Dev call May 20 2024

CraigElder · May 20, 2024, 11:13pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_HAL_SITL: add packet loss and delay to each uart

ArduPilot:master ← robertlong13:pr/uart_delays

opened 12:17AM - 15 Dec 23 UTC

robertlong13

+419 -10

I need a way to simulate: 1) Packet loss rate on a per-link basis 2) Comm late…ncy (I am working on a redundant link manager plugin for Mission Planner that tries to intelligently select the "best" link to the aircraft.) Before this, you could only simulate single-byte losses, and the setting applied to all serial ports. This switches to dropping full packets (I may extend this to partial packets at some point, to catch any issues caused by dropped data not aligning with packet boundaries, but I'm trying to figure out how to do that without introducing a million parameters), and it allows you to set the drop rate per serial port. In conjunction with a lua script, this could be used to cause burst losses for multiple seconds or could steadily increase the loss rate as you fly further from home. I also added two queues to delay packets for a period of time both in and out. This is to simulate, for example, the ping time of a 4G link or satcom. This could even be used with a script that randomly sets this high and then low to simulate a TCP link that locks up for some period of time, then delivers all that data all at once when it comes back. I have included a simple example script for an RF link, a cell link, and a hypothetical satellite device. Here's a screen of flying this aircraft in Mission Planner with all three links: <img width="694" alt="image" src="https://github.com/ArduPilot/ardupilot/assets/14059190/e49ee1ca-01a1-4312-bcfa-cbd11f02e26f"> Here's a little animation of me testing that the latency works two-ways. Three instances of Mission Planner running on three different links. The left has no delay, and the two on the right have a delay of 500ms both ways. 500ms after I click the button on the right, the status message on the left updates (because the RX latency of the SITL link receiving the AUX function command), and then 500ms after that, the status message on the right updates (because the TX latency of that SITL link) ![CommLatencySim](https://github.com/ArduPilot/ardupilot/assets/14059190/dae18833-4ee9-4a1b-8db4-0702629ddd63)

github.com/ArduPilot/ardupilot

AP_OSD: Add configurable sidebar horizontal and vertical size extensions

ArduPilot:master ← rmaia3d:pr/flex_sidebars

opened 01:16PM - 29 Feb 24 UTC

rmaia3d

+31 -6

Adds configurable parameters for adjusting the horizontal spacing and vertical e…xtension of the OSD sidebar elements. The parameters works as offsets, so the default value of 0 changes nothing in regards to the actual implementation. By setting the horizontal offset to positive values, it will increase the width/spacing between the sidebar elements, to the right, by the amount of columns specified. By setting the vertical extension parameter to a positive value, the vertical length will increase equally, both top and bottom, by the specified amount of lines. This is specially useful for HD video systems, where the OSD screen size is larger and the default sidebar size and spacing can be small and a nuisance right in the middle of the screen. Below is how a horizontal offset of 16 columns and vertical extension of 1 line looks on an HD screen (Walksnail). ![ARDU_Flex_Sidebar_WS_full_width](https://github.com/ArduPilot/ardupilot/assets/9812730/5eb8fded-b0ba-48bc-a4dd-095d1ee0ba53)

github.com/ArduPilot/ardupilot

AP_OSD: add BTFL sidebar symbols

ArduPilot:master ← rmaia3d:pr/sidebar_btfl_fix

opened 01:41PM - 29 Feb 24 UTC

rmaia3d

+26 -0

Adds the sidebar symbols translation to BTFL fonts, so sidebar is properly displ…ayed in DJI O3 OSD. ![ARDU_BTFL_Sidebar_fix](https://github.com/ArduPilot/ardupilot/assets/9812730/93201f13-759c-4fe6-af76-e0608b2c4bce) (The image above shows the sidebars with a non-default width, made possible by the changes in #26359, but this PR and that one are completely independent, I just used the same code for testing).

github.com/ArduPilot/ardupilot

Fix infinite climb bug when using EK3_OGN_HGT_MASK

ArduPilot:master ← peterbarker:pr/ogn-bug

opened 05:00AM - 29 Apr 24 UTC

peterbarker

+39 -5

This bug-finding and fix are not mine. The autotest is mine, however :-) @pa…vloblindnology reported them here: https://github.com/ArduPilot/ardupilot/issues/24039 @pavloblindnology was this the fix you were recommending? This PR is based on https://github.com/ArduPilot/ardupilot/pull/26916 which adds some infrastructure changes to make autotesting with baro drift easier.

github.com/ArduPilot/ardupilot

ArduPlane Terrain Following not functional in Guided mode

opened 05:21AM - 02 May 24 UTC

iNotMario

BUG Plane DevCallTopic

**Issue details** It appears that the terrain following functionality does no…t actually follow the Terrain in either Guided or Circle modes. All terrain blocks are loaded, none pending. It works perfectly in Cruise, FBW-B, Loiter, QRTL, RTL Modes. SITL Command: sim_vehicle.py -v Plane -f quadplane GCS: QGroundControl Please see this discussion for other reports: https://discuss.ardupilot.org/t/terrain-follow-in-guided-mode/91703/16 **Version** 4.5.1 Probably Earlier **Platform** [ ] All [ ] AntennaTracker [ ] Copter [X] Plane [ ] Rover [ ] Submarine **Airframe type** QuadPlane (QuadRotor VTOL) **Hardware type** SITL, CUAV-X7 **Logs** My Current log is 1GB+. I will do a more concise simulation and upload for your viewing pleasure.

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

+535 -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

AP_HAL_ChibiOS: add hwdef for Flywoo/Goku F405 HD 1-2S ELRS AIO v2

ArduPilot:master ← rotorman:FlywooF405S-AIOv2

opened 09:00AM - 10 May 24 UTC

rotorman

+1040 -0

Adds support for https://flywoo.net/products/goku-f405-hd-1-2s-elrs-aio-v2 (adap…ted from FLYWOO_F405S_AIO target). The biggest difference is that PB05 is used to control 9V/VTX positive rail power with PINIO 1, GPIO(81) on the new v2 HD video supporting AIO (e.g. to stop VTX overheating when setting up on the bench or waiting GPS to get a lock). Uses the new proposed Board ID `1180` from #27037 This PR was tested with 2" [Flywoo FlyLens 85](https://flywoo.net/products/flylens-85-frame-kit) tinywhoop (picture taken during indoor flight while in ArduCopter PosHold using optical flow and rangefinder): ![grafik](https://github.com/ArduPilot/ardupilot/assets/21011587/f0eb2b9f-5aa8-4b53-a86a-ecb3bb5dfb4c) With this PR, 9V/VTX output pin state on Goku F405 HD AIO v2 can be controlled using [ArduPilot relay switch](https://ardupilot.org/copter/docs/common-relay.html) function (`RELAYx_FUNCTION 1`, `RELAYx_PIN 81` and `RCy_OPTION` either 28 (x=1), 34 (x=2), 35 (x=3), 36 (x=4), 66 (x=5) or 67 (x=6)). (Goku F405 HD 1-2S ELRS AIO v2 flashed with custom ArduCopter v4.6.0-dev using the target files from this PR, ESP8285 flashed with [mLRS](https://github.com/olliw42/mLRS), the quad is equipped also with [MicoAir MTF-01](https://micoair.com/index.php/optical_range_sensor_mtf-01/) and [Walksnail Avatar HD mini 1s lite](https://caddxfpv.com/collections/1s-3s-vtx/products/walksnail-avatar-hd-mini-1s-lite-kit))

github.com/ArduPilot/ardupilot

AP_NavEKF3: accept set origin even when using GPS

ArduPilot:master ← rmackay9:ekf3-allow-set-origin-even-with-gps

opened 12:36AM - 17 May 24 UTC

rmackay9

+61 -13

This removes two unnecessary constraints on when the EKF origin can be set and a…dds an autotest (courtesy of PeterB). The existing constraints cause problems when the vehicle is simultaneously using GPS and OpticalFlow (e.g. EK3_SRC1_POSXY = 3/GPS, EK3_SRC1_VELXY=5/OptFlow, EK3_SRC_OPTIONS = 1/FuseAllVelocities) and the vehicle's start location is indoors where there is no GPS. In this situation the user is currently stuck because the constraint means the origin must come from the GPS but the GPS cannot provide a Location. I've received two reports of this inconvenience ([the most recent report is here](https://discuss.ardupilot.org/t/lua-scripting-set-ekf-origin/117935)). Note that I've also removed a constraint for, "PV_AidingMode == AID_ABSOLUTE". As far as I know there is no way the EKF can be in AID_ABSOLUTE without an origin which we check for moments later in setOrigin(). It does no harm but it also does no good and is probably just a left-over from the earlier changes related to a common origin or the moving internal origin. I have tested this in SITL to confirm that it resolves the issue. Using master/latest with both GPS and optical flow enabled and SIM_GPS_DISABLE=1 the EKF origin could not be set using MAVProxy's right-mouse-button menu. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/d71ed7eb-dc1f-4254-ab80-ec4334c9bd19) With this PR the origin could be set. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/ea76e169-9b1a-437d-9847-b915fc617d77) In addition the vehicle could be force armed (to bypass the "GPS 1: Bad fix" message) and flown. Below is a screen shot of a test in which the GPS was disabled and the EKF origin was purposely set 100m off from the correct Location. The vehicle was armed and flew correctly albeit with a persistent position offset. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/5f587411-cfec-46eb-bccf-f19bcb43b601) When GPS was restored (e.g. param SIM_GPS_DISABLE 0) the vehicle correctly (and smoothly) jumped back to its actual position). ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/e41a9985-78f6-4839-9fd7-194a747a108f) Note that I found a [bug in master](https://github.com/ArduPilot/ardupilot/issues/27103) during testing. This PR makes it no better but also no worse.

github.com/ArduPilot/ardupilot

AP_TECS: modify max climb estimate to prevent throttle bouncing on limit

ArduPilot:master ← jschall:pr-tecs-throttle-bounce

opened 08:58PM - 20 May 24 UTC

jschall

+6 -2

During a steady climb where throttle is saturated, throttle will not consistentl…y hold at 100%, but will instead periodically bounce because of the behavior of ```_max_climb_scaler```. The same applies to descents. Example from log: ![bouncing-throttle](https://github.com/ArduPilot/ardupilot/assets/1015761/8f12dedd-5853-4d5b-b26d-f59e2145f77d) This pull request contains a **currently un-tested** proposal for fixing this. ```_max_(climb|sink)_scaler``` will now asymptotically approach the current climb/sink rate (plus a 10% margin, to be discussed) over time, rather than rocketing down toward zero. @magicrub @tridge @samuelctabor @priseborough thoughts?

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

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) - [ ] 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: - [ ] https://github.com/ArduPilot/ardupilot/issues/27017 ([PR](https://github.com/ArduPilot/ardupilot/pull/27099)) - [ ] Rover watchdog on 4.5.1 ([discussion](https://discuss.ardupilot.org/t/rover-4-5-2-beta1-available-for-beta-testing/117186/7), [PR](https://github.com/ArduPilot/ardupilot/pull/27059)) - [ ] 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 - [ ] 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: - [ ] ESC Telemetry on OSD for Servo9 ([issue](https://github.com/ArduPilot/ardupilot/issues/27064)) -- andy1piper says this is caused by a bug fix and so an enhancement request is required - [ ] 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] CubeOrange with Siyi A8 failing to boot 1 in 20 times ([issue](https://github.com/ArduPilot/ardupilot/issues/26852)) -- fixed with Siyi firmware 0.3.7 - [x] 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)) -- resolved for 4.5.3-beta1 - [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)) -

CraigElder · May 23, 2024, 3:53pm

Attendee count (max): 20

UTC1100 - AP_HAL_SITL: add packet loss and delay to each uart by robertlong13 · Pull Request #25775 · ArduPilot/ardupilot · GitHub

Add latency and packet loss to serial links
Just use Linux’s “tc” (traffic control” link quality simulation for packet loss?
Using the word “packet” at the serial link level is bad
List of parameter structures….
- Should do better
Need to do latency on a per-packet basis, loss on a per-byte basis
Use an ObjectBuffer rather than a deque?

UTC1118 - AP_OSD: Add configurable sidebar horizontal and vertical size extensions by rmaia3d · Pull Request #26359 · ArduPilot/ardupilot · GitHub

Add configurable sidebar horizontal and vertical size extensions
Merged

UTC1122 - AP_OSD: add BTFL sidebar symbols by rmaia3d · Pull Request #26360 · ArduPilot/ardupilot · GitHub

Add BTFL sidebar symbols
Merged!

UTC1124 - Fix infinite climb bug when using EK3_OGN_HGT_MASK by peterbarker · Pull Request #26917 · ArduPilot/ardupilot · GitHub

Fix climb bug when using EK3_OGN_HGT_MASK
Need Paul to look at it

UTC1129 - ArduPlane Terrain Following not functional in Guided mode · Issue #26953 · ArduPilot/ardupilot · GitHub

terrain following not function in guided mode?
Tridge tested on call and it worked for him
Maybe the GCS isn’t sending the frame through?
- MAVProxy allows specification of the frame
Logs actually say that it ‘s coming in absolute (see MAVC log message)
Need QGC to show AGL height

UTC1135 - AP_Scripting: add lua-language-server checks and docs generation. by IamPete1 · Pull Request #27001 · ArduPilot/ardupilot · GitHub

LUA language checks and docs generation
Now without brew
Downloads release from github
New scripts, no skipping errors please!
May need to pip install a release downloader thingy
Perhaps we need a requirements.txt in the root of the tree?
merged!

UTC1142 - AP_HAL_ChibiOS: add hwdef for Flywoo/Goku F405 HD 1-2S ELRS AIO v2 by rotorman · Pull Request #27036 · ArduPilot/ardupilot · GitHub

Add Flywoo/Goku F405 GD
Commits need fixing
Henry will review and fix up the commits

UTC1143 - AP_Bootloader: ID reserve for FlywooF405HD_AIOv2 by rotorman · Pull Request #27037 · ArduPilot/ardupilot · GitHub

Reserve IDs for Flywoo
MergeOnCIPass

UTC1146 - AP_Param: Summarize the type definitions settings by muramura · Pull Request #27042 · ArduPilot/ardupilot · GitHub

Tidy AP_Param code a little
Merged!

UTC1147 - AP_NavEKF3: accept set origin even when using GPS by rmackay9 · Pull Request #27081 · ArduPilot/ardupilot · GitHub

Accept set-origin even when using GPS
GPS/OF combination is difficult ATM as we don’t allow setting origin if you have a GPS
Extreme ArduPilot allowed for better origin handling
Some F4 boards can’t cicumnavigate the planet
H7 isn’t a problem

UTC1148 - Remove reduntant @Values from parameter documentation by peterbarker · Pull Request #27082 · ArduPilot/ardupilot · GitHub

Remove @Values/@Bitmask in same paramn doc
A couple of fixes but can then be merged

UTC1157 - SITL: added SIM_WIND_TC by tridge · Pull Request #27083 · ArduPilot/ardupilot · GitHub

Add SIM_WIND_TC
Disabling GPS in SITL?
- SIM_GPS_DISABLE doesn’t stop feeding data in, just the fix type to 1
- Set SIM_GPS_TYPE instead?
- Byte loss
- There are actually a lot of options to stuff around with it
merged!

UTC0004 - Plane:correct Q_ASSIST metadata by Hwurzburg · Pull Request #27092 · ArduPilot/ardupilot · GitHub

Q_ASSIST metadata fixes
- Must set to -1 rather than 0
Merged!

UTC0007 - AP_BattMonitor: FuelLevel_Analog: set has_current true so capacity is reported by IamPete1 · Pull Request #27099 · ArduPilot/ardupilot · GitHub

Set has_current true so capacity works
Merged!

UTC0008 - AP_TECS: modify max climb estimate to prevent throttle bouncing on limit by jschall · Pull Request #27106 · ArduPilot/ardupilot · GitHub

Modify TECS climb estimate to prevent throttle bouncing on limit
Marked for Paul to look at
Poor tuning
- But should you misbehave like this?

UTC0015 - Plane 4.5.x issue tracking · Issue #26202 · ArduPilot/ardupilot · GitHub

4.5.3beta
- Want to get 4.5.3 out ASAP
- No reports from any beta testers….
- Release next Monday?
- We need more beta-testing!
  - Releases too often?
  - New hardware is coming out very rapidly
  - 6 month cadence is too much?
  - Limit beta releases to just hardware?
    - Need bugfixes too
  - Many people out there already keen on 4.6….
  - “Hard-and-fast rules don’t work”
  - Leonard sees the amount of work Randy and tridge do for the releases
    - He thinks a 9 month release cycle might be a good idea
      - More DevTeam members testing would be good
        
        Very expensive vehicles, ‘though!
        
        Get more cheap hardware into DevTeam hands?
        
        Henry flies a lot, but doesn’t explicitly fly the betas
        
        How do you know what to test in the release?
        
        Most changes can be tested in SITL….
        
        Some imagination + SITL can recreate the cvast majority of our problems
[10:19 AM]rmackay9: I think we should hire a beta tester…
[10:19 AM]BrandonMacDougall: I do some testing ASAP.
[10:21 AM]Buzz: drop the beta’s and do 4 releases a year and stop backporting?
[10:22 AM]rmackay9: I think people just aren’t that interested in beta testing because the releases tend to be much smaller changes than in the old days
[10:23 AM]rmackay9: AP is also very stable so it’s already working well
[10:25 AM]Ferruccio1984: I try and test each beta (on heli). Weather has not been on my side in the last 3 weeks though…field not practicable
[10:26 AM]jschall: or half million dollar vehicles…
[10:26 AM]Buzz: I’m unable to test more becasue I have a day job and not enough spare time to fly, its not about the money, its about the time.
[10:26 AM]rmackay9: i agree that funding in some form could help
[10:27 AM]Peter Hall: For us the problem is not having vehicles, its having a space to fly them.
[10:27 AM]Leonard: Yeh, I was thinking that is one of my challenges with all the changes in regulations.
[10:30 AM]Buzz: Would changing to a ‘bleeding-edge’ + ‘stable’ , and no betas/s help? …maybe stable could be called ‘LTS’, and new-hardware would go into ‘bleeding’?
[10:30 AM]Buzz: … ie no betas.
Tim points out that it’s only been a couple of days since the beta was put out
How to test?
- Do we need to call out explicitly what we want tested?
- Release notes cover this?
- Formalise the testing a bit?
  - E.g. a google poll
- Can’t increase the workload of Randy/tridge
- We used to list the people that helped with the beta reporting but it was too much work
- Should we pay someone to beta-test?
- Upload logs, we extract what’s been tested
  - Or extract data from log and push it online
https://firmware.ardupilot.org/FWStats/May2024/beta.txt
- Shows a lot of people downloaded it
How about some GCS support to make it easier for people to provide feedback?

UTC0048 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

Copter update
ETF fix
Still several issues outstanding
Rover watchdog
- Confirmed issue
Perhaps they’ve got USB connected and they’ve put a 2MB firmware on a 1MB file?
- All-zeroes watchdog…
Separate issue watchdog Discord
Randy’s testing QGC 4.4 release
- Highly motivated to get this one out
  - New camera and gimbal control screen
  - David’s got an APK file for a HereLink
Have different application ID for beta vs stable
Easier to use SimOnHardware when using other ground stations

UTC0104 - from the floor

LD06
There’s a guide-to-being-DevTeam-member document, on #DevTeam

UTC0105 - Plane: fix rangefinder correction when terrain follow is off by jschall · Pull Request #23658 · ArduPilot/ardupilot · GitHub

If terrain is disabled and you specify a height-other-than-zero for land waypoint then you will crash
Won’t flare or will flare really high
- Terrain delta is the error
Tridge will work with JS on this one

UTC0113 - AP_Compass: magcal keeps soft iron matrix + scale bugfix by jschall · Pull Request #27107 · ArduPilot/ardupilot · GitHub

Change large-vehicle-mag-cal to maintain the diags and off-diags
This Can’t be the default
Maybe just do this off-board instead?
Make it a little LUA script?
- Maybe a compass option bit to keep the off-diags?

UTC0020 - Plane: check for terrain enable in terrain-rangefinder consistency check by jschall · Pull Request #27115 · ArduPilot/ardupilot · GitHub

Check for terrain enable tin terrain rangefinder consistency
Tridge wants to see some logs

UTC0125 - close

Yuri_Rage · May 23, 2024, 4:27pm

Re: beta testing (somewhat Rover specific, but I think the sentiment likely applies across the board):

For a while, the major feature set was growing rapidly, and fixes to major underlying libraries/components were regular and clearly impactful across the spectrum of vehicles and users (AHRS/EKF improvements, nav changes, GPS features, etc). Since the official release of Rover’s PSC-based navigation system, the predominance of work has been on new hardware support, camera/gimbal support/enhancements, and smaller bug fixes. There have been few significant QoL improvements or feature additions that would catch the attention of a wide audience. If a user isn’t specifically using that new hardware or in need of a specific added feature/bug fix, the motivation to beta test is fairly low. For example, the past few betas have largely included changes I really don’t even have the means to test.

At a minimum, I think a specific list and/or methodology for testing each release would be helpful as an accompaniment to the laundry list of what tend to be very terse release note bullets.