Dev Call May 19, 2025

Development Team
1

Flight Code Update

Issues & Pull Requests

2

Attendee count (max): 15

UTC1100 - vehicle update

  • ECC Flash problem
    • Will copy bootloader from master for affected board which removes the ECC check
    • Will do better in master
  • LD06/LD019 will just use a mode filter
  • AMSL waypoint fix will go back in
  • Discussion of which new PRs we really need to bring things back

UTC1116 - DFReader Speedup by robertlong13 · Pull Request #1029 · ArduPilot/pymavlink · GitHub

  • Patch from Bob to make parsing logs in MAVExplorer much faster
  • Merged!

UTC1117 - ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

  • New board
  • Removed a file it should not have
  • BLE support would be nice

UTC1130 - https://github.com/ArduPilot/ardupilot/pull/25655

  • Sub gps for ayw tes
  • Couple of changes required

UTC1131 - New MAVx_OPTIONS parameter to enable channel-specific signing by ben-sembira-1 · Pull Request #29546 · ArduPilot/ardupilot · GitHub

  • Option bit on MAVn_OPTIONS to not load signing key on some mavlink connection
  • Why do we want to do things the same way as USB?
    • Simpler story?
  • Timestamp is linked between streams…

UTC1144 - HAL_ChibiOS: Added support for CORVON743V1 by holydust · Pull Request #29797 · ArduPilot/ardupilot · GitHub

  • Support for Corvon743v1

UTC1150 - Follow kinematic shaping by lthall · Pull Request #29898 · ArduPilot/ardupilot · GitHub

  • Follow kinematic shaping
  • No change in behaviour for Copter or Plane ATM
    • But removes the call for setting offsets out of the library and into the actual mode
    • So the mode calls update_kinimatic_hsaping rather than just one of the calls
  • This goes in after the inav changes
  • FOLL_DIST_MAX would need to be set on quadplane….
    • Maybe 0 means accept anything?
    • Still important
    • Maybe you’re too slow….
  • Generally good

UTC0006 - Add option to ignore parameter sets / LUA applet to handle parameter sets by peterbarker · Pull Request #29989 · ArduPilot/ardupilot · GitHub

  • LUA script to block parameter sets
    • Based on both parameter name and potentially parameter value
  • MergeOnCIPass

UTC0015 - Sub: allow SURFACE mode to work with no altitude data by Williangalvani · Pull Request #29996 · ArduPilot/ardupilot · GitHub

  • Surface with no altitude data
  • A few minor changes requested

UTC0022 - Scripted Arming Checks by timtuxworth · Pull Request #30009 · ArduPilot/ardupilot · GitHub

  • Scripted arming checks
  • Peter will merge once he’s happy with the autotest

UTC0030 - 29836 dds gliding service by Ryanf55 · Pull Request #30017 · ArduPilot/ardupilot · GitHub

  • DDS gliding service
  • Each little capability requires a little bit of C++ change
    • Maybe add dds endpoint in LUA?
  • There’s a service table in DDS
  • Add a LUA binding which adds to a linked list of LUA-services
    • When a request comes in for a dynamic service add it to a queue of things for the LUA script to process
    • LUA script would post a reply to another queue
  • Have the LUA script be able to parse an IDL file to then understand it?

UTC0045 - hwdef: make using custom build a bit easier by tridge · Pull Request #30030 · ArduPilot/ardupilot · GitHub

  • Make custom build a bit easier
  • Disabling a sensor creates problems
  • So magically enable the sensor
    • 5883P only on 1MB boards
  • Peter wants less magic
    • Allow compilation with the sensor disabled
  • Randy wants the custom build server to be more aware of the board limitations

UTC0105 - Remove INAV from Position Control by lthall · Pull Request #30037 · ArduPilot/ardupilot · GitHub

  • Remove INAV from position control
  • Very few places remaining in Copter to kill inav
  • Needs a flight test but looking very positive

UTC0117 - AP_Scripting: Add wind decoder for Trisonica LI-550 by Ryanf55 · Pull Request #30054 · ArduPilot/ardupilot · GitHub

  • Add decoder for Trisonica-LI550
  • Just logs data for now
  • Move to examples and it will probably move to drivers later

UTC0121 - AP_ExternalAHRS: include only on boards with more than 2MB of flash by peterbarker · Pull Request #30062 · ArduPilot/ardupilot · GitHub

  • Disable external AHRS on boards <2048
  • Users will need to use custom build server or use a constum hwdef build (OEM setup)
  • Randy’s volunteered to do the Wiki
  • merged

UTC0122 - Disable ECC flash erase on bootloaders using flash for parameter storage by andyp1per · Pull Request #30075 · ArduPilot/ardupilot · GitHub

  • Disable ECC flash erase on bootloaders using flash for parameter storage
  • Not right now - want to wait for Thomas’ work to go in

UTC0123 - Add terrain comparison to rangefinder Jupyter notebook by Ryanf55 · Pull Request #30089 · ArduPilot/ardupilot · GitHub

  • Add terrain comparison to rangefinder Jupyter notebook
  • Interactive Python script
  • QGC used COP30 already?!
    • Need to convert from tiff to the .dat format
  • 80m error!?

UTC0135 - autotest: add test for TECS throttling up in auto by peterbarker · Pull Request #30091 · ArduPilot/ardupilot · GitHub

  • Add test for TECS throttling up in auto
    • Could tell TECS we are overriding things?
    • Need to be concerned with sticks being outside the trims by default
      • May not fix things anyway as it’s not necessarily an integrator problem
  • End-goal for any fix is to not exceed AIRSPEED_MAX
  • Should we be resetting TECS?
  • Should we change the default for stick mixing to off?
    • Massive change in behaviour?
  • Should we add another stick mixing option that plays nice with the controllers?
  • Target altitude and target climb rate to TECS instead?
  • We need a fix to stop TECS over-speeding the aircraft

UTC0148 - Move option bits from SERIALn_OPTIONS to MAVn_OPTIONS by peterbarker · Pull Request #30094 · ArduPilot/ardupilot · GitHub

  • Move option bits from SERIALn_OPTIONS to MAVn_OPTIONS
    • Allows you to set the bits on MAVLink connections which are not serial ports
  • Peter needs to look at why the parameter set stuff isn’t working

UTC0156 - Make fence action enum class by peterbarker · Pull Request #30097 · ArduPilot/ardupilot · GitHub

  • Make fence action enum class
  • Merged!

UTC0158 - Dds quadplane takeoff by Ryanf55 · Pull Request #30098 · ArduPilot/ardupilot · GitHub

  • Quadplane takeoff in DDS
  • Should go via externalcontrol
  • merged

UTC0204 - AP_Proximity: LD06/LD19 gets mode filter by rmackay9 · Pull Request #30107 · ArduPilot/ardupilot · GitHub

  • Use mode filtering LD06/LD19
  • Filter out value before applying to mode filter?
  • Looks good, Randy will fix the autotest

UTC0213 - close