Dev Call May 15, 2023

CraigElder · May 15, 2023, 10:37pm

Issues & Pull Requests

github.com/ArduPilot/mavlink

common: ODOMETRY add optional quality field

ArduPilot:master ← rmackay9:odometry-quality

opened 11:26AM - 15 May 23 UTC

rmackay9

+1 -0

This adds the ODOMETRY quality field which is sent by the [ModalAI VOXL cameras]…(https://ardupilot.org/copter/docs/common-modalai-voxl.html). Simply having this field visible in the GCS's mavlink inspectors will allow users to more easily see the quality without using ModalAI's built-in web application (which requires using a separate Wifi connection). This also allows us to add better AP support for the camera's loss of position estimate. As a minimum we will be able to: 1. Log the quality which will aid with support 2. refuse to fuse the position and velocity unless the quality value is above some threshold (perhaps 10%) This has been lightly tested to confirm that AP can extract the quality field from the ODOMETRY message and that it compiles OK. This commit is pulled directly from upstream (see https://github.com/mavlink/mavlink/pull/1861)

github.com/ArduPilot/ardupilot

Scripting: Support sending and recieving MAVLink messages

ArduPilot:master ← WickedShell:wickedshell/scripting-mavlink

opened 01:03AM - 25 Feb 20 UTC

WickedShell

+282 -9

The updated implementation requires generate lua modules using this PR https://g…ithub.com/ArduPilot/pymavlink/pull/786 . To generate the modules run: ``` mavgen.py --lang=Lua --wire-protocol=2.0 --output=<lua scripts location>/modules ardupilotmega.xml ``` This PR adds support for including lua modules through require method as well. --- Older Comment: This allows you to send/receive MAVLink messages from a script. This is a cut down bit from some of the original wilder ideas, but it does actually work nicely. Scripts can register for incoming MAVLink with a given message ID. The script then can ask for any pending messages which it knows about, this returns a byte array which gets feed into a Lua decode function. The restriction on incoming messages is that the vehicle must have known about the message ID when it was compiled. That means you will either need to use a message which is already known, or use one of the ones like COMMAND_INT to extend the functionality. On outgoing messages we are given the message ID, the channel and the Lua packed buffer. Currently this use the MAVLink CRC struct which we could easily pass from the script in the future to give us complete freedom on encoding outputs. The generated Lua code uses https://github.com/ArduPilot/pymavlink/pull/386 to generate the relevant encode/decode functions (which should be ported to C eventually), as well as generating the table of messages. Because this table of messages can eat a *lot* of RAM it's expected that you cut the XML file down to just the messages you care about, or trim the generated output to match the messages you want to use. I still need to test this on real hardware, and Valgrind it, (and include an example script which spams output). But I wanted to get the PR pending for comments. ---

github.com/ArduPilot/ardupilot

Plane: treat LAND waypoint param1 as an AGL alt to climb to

ArduPilot:master ← jschall:pr-abort-land-climb-delta

opened 12:27AM - 09 May 23 UTC

jschall

+63 -18

If the rangefinder is tracking the ground at the time that the abort is triggere…d, the aircraft will use it to compute the elevation of the ground and treats the LAND waypoint's param1 as an altitude above that. Otherwise, it assumes that the LAND waypoint is on the ground and treats the LAND waypoint's param1 as an altitude above that. It also ensures that the aircraft climbs by 2 meters at minimum from the current altitude on abort prior to proceeding to the next waypoint. A possible enhancement to this PR would be to add terrain data support - though the LAND waypoint ought to be a point on the ground.

github.com/ArduPilot/ardupilot

AP_Mount: support gimbal_manager_status and do_gimbal_manager_configure

ArduPilot:master ← rmackay9:mount-gimbal-manager-status2

opened 07:37AM - 10 May 23 UTC

rmackay9

+142 -29

This supersedes PR https://github.com/ArduPilot/ardupilot/pull/23713 This add…s superficial support for two new mavlink messages meant to help de-conflict multiple mavlink devices attempting to control a gimbal. This is important so that development of [QGC's camera/gimbal control screen](https://github.com/mavlink/qgroundcontrol/pull/10667) can progress. - [GIMBAL_MANAGER_STATUS](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L5895) reports to the GCS which device is currently in control of the gimbal (e.g. sysid, compid) - [MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L1625) allows a GCS to take or give-up control of the gimbal The support is "superficial" because it does not actually reject gimbal control commands that comes from devices that are not in control. To comprehensively block commands we need to consolidate handling of more commands (including DO_SET_ROI) within the AP_Mount library instead of within GCS_MAVLink. This has been lightly tested in SITL including: - GIMBAL_MANAGER_STATUS message is returned in response to "long MAV_CMD_REQUEST_MESSAGE 281" - MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE commands are consumed and correctly affect the sysid/compid returned in the above message especially when the special values are passed in for sysid (e.g. 0:no one in control, -1:leave unchanged, -2:set itself in control, -3:remove control if currently in control) ![testing-output](https://github.com/ArduPilot/ardupilot/assets/1498098/6cea0960-879f-49ae-bf68-8fb25dc30492) There's also a drive-by bug fix to the [GIMBAL_MANAGER_INFORMATION](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L5881) gimbal_device_id instance field.

github.com/ArduPilot/ardupilot

Add support for RPLidarA1

ArduPilot:master ← peterbarker:pr/rplidar-a1-support

opened 08:16AM - 11 May 23 UTC

peterbarker

+686 -360

This PR improves the RPLidar proximity driver in two ways: - Improves reliabi…lity by increasing the serial buffer size (the lidar produce large amount of data which was leading to serial buffer corruption) - Adds SITL simulator - Adds support for the S1 model This has been tested in SITL and on real-hardware including putting barriers in front of the lidar at different positions and confirming MP's proximity viewer correctly displays the expected distances.

github.com/ArduPilot/ardupilot

Consolidate AP_Periph serialmanager defaults

ArduPilot:master ← peterbarker:pr/periph-serial-manager-defaults

opened 09:53AM - 11 May 23 UTC

peterbarker

+15 -33

No Periphs Were Harmed(tm) ``` Board,AP_Periph ARK_GPS,* ARK_RTK_GPS,* Ae…roFox-Airspeed,* AeroFox-Airspeed-DLVR,* AeroFox-PMU,* BirdCANdy,* C-RTK2-HP,* CUAV_GPS,* CarbonixF405,* CarbonixL496,* CubeBlack-periph,* CubeOrange-periph,* CubeOrange-periph-heavy,* CubePilot-CANMod,* FreeflyRTK,* G4-ESC,* HerePro,* Hitec-Airspeed,* HitecMosaic,* HolybroG4_Compass,* HolybroG4_GPS,* HolybroGPS,* MatekH743-periph,* MatekL431-Airspeed,* MatekL431-BattMon,* MatekL431-DShot,* MatekL431-EFI,* MatekL431-GPS,* MatekL431-HWTelem,* MatekL431-Periph,* MatekL431-Proximity,* MatekL431-Rangefinder,* MatekL431-bdshot,* Nucleo-G491,* Nucleo-L476,* Nucleo-L496,* Pixracer-periph,* f103-ADSB,* f103-Airspeed,* f103-GPS,* f103-HWESC,* f103-QiotekPeriph,* f103-RangeFinder,* f103-Trigger,* f303-GPS,* f303-HWESC,* f303-M10025,* f303-M10070,* f303-MatekGPS,* f303-PWM,* f303-TempSensor,* f303-Universal,* f405-MatekAirspeed,* f405-MatekGPS,* mRo-M10095,* mRoCANPWM-M10126,* rGNSS,* ```

github.com/ArduPilot/ardupilot

Replace HAVE_FILESYSTEM_SUPPORT with backend defines

ArduPilot:master ← peterbarker:pr/remove-have-filesystem

opened 02:20AM - 15 May 23 UTC

peterbarker

+107 -79

This define causes problems when running on boards without either fatfs or posix… file backends (e.g. stm32 boards without SD cards). A good example of that is where you want to include ROMFS files on these boards - it fails because we don't include various `apfs_` functions unless you have one of these two backends included. This problem came to light when trying to embed LUA scripts onto a SkyViper. This PR does NOT fix that particular problem as that would make it NFC - which this PR should be. The change on top of this to allow it is trivial but not NFC. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

Tools: Web: FilterReview: add spectrograph notch tracking overlay

ArduPilot:master ← IamPete1:FilterReviewUpdate2

opened 06:59PM - 15 May 23 UTC

IamPete1

+576 -81

This fexes a few issues and adds notch tracking overlay based on configured sett…ings. Also moves to a 2D plot for better speed (and easier overlaying) ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/9ec228a7-56fb-49f8-b254-950c62e17b5a) ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/4fddc1fb-ef46-443c-904d-9078a332e12e) Currently the overlay is spectograph only, but it could be added to the average plot also.

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.4.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) - [ ] 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 - [ ] resting voltage can be very bad - [ ] quadplane precland - [ ] 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 - [ ] 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 - [ ] 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-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] Siyi A8 ROI not working? (reported by Kelly Schrock on facebook) - [ ] endless climb with vertical bendy ruler? ([discussion](https://discuss.ardupilot.org/t/rtl-and-auto-mode-working-in-strange-mode/100132/4)) - [ ] Baro TCal not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/21438)) - [ ] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594)) Confirmed issues: - [ ] Custom build server broken for Matek405 builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/13)) - [ ] Mount serial gimbal param description confusion ([discussion](https://discuss.ardupilot.org/t/ip-cameras-rtsp-mavlink-support/99893/20)) - [ ] users keep forgetting to set CAM1_TYPE (or CAM_TRIGG_TYPE) ([discussion](https://discuss.ardupilot.org/t/mav-cmd-set-camera-zoom-command-doesnt-work/100613/4)) - [ ] Enable 10hz PID logging - [ ] Yaapu reports battery 2 error but only one battery is installed ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/7)) - [ ] MP scales set-ekf-origin-here altitude incorrectly ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3083)) - [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9) Enhancements or Issues that will not be resolved: - [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 (reported by dynamatics to Rishabh and Randy) Resolved issues: - [x] CubeOrangePlus not booting due to early memory corruption (reported by rmackay9, investigated by Tridge, PeterB, Sid) - [x] RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall, [PR](https://github.com/ArduPilot/ardupilot/pull/23553)) - [x] Watchdog using CSRF ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/18), [PR](https://github.com/ArduPilot/ardupilot/pull/23648)) -- resolved for beta2

CraigElder · May 16, 2023, 1:20am

Attendee count (max): 16

Pre-Agenda:

New HobbyWing ESCs
- E.g.
  - 30kW
  - DroneCAN
  - 24S 200W

UTC1101 - common: ODOMETRY add optional quality field by rmackay9 · Pull Request #316 · ArduPilot/mavlink · GitHub

Bring in quality field for odometry from upstream
Good for logging ATM
Could use -1 or 0 to discard the data
Merged!

UTC1105 - Scripting: Support sending and recieving MAVLink messages by WickedShell · Pull Request #13660 · ArduPilot/ardupilot · GitHub

Support sending and receiving mavlink messages
General principle is sound but PH’s messages need addressing
- A few new helpers should be used
- Millisecond timestamps OK?
- Micros?64?
- Jitter correction might have some issues with very long times?
Hopefully get this in tomorrow night

UTC1107 - Add and use AP_RCPROTOCOL_ENABLED by peterbarker · Pull Request #21083 · ArduPilot/ardupilot · GitHub

A global AP_RCPROTOCOL_ENABLED
Merged!

UTC1117 - APBoardConfig: Add skip validate board by haydendonald · Pull Request #23620 · ArduPilot/ardupilot · GitHub

Add a factory-testing option to allow boards to boot even if they’re fault in the face of a validation bit
Merged!
Should have a mandatory hardware check in place of this!

UTC1121 - AP Scripting: Add health by haydendonald · Pull Request #23634 · ArduPilot/ardupilot · GitHub

Add sensor health bindings to AP_Scripting
Grumbling on range-checking in lua
A few things to fix

UTC1127 - Plane: fix rangefinder correction when terrain follow is off by jschall · Pull Request #23658 · ArduPilot/ardupilot · GitHub

This was last week
Tridge to look at

UTC1128 - Plane: treat LAND waypoint param1 as an AGL alt to climb to by jschall · Pull Request #23723 · ArduPilot/ardupilot · GitHub

Treat land waypoint as AGL
No updates
Tag not removed?

UTC1129 - Mode takeoff step by step by Hwurzburg · Pull Request #23728 · ArduPilot/ardupilot · GitHub

Break mode takeoff changes out into separate changes
PH has left some comments
Two-point thing?
- Protect against messed-up compass
- Head to waypoint rather than fly heading
- Yaw vs ground-course
What happens if ARMING_REQUIRE 0?
Needs to not fly if you’re throttle-suppressed too
Initial goal was to climb to minimum altitude before loitering regardless of when you enter takeoff
Maybe add a frame for the takeoff altitude so it can be above terrain?
With wind the ground-course points are likely to be better
Ground course vs yaw questions
Need to avoid using ahrs yaw in this state as it is unreliable

UTC1151 - autotest: integrate features.json generation to build_binaries.py by peterbarker · Pull Request #23733 · ArduPilot/ardupilot · GitHub

Run extract features from the checked out branch
Merged!

UTC1153 - AP_HAL_ChibiOS: do not build ChibiOS with debug symbols unless debug build by peterbarker · Pull Request #23735 · ArduPilot/ardupilot · GitHub

Do not build ChibiOS with debug symbols unless requested
If you build with –debug then it should change the optimisation of
Merged!

UTC1155 - AP_Mount: support gimbal_manager_status and do_gimbal_manager_configure by rmackay9 · Pull Request #23737 · ArduPilot/ardupilot · GitHub

Support gimbal manager status and do_gimbal_manager_config
We’re not actual blocking additional users at the moment
Minor bug fix for gimbal device ID
- PX4 use 0-based as we do in master ATM
Randy will merge after checking the +1 thing

UTC0004 - AP_RCProtocol: Fix the issue of ST24 receiver not working by lipper-chengdu · Pull Request #23742 · ArduPilot/ardupilot · GitHub

Fix ST24 RC input
Test harness doesn’t test ST24 at the moment
Could drop this to minimize and save-some-flash
This is apparently a well-designed protocol
- Popularity and design quality are inversely-related in RC protocols – tridge

UTC0010 - Add support for RPLidarA1 by peterbarker · Pull Request #23749 · ArduPilot/ardupilot · GitHub

Add support for rplidar a1 and s1
Rewrites the parser
Merged

UTC0015 - Consolidate AP_Periph serialmanager defaults by peterbarker · Pull Request #23751 · ArduPilot/ardupilot · GitHub

Consolidate define initialisation of serial device defines
Merged!

UTC0016 - SITL: stop using mavlink channels for packing messages by peterbarker · Pull Request #23763 · ArduPilot/ardupilot · GitHub

Stop using communication buffers to pack simulation messages
Merged!
Should check how extensions are handled
- And signing
- And sequence numbers

UTC0018 - Replace HAVE_FILESYSTEM_SUPPORT with backend defines by peterbarker · Pull Request #23781 · ArduPilot/ardupilot · GitHub

Remove HAVE_FILESYSTEM
Merged

UTC0030 - Fix SkyViper scripting by peterbarker · Pull Request #23776 · ArduPilot/ardupilot · GitHub

Add –enable-scripting option to waf
And fix some bindings
Merged

UTC0031 - Filter: correct description of filter tracking mode by peterbarker · Pull Request #23787 · ArduPilot/ardupilot · GitHub

Try to fix up the description on notch filter options
- This calls it per-esc
Should we really have different modes for this instead?
Multi-Source
WikiNeeded
We should have an arming check for bad config
- 4-or-more-sources and bandwidth >25% of your frequency should fail by default
  - Need an option bit to allow it
- This could cause problems on fallback!
  - Notch failsafe settings?!
    - Infer throttle for each motor instead?
Motor Misalignment can make notch filter work badly

UTC0036 - Tools: Web: FilterReview: add spectrograph notch tracking overlay by IamPete1 · Pull Request #23798 · ArduPilot/ardupilot · GitHub

Updates to filter review tool
Might create a new repo for web-firmware
Original tool allowed you to design a filter but couldn’t see what effect it was
ArduPilot Filter Review Tool
- “Upload a log”
- See what the data looks like
- We want to be able to design a filter and apply it to this
- For ESCs you could use this
  - But not for throttle-based filters
Feature requests would be great
- PRs would be better
[10:44 AM]rmackay9: The graphs are very pretty, like a Van Gogh
Magfit javascript on the way?

UTC0044 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

RTK gate mod for EKF3 still not in
SMAX should be zer while twitching in EKF3
Resting voltage seems broken
- 30-40% gain reduction on Randy’s vehicle?!
Resting voltage should not drop when you disarm!

UTC0049 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Siyia8 not doing ROI
- Probably a configuration issue
Short-range sonar with noise and bendy ruler could be endless climb
Baro temp cal not working?
Custom build server broken for one board?
- Build product not present?
Mnt1_type and camera_type problems for some combined devices
Yaw problems?
- Behaviour 0 not working correctly
  - Going into corners it yaw just a tiny bit
  - Leonard has a fix for it
  - Should be fixed in 4.5 and maybe backport
Andy’s found a few more issues but hasn’t put them on the list yet

Dev Call May 15, 2023

Attendee count (max): 16

Pre-Agenda:

UTC1101 - common: ODOMETRY add optional quality field by rmackay9 · Pull Request #316 · ArduPilot/mavlink · GitHub

UTC1105 - Scripting: Support sending and recieving MAVLink messages by WickedShell · Pull Request #13660 · ArduPilot/ardupilot · GitHub

UTC1107 - Add and use AP_RCPROTOCOL_ENABLED by peterbarker · Pull Request #21083 · ArduPilot/ardupilot · GitHub

UTC1117 - APBoardConfig: Add skip validate board by haydendonald · Pull Request #23620 · ArduPilot/ardupilot · GitHub

UTC1121 - AP Scripting: Add health by haydendonald · Pull Request #23634 · ArduPilot/ardupilot · GitHub

UTC1127 - Plane: fix rangefinder correction when terrain follow is off by jschall · Pull Request #23658 · ArduPilot/ardupilot · GitHub

UTC1128 - Plane: treat LAND waypoint param1 as an AGL alt to climb to by jschall · Pull Request #23723 · ArduPilot/ardupilot · GitHub

UTC1129 - Mode takeoff step by step by Hwurzburg · Pull Request #23728 · ArduPilot/ardupilot · GitHub

UTC1151 - autotest: integrate features.json generation to build_binaries.py by peterbarker · Pull Request #23733 · ArduPilot/ardupilot · GitHub

UTC1153 - AP_HAL_ChibiOS: do not build ChibiOS with debug symbols unless debug build by peterbarker · Pull Request #23735 · ArduPilot/ardupilot · GitHub

UTC1155 - AP_Mount: support gimbal_manager_status and do_gimbal_manager_configure by rmackay9 · Pull Request #23737 · ArduPilot/ardupilot · GitHub

UTC0004 - AP_RCProtocol: Fix the issue of ST24 receiver not working by lipper-chengdu · Pull Request #23742 · ArduPilot/ardupilot · GitHub

UTC0010 - Add support for RPLidarA1 by peterbarker · Pull Request #23749 · ArduPilot/ardupilot · GitHub

UTC0015 - Consolidate AP_Periph serialmanager defaults by peterbarker · Pull Request #23751 · ArduPilot/ardupilot · GitHub

UTC0016 - SITL: stop using mavlink channels for packing messages by peterbarker · Pull Request #23763 · ArduPilot/ardupilot · GitHub

UTC0018 - Replace HAVE_FILESYSTEM_SUPPORT with backend defines by peterbarker · Pull Request #23781 · ArduPilot/ardupilot · GitHub

UTC0030 - Fix SkyViper scripting by peterbarker · Pull Request #23776 · ArduPilot/ardupilot · GitHub

UTC0031 - Filter: correct description of filter tracking mode by peterbarker · Pull Request #23787 · ArduPilot/ardupilot · GitHub

UTC0036 - Tools: Web: FilterReview: add spectrograph notch tracking overlay by IamPete1 · Pull Request #23798 · ArduPilot/ardupilot · GitHub

UTC0044 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0049 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0053 - pymavlink PR to fix mavlink generation

UTC0059 - expo stuff

UTC0100 - close