of Multicast to send sensor data to the cube, and neither the Cube nor the PX1 need to know the other's address. This makes it easier to swap hardware with less configuration. If a DHCP server is not available on the vehicle, because `LWIP_DHCP_AUTOIP_COOP` is enabled on our builds, this means that LWIP will automatically start a link local address in place of that. In theory, if a DHCP server started later (such as one running on a non-RTOS linux such as PI that takes a while to boot), LWIP will drop the link local address and switch to DHCP. I haven't tested that specific case yet. Setting up a DHCP server or static addressing on a vehicle is not easy for everyone. Setting a single bit in ArduPilot NET options is easier than that. # How to reproduce 1) Grab a Cube Red 2) Flash it with this branch 3) Set the params ``` NET_DHCP 1 # Enable NET_ENABLE 1 NET_GWADDR0 192 NET_GWADDR1 168 NET_GWADDR2 13 NET_GWADDR3 1 NET_IPADDR0 192 NET_IPADDR1 168 NET_IPADDR2 13 NET_IPADDR3 14 NET_MACADDR0 168 NET_MACADDR1 176 NET_MACADDR2 40 NET_MACADDR3 98 NET_MACADDR4 199 NET_MACADDR5 62 NET_NETMASK 24 NET_OPTIONS 2.0 NET_P1_TYPE 0 # Disabled NET_P2_TYPE 0 # Disabled NET_P3_TYPE 0 # Disabled NET_P4_TYPE 0 # Disabled ``` 4) Connect the cube to your computer over ethernet 5) Configure your ethernet adapter to link local ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/45c3e984-042d-4dea-aa0e-4f45be296a52) 6) Reboot the cube 7) Open mavproxy consol 8) Observe in the logs it gets a `169.254` address, and so does your computer ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/bed3abca-3372-4f4a-a386-72125ce62599) 9) Ping the Cube's address # Demo ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/53e5aa50-6bbb-4297-bdd1-1af3d3c0c3db)

github.com/ArduPilot/ardupilot

AP_Mount: add topotek gimbal driver

ArduPilot:master ← rmackay9:mount-topotek

opened 05:45AM - 13 May 24 UTC

rmackay9

+1256 -0

This adds support for the [Topotek gimbals](https://www.topotek.com/) and replac…es https://github.com/ArduPilot/ardupilot/pull/26666 This has been tested on real hardware including confirming that - angle control works - rate control works - camera take-picture and record-video works - pictures and videos are recorded to the SD card with the correct date - pictures include EXIF data including accurate location where the picture was taken Some of the changes compared to [the initial PR](https://github.com/ArduPilot/ardupilot/pull/26666) are: - display firmware version to user - switch automatically to RC control - simplfy set-gimbal-lock - replace use of ctime - use unix line endings - comment improvements The only known issues are: - some use of "int" and "long" (see send_location_info() and gimbal_dist_info_analyse() - the model version is reported as "Unknown" - during yaw rate control the gimbal always moves in "earth-frame". Once it stops rotating (e.g. user centers sticks) the gimbal does correctly maintain either earth-frame or body-frame according to the "lock" vs "follow" state. The DJI RS2/RS3 gimbals also act like this so it's not a blocker @laozhou-fujian this builds on your PR and the single commit is now Co-authored by both of us. Can you confirm you are OK with these changes? Size comparison ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/f700f265-3b4c-4587-bebd-e466a15da9d1)

github.com/ArduPilot/ardupilot

AP_Scripting: fixed hard fault on handling of lua exception

ArduPilot:master ← tridge:pr-scripting-fault-fix

opened 10:42AM - 13 May 24 UTC

tridge

+59 -1

this PR adds a test that exercises rapid fault handling and fixes it by shifting… the save of the extra registers before the setjmp call and adding save/restore of the first 16 fp registers The test was derived from the networking web server. The reason the web server triggered this issue is it continues running after a fault, and continually calls async functions (server side lua calls) that may fault. Most lua scripts when they fault will stop, so only have one chance to trigger the bug. The web server gets lots of chances per second to trigger the bug. without the fix this lua script hard faults in a few seconds This bug has been confirmed to happen with 4.3.x and 4.4.x as well as current stable 4.5.x

Copter & Rover

github.com/ArduPilot/ardupilot

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.5 testing. The [is…sues list for Copter/Rover-4.4 is here](https://github.com/ArduPilot/ardupilot/issues/23192). [Backport PRs](https://github.com/orgs/ArduPilot/projects/8/views/1). Reports requiring investigation: - [ ] Alexmos not working ([Plane forum discussion](https://discuss.ardupilot.org/t/plane-4-5-release/115620/19)) - [ ] Auto mode using rangefinder should trigger failsafe if user disables rangefinder (reported by Harris Aerial) - [ ] https://github.com/ArduPilot/ardupilot/issues/27017 - [ ] Custom build server of MatekH743 + flowhold ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/55)) - [ ] DShot 600 jerky movement without being armed ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/21)) -- configuration error (MOT_PWM_TYPE = 0 but SERVO_BLH_MASK non-zero) -- AndyP - [ ] Lua mount:set-angle-target binding doesn't work on Matek H743 mini V3 ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/3)) -- Randy - [ ] CAM messages with Img field "0" appearing in logs without pictures being taken (reported by Randy) -- Randy Confirmed issues: - [ ] Lua rangefinder broken ([discussion](https://discuss.ardupilot.org/t/send-sensor-distance-by-using-serial-in-script/116238), [PR](https://github.com/ArduPilot/ardupilot/pull/26829)) -- Rishabh - [ ] RPLidarS1 erratic distances on Rover ([discussion](https://discuss.ardupilot.org/t/rplidar-s1-erratic-distances/115561), [possible fix](https://github.com/rmackay9/rmackay9-ardupilot/commits/rover-rplidar-update-rate/), [PR](https://github.com/ArduPilot/ardupilot/pull/26835)) -- Randy, Mirkix - [ ] CubeOrange with Siyi A8 failing to boot 1 in 20 times ([issue](https://github.com/ArduPilot/ardupilot/issues/26852)) -- Tridge, PeterB - [ ] SmartRTL flow of control error ([pre-existing issue](https://github.com/ArduPilot/ardupilot/issues/17416)) -- Randy, PeterB - [ ] EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650)) - [ ] APM_Config can't be used to include/exclude features ([issue](https://github.com/ArduPilot/ardupilot/issues/26654)) Enhancements or Issues that may not be resolved before the stable release: - [ ] DJI RS2 lock/follow not working? ([discussion](https://discuss.ardupilot.org/t/ap-support-for-dji-rs2-rsc2-rs3-gimbals-maybe/91830/39), [issue](https://github.com/ArduPilot/ardupilot/issues/27016)) -- existing issue - [ ] CAM2 using CAM1 servo output ([discussion](https://discuss.ardupilot.org/t/separate-cam1-and-cam2-triggering/117468), [issue](https://github.com/ArduPilot/ardupilot/issues/27015)) - [ ] https://github.com/ArduPilot/ardupilot/issues/26892 - [ ] Rover multiple inclusion fence support ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690/8), [WIP PR](https://github.com/ArduPilot/ardupilot/pull/15550)) - [ ] GPS consistency checks Alt when GPS can't provide alt ([discussion](https://discuss.ardupilot.org/t/incorrect-calculation-of-gps-positions-diffs-during-arming-checks/116033), [issue](https://github.com/ArduPilot/ardupilot/issues/26749)) - [ ] Custom Build server support for CUAV Pixhack v3x with 3 IMUs ([discussion](https://discuss.ardupilot.org/t/ardupilot-custom-firmware-builder-fmuv3-missing-necessary-for-cuav-pixhack-v3x/115823), [product page](https://www.cuav.net/en/pixhack-v3-autopilot/)) - [ ] AP_OSD: Add CRSF link stats display fields ([PR](https://github.com/ArduPilot/ardupilot/pull/25844)) - [ ] Network params not visible for Pixhawk5x ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/13), [issue](https://github.com/ArduPilot/ardupilot/issues/26397)) - [ ] ViewPro does not track GPS location well ([discussion](https://discuss.ardupilot.org/t/viewpro-gimbal-point-camera-here-function/98279/33), known limitation of ViewPro API) Wiki issues/enhancement requests: - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/5916 - [x] Dynamic Notch filter instructions need consolidation ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5878)) - [x] Auto mode LOITER_TURNS does not support CCW? ([discussion](https://discuss.ardupilot.org/t/ccw-loiter-turns/114282)) - [ ] Add vertical position controller tuning instructions ([discussion](https://discuss.ardupilot.org/t/z-oscillation-in-position-hold/113149/4)) - [x] Add warning for AutoTune ESC desync ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5760)) Mission planner issues/enhancement requests: - [ ] add DO_FENCE_ENABLE to Rover (and Copter?) mission command list ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690)) - [ ] fixup camera gimbal page ([discussion](https://discuss.ardupilot.org/t/question-about-camera-gimbal/101063/7)) - [ ] Loiter turns radius incorrect ([issue](https://github.com/ArduPilot/MissionPlanner/issues/3305)) QGC issues/enhancement requests: - [x] QGC sending invalid roll, pitch, yaw angles ([discussion](https://discuss.ardupilot.org/t/mount-invalid-angle-targets-problem/113885), [QGC issue](https://github.com/mavlink/qgroundcontrol/issues/11215)) Resolved issues: - [x] NoopLoop TOFSense-P noise ([discussion](https://discuss.ardupilot.org/t/rangefiner-on-fast-speed-low-altitude-quadcopter/116591/14)) -- not 4.5.0, cannot reproduce (Rishabh) - [x] Jump message missing from telementry? ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/25), [issue](https://github.com/ArduPilot/ardupilot/issues/26802), [PR](https://github.com/ArduPilot/ardupilot/pull/27003)) -- PeterB -- resolved for 4.5.3-beta1 - [x] RC SBus input on Navio2 ([discussion](https://discuss.ardupilot.org/t/rc-channels-stuck-and-not-following-sys-kernel-rcio-rcin-ch/117191)) -- QGC issue - [x] Avoidance backup for Z-axis is unconstrained ([PR](https://github.com/ArduPilot/ardupilot/pull/26858)) -- fixed for 4.5.3-beta1 - [x] Pixhawk 6C SBUS out not working with Tarot gimbal ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/12), [issue1](https://github.com/ArduPilot/ardupilot/issues/26815), [PR](https://github.com/ArduPilot/ardupilot/pull/26825), [issue 2](https://github.com/ArduPilot/ardupilot/issues/26851), [PR](https://github.com/ArduPilot/ardupilot/pull/26898)) -- fixed in 4.5.2-beta1 - [x] Pixhawk6C mini compass disappearing in flight issue ([4.4 issue](https://github.com/ArduPilot/ardupilot/issues/25946), [4.5 discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/3), [PR](https://github.com/ArduPilot/ardupilot/pull/26929)) -- hardware issue, work around ready for 4.5.3-beta1 - [x] Neopixels broken ([discussion](https://discuss.ardupilot.org/t/multiple-neopixels-dont-flash-in-sync/113620), [issue](https://github.com/ArduPilot/ardupilot/issues/26295), [PR-to-blame](https://github.com/ArduPilot/ardupilot/pull/23974), [PR with fix](https://github.com/ArduPilot/ardupilot/pull/26899)) -- fixed for 4.5.3-beta1 - [x] Stabilize mode Internal Error in Land Detector ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/75), [issue](https://github.com/ArduPilot/ardupilot/issues/26864), [code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/land_detector.cpp#L59), [PR](https://github.com/ArduPilot/ardupilot/pull/26873)) -- fixed for 4.5.3-beta1 - [x] Copter-4.6 filter issue ([discussion](https://discuss.ardupilot.org/t/notch-filters-turn-on-with-a-delay/116276/14)) -- not present in 4.5 - [x] 3 of 12 Pixhawk6X display IOMCU error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/3)) -- AndyP, CUAV -- wrong IOMCU bootloader installed on the board (at factor?) - [x] Gremsy can't be used as 2nd mount ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-does-not-work-if-set-to-mount-2/116127)) -- Randy can't reproduce, assumed ZIO issue, [added warning to wiki](https://github.com/ArduPilot/ardupilot_wiki/pull/5897) - [x] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) -- motor desync probably - [x] EKF loses attitude estimate if COMPASS_LEARN set to 3 (inflight) and GPS-for-yaw used ([PR](https://github.com/ArduPilot/ardupilot/pull/26762)) -- Tridge / PaulR -- resolved for 4.5.2-beta1 - [x] Guide mode using thrust causes internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/26865), [PR](https://github.com/ArduPilot/ardupilot/pull/26866)) -- resolved for 4.5.2-beta1 - [x] [MTF-01 Optical flow sensor](https://robofusion.net/products/mtf-01-integrated-laser-rangefinder-optical-flow-module-for-unmanned-aerial-vehicles-uavs?variant=47234517664063) not working ([discussion](https://discuss.ardupilot.org/t/4-5-0-has-issue-with-connection-to-mtf-01-optical-flow-sensor/116470)) -- set config on sensor to different component id. -- resolved for 4.5.2-beta1 - [x] DAL bug affecting VisualOdometry delay ([issue](https://github.com/ArduPilot/ardupilot/issues/26800), [PR](https://github.com/ArduPilot/ardupilot/pull/26813)) -- resolved for 4.5.2-beta1 - [x] Hereflow requires BRD_BOOTDELAY ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/47), [PR](https://github.com/ArduPilot/ardupilot/pull/26753)) -- resolved for 4.5.2-beta1 - [x] RTL engaged below Home alt and using Terrain alt returning too high? (reported by Tridge and PeterB) -- RTL seems to be acting as expected. It was engaged at 121m above terrain and so that's the altitude it maintained until it returned home. - [x] AP_Mount's default mode being overwritten by RC input ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/69), [PR](https://github.com/ArduPilot/ardupilot/pull/26738)) -- resolved for 4.5.2-beta1 - [x] T265 not working ([discussion](https://discuss.ardupilot.org/t/vision-positioning-using-t265-does-not-work/115679), [related PR](https://github.com/ArduPilot/ardupilot/pull/23240)) -- user was using same sysid/compid as autopilot - [x] Developer issues integrating CAN RangeFinder ([discussion1](https://discuss.ardupilot.org/t/issues-with-interegrating-can-sensor-using-lua/115585/5), [discussion2](https://discuss.ardupilot.org/t/help-related-to-dronecan/115874), [issue](https://github.com/ArduPilot/ardupilot/issues/26704)) -- worked at 1Mbps - [x] GPS_TYPE parameter descriptions in MP using 4.4 ([issue](https://github.com/ArduPilot/ardupilot/issues/26681#issuecomment-2034416514), [PR](https://github.com/ArduPilot/ardupilot/pull/26740)) -- resolved for 4.5.2-beta1 - [x] #26811 - [x] Near Fly-away with 4.4.4 (EKF failsafe was disabled, [discussion](https://discuss.ardupilot.org/t/internal-errors-0x400-l-856-cnstring-nan-uncontrollable-behavior-in-rtl-and-loiter/115598)) -- no further communication, likely bad compass cal - [x] KakuteH7 fails to initialise ([discussion](https://discuss.ardupilot.org/t/kakute-h7-gps-and-radio-problem/115931)) -- also failed on 4.4.4 so Randy has concluded that it is a hardware issue - [x] Siyi mount stalls occasionally and bouncing near pitch and yaw limits ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta4-available-for-beta-testing/115149/11)) -- Siyi firmware / hardware mismatch - [x] do-condition-yaw bug (also in 4.4, [PR](https://github.com/ArduPilot/ardupilot/pull/24719)) -- resolved for beta5 (assuming there is a beta5) - [x] Copters turns North in Guided_NoGPS ([issue](https://github.com/ArduPilot/ardupilot/issues/26357), [discussion](https://discuss.ardupilot.org/t/set-attitude-target-with-guided-no-gps-lack-of-documentation/111845/24), [PR](https://github.com/ArduPilot/ardupilot/pull/26407)) -- fixed for beta5 (assuming there is a -beta5) - [x] ViewPro not holding level during hard maneuvers ([PR](https://github.com/ArduPilot/ardupilot/pull/26556)) -- resolved in beta4 (although no confirmation from user) -- fixed for beta5 (assuming there is a -beta5) - [x] altitude jump when GPS/Non-GPS transitions switching altitude source of ExtNav to Baro (reported by Randy) -- should jump when moving from camera->baro, cannot reproduce otherwise. - [x] MP's MAVFtp can't download SYS files ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3309)) -- SITL only issue - [x] Logging removed on some boards? ([issue](https://github.com/ArduPilot/CustomBuild/issues/70), [PR](https://github.com/ArduPilot/ardupilot/pull/26421)) -- needs backport? - [x] Sending unknown message ([issue](https://github.com/ArduPilot/ardupilot/issues/26358), [PR](https://github.com/ArduPilot/ardupilot/pull/26361)) -- resolved for -beta3 - [x] increasing k_format_version does not reset parameters (dev question, [issue](https://github.com/ArduPilot/ardupilot/issues/26336)) -- cannot reproduce, responses stopped - [x] MAV_CMD_DO_SEND_SCRIPT_MESSAGE not working? ([discussion](https://discuss.ardupilot.org/t/is-mav-cmd-do-send-script-message-unsupported-on-copter-4-5/113787)) -- only supported as Mission command - [x] TKOFF_RPM_MIN working? ([4.3.x discussion](https://discuss.ardupilot.org/t/takeoff-blocked-waiting-for-esc-rpm/113256)) -- fixed in 4.4 - [x] Record video while armed broken ([PR](https://github.com/ArduPilot/ardupilot/pull/26217)) -- resolved for -beta3 - [x] Parachute conversion issue ([issue](https://github.com/ArduPilot/ardupilot/issues/26132), [PR](https://github.com/ArduPilot/ardupilot/pull/26151)) -- resolved for beta2 - [x] Siyi running old camera fw message ([discussion](https://discuss.ardupilot.org/t/siyi-a8-camera-fw-version-reporting-issue/112870), [original 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/92133/673), [PR](https://github.com/ArduPilot/ardupilot/pull/26168)) -- resolved for beta2 - [x] Matek H743 watchdog ([discussion](https://discuss.ardupilot.org/t/locally-compiled-arducopter-4-5-0-beta1-fails-on-matekh743-due-to-watchdog/113029)) -- development environment issue - [x] Stuck thread ([discussion](https://discuss.ardupilot.org/t/stuck-thread-and-failed-data-logging-error/112711/2)) -- exists in 4.4.4 as well, two devs say it's fine so concluded it is a hardware failure on the user's autopilot. - [x] AutoTune crash -- ESC de-sync ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta1-available-for-beta-testing/112504/11)) - [x] Here4 does not support GPS-for-yaw (aka Moving baseline) ([discussion](https://discuss.ardupilot.org/t/gps-yaw-moving-baseline-with-dual-dronecan-here4/112357)) -

Plane

github.com/ArduPilot/ardupilot

Plane 4.5.x issue tracking

opened 03:03AM - 13 Feb 24 UTC

tridge

Plane DevCallTopic ReleaseAdmin

Pending: - [ ] centre throttle options not working: https://discuss.ardupilot.…org/t/plane-4-5-0-beta-release/112518/14 - fix in mission planner https://github.com/ArduPilot/MissionPlanner/pull/3291 - [ ] ramping of motors on tilt quadplanes not working on back transition - fix https://github.com/ArduPilot/ardupilot/pull/26249 - [ ] POSITION_TARGET_GLOBAL_INT alt is wrong for terrain following - [ ] ALT_ASSIST not working while completing fwd transition? - [ ] terrain following not working from long distances in QRTL - [ ] re-test flightgear and JSBSim recent versions https://discuss.ardupilot.org/t/aircraft-appears-underground-on-ardupilot-flightgear - [ ] should auto-set HAL_USE_ADC=False if no ADC lines in hwdef.dat - [ ] ftp fence upload not working - [ ] exfat with 64G sandisk can't create APM/scripts directory - [x] lua/log corruption on 6x: fix: https://github.com/ArduPilot/ardupilot/pull/26538 - [ ] unplugging CAN battery mon leaves voltage unchanged - should it go to zero? - [ ] should a dead rangefinder report zero distance? - [ ] pitch stick mixing on landing needs to handle changed height - [ ] add AP_STATISTICS_ENABLE for dma.txt and --enable-status in custom build - [ ] is terrain offset handling correct? see angel log7 - [ ] https://github.com/ArduPilot/ardupilot/pull/26808 - [ ] https://github.com/ArduPilot/ardupilot/issues/26815 - [ ] https://github.com/ArduPilot/ardupilot/pull/26762 - [ ] GPS disable/re-enable, EK2 and EK3 did not re-init. Log 32.BIN lift AdNav test - [ ] EK3 switch to source set with no GPS did not disable GPS fusion, log 31.BIN, AdNav tests - [ ] motor test in quad-can not showing RPM on CAN - [x] fix places not using ahrs EAS2TAS - [ ] consider changing all instance indexes to match params, eg. ESC[1] for SERVO1, not ESC[0] (baro, gps, imu etc) - [ ] add logging of ESC StatusExtended DroneCAN msg - [ ] should implement this for plane: https://github.com/ArduPilot/ardupilot/pull/26383 - [ ] baro compensation: https://github.com/ArduPilot/ardupilot/pull/26917 - [ ] surfaces to max on soft reboot, 350ms pulse Resolved - [x] https://github.com/ArduPilot/ardupilot/pull/26133 Longer term - [ ] https://github.com/ArduPilot/ardupilot/pull/25442 - [ ] rebuild newlib and remove all possible abort() calls

CraigElder · May 16, 2024, 5:54am

Attendee count (max): 19

UTC1100 - Add support for system ID of position controller by bnsgeyer · Pull Request #24801 · ArduPilot/ardupilot · GitHub

Support for system ID of position controller
Valid for QuadPlane VTOL?
- Yes
- Would need to move code into common
Could a SITL mode be created from the result?
- The existing data could actually be used for that
- This allows the outer loops to be tuned too
A more accurate SITL-heli model
- Is a possibility
Links to papers are coming
Leonard’s happy
Randy to do the final merge

UTC1109 - AP_Motors_test: add tri frames to json output by robertlong13 · Pull Request #25670 · ArduPilot/ardupilot · GitHub

Add tri frames to json output so MissionPlanner’s motor test page works
Will be merged

UTC1112 - Quadplane: fix Q_TRIM_PITCH description by robertlong13 · Pull Request #26242 · ArduPilot/ardupilot · GitHub

fix Q_TRIM_PITCH description
Merged

UTC1112 - AP_ESC_Telem: support Extended DShot Telemetry v2 by mbuzdalov · Pull Request #26321 · ArduPilot/ardupilot · GitHub

Add extended D-Shot telemetry
This will appear anywhere you’ve got BIDIR bdshot
Need to split the commits
Tridge will redo the compilation of the io firmware to be sure it’s the correct compiler
will fix the define name while we’re there

UTC1122 - Correct back-to-back mission transfer with bad mission count by peterbarker · Pull Request #26804 · ArduPilot/ardupilot · GitHub

Correct bug when re-transfering missions
Would send
Merged!

UTC1122 - GCS_MAVLink: deny attempt to do partial upload while mission transfer in progress by peterbarker · Pull Request #27021 · ArduPilot/ardupilot · GitHub

Fix internal error when mission-count-style-transfer and partial-mission-upload interfere with each other
Heavy-handed solution
Merged!

UTC1125 - AP_RangeFinder: fix Lua timeout by clydemcqueen · Pull Request #26829 · ArduPilot/ardupilot · GitHub

AP_RangeFinder: Fix LUA timeout
Merged!

UTC1126 - AP_Proximity: add RPLidar S2, remove memory copy for each measurement by mirkix · Pull Request #26835 · ArduPilot/ardupilot · GitHub

Add RPLidar S2
Some testing has been asked for

UTC1129 - SDMODEL H7 V2 by andyp1per · Pull Request #26935 · ArduPilot/ardupilot · GitHub

SDModelH7v2 support
Will merge
Will backport

UTC1134 - BLITZ Wing H743 by andyp1per · Pull Request #26967 · ArduPilot/ardupilot · GitHub

BlitzWingH743 support
Will backport

UTC1136 - AP_Scripting: add lua-language-server checks and docs generation. by IamPete1 · Pull Request #27001 · ArduPilot/ardupilot · GitHub

Lua-language-server checks and docs generation
With docs generation
Good feature set
Will be in Ci
- Users will get CI failures
- Don’t want to have ush/wait for results workflow
- Recommended to use VSCode extension rather than the brew thing
- Several options for installing it
  - Lua Language Server | Home
Create a script to do the brew install?
- Maybe install from Release 3.9.0 · LuaLS/lua-language-server · GitHub
PH is fixing a lot of problems in LUA as he goes

UTC1151 - Tools: Expose map/console mavproxy args by Ryanf55 · Pull Request #27010 · ArduPilot/ardupilot · GitHub

More DDS mavproxy pass-through stuff
Merged!

UTC1152 - AP_BattMonitor: ESC: add mask parameter by IamPete1 · Pull Request #27030 · ArduPilot/ardupilot · GitHub

Add mask parameter for battery ESC
Associate batteries with SSCs
Don’t average volt / sum current across everything, just the masked ones

UTC1155 - AP_ExternalAHRS: Fix duplicate condition by Ryanf55 · Pull Request #27039 · ArduPilot/ardupilot · GitHub

Fix duplicate condition in EAHRS
Merged!

UTC1159 - waf: move setting of ROMFS flags to embed step by IamPete1 · Pull Request #27040 · ArduPilot/ardupilot · GitHub

Move setting of ROMFS flags to embed step
Merged!

UTC0006 - Add AutoIP option to network options for link local addressing by Ryanf55 · Pull Request #27048 · ArduPilot/ardupilot · GitHub

Add link-local addressing / AutoIP
Bootloader considerations

UTC0012 - AP_Mount: add topotek gimbal driver by rmackay9 · Pull Request #27053 · ArduPilot/ardupilot · GitHub

Topotek gimbal
This driver is way too fat
Randy will do some rework
Scripts vs core code questions

UTC0030 - AP_Scripting: fixed hard fault on handling of lua exception by tridge · Pull Request #27056 · ArduPilot/ardupilot · GitHub

Fixed hard fault on handling of lua exception
Thought it was related to networking for a very long time
Very small probability of hard fault on exception
- The web server does a lot of exceptions
- Protected call to hide faults
Why only half the registers backed up in the first part?
Do we still need the -O0?
- Apparently!
Fix setjmp/newjmp to save/restore all the registers…
Do we do a new 4.5.2 beta?
No, we will start a 4.5.3 beta later today

UTC0044 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

Plane update
New release of moncypher changed API and it is not backwards-compatible
- We’ve patched but will need to backport

UTC0049 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

Copter/Rover updates
Several small fixes added
- LUA rangefinder
- Mission item announcements
DJI gimbal lock/follow in rate control/earth frame not solvable because of gimbal firmware
Watchdog on Rover 4.5.1
- Pixhawk1
AlexMos not working?
Automode and terrain following with rangefinder
- If you disable the rangefinder via switch it will not failsafe
  - Maybe it is using the terrain database?
  - Randy needs a log
SiyiA8 causes autopilot to be stuck in bootloader
- There’s a new firmware from Siyi which may resolve that issue
Interaction between mot-thst-hover and baro compensation (amilicar)

Attendee count (max): 19

UTC1100 - Add support for system ID of position controller by bnsgeyer · Pull Request #24801 · ArduPilot/ardupilot · GitHub

UTC1109 - AP_Motors_test: add tri frames to json output by robertlong13 · Pull Request #25670 · ArduPilot/ardupilot · GitHub

UTC1112 - Quadplane: fix Q_TRIM_PITCH description by robertlong13 · Pull Request #26242 · ArduPilot/ardupilot · GitHub

UTC1112 - AP_ESC_Telem: support Extended DShot Telemetry v2 by mbuzdalov · Pull Request #26321 · ArduPilot/ardupilot · GitHub

UTC1122 - Correct back-to-back mission transfer with bad mission count by peterbarker · Pull Request #26804 · ArduPilot/ardupilot · GitHub

UTC1122 - GCS_MAVLink: deny attempt to do partial upload while mission transfer in progress by peterbarker · Pull Request #27021 · ArduPilot/ardupilot · GitHub

UTC1125 - AP_RangeFinder: fix Lua timeout by clydemcqueen · Pull Request #26829 · ArduPilot/ardupilot · GitHub

UTC1126 - AP_Proximity: add RPLidar S2, remove memory copy for each measurement by mirkix · Pull Request #26835 · ArduPilot/ardupilot · GitHub

UTC1129 - SDMODEL H7 V2 by andyp1per · Pull Request #26935 · ArduPilot/ardupilot · GitHub

UTC1134 - BLITZ Wing H743 by andyp1per · Pull Request #26967 · ArduPilot/ardupilot · GitHub

UTC1136 - AP_Scripting: add lua-language-server checks and docs generation. by IamPete1 · Pull Request #27001 · ArduPilot/ardupilot · GitHub

UTC1151 - Tools: Expose map/console mavproxy args by Ryanf55 · Pull Request #27010 · ArduPilot/ardupilot · GitHub

UTC1152 - AP_BattMonitor: ESC: add mask parameter by IamPete1 · Pull Request #27030 · ArduPilot/ardupilot · GitHub

UTC1155 - AP_ExternalAHRS: Fix duplicate condition by Ryanf55 · Pull Request #27039 · ArduPilot/ardupilot · GitHub

UTC1159 - waf: move setting of ROMFS flags to embed step by IamPete1 · Pull Request #27040 · ArduPilot/ardupilot · GitHub

UTC0006 - Add AutoIP option to network options for link local addressing by Ryanf55 · Pull Request #27048 · ArduPilot/ardupilot · GitHub

UTC0012 - AP_Mount: add topotek gimbal driver by rmackay9 · Pull Request #27053 · ArduPilot/ardupilot · GitHub

UTC0030 - AP_Scripting: fixed hard fault on handling of lua exception by tridge · Pull Request #27056 · ArduPilot/ardupilot · GitHub

UTC0044 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

UTC0049 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

UTC0055 - close