Issues & Pull Requests
Plane
Copter
Attendee count (max): 15
UTC1102 - AP Scripting: Add health by haydendonald · Pull Request #23634 · ArduPilot/ardupilot · GitHub
- Add sensor health bindings to LUA
- The ternary operator is too much
- It looks correct
- But too hard to read
- Baro, compass, iomcu, gyro, accel
- Can be merged once the baro function has been made more readable
UTC1106 - Plane: takeoff to xtrack to virtual wp ahead instead of heading-hold by magicrub · Pull Request #14679 · ArduPilot/ardupilot · GitHub
- Appears to be using velocity vector
- Tridge and Paul did some similar work back in 2020
- Currently takeoff doesn’t have a location
- Takeoff is a location message
- lat/lng in the waypoint wasn’t traditionally used
- If you did fill it in then MP wouldn’t show it on the map if Lat/lon != 0
- So couldn’t manipulate it
- Is there a MR or ticket for this?
- Need to verify in Mission Planner - Tom thinks if either LLA is zero, it is removed - needs fixed
- If you did fill it in then MP wouldn’t show it on the map if Lat/lon != 0
- Need a mechanism to say that we should use the lat/lng as a point?
- Ground heading?
- Gps velocity vector or gps yaw?
- Gps ground course?
- Ground course from ahrs is pretty bad until you get some velocity
- Placing the waypoint on the map works for both cases
- Current strategy should actually work pretty well for Tom
- Wind blows it off course
- Should be a ground course that it holds
- Does not cross-track is the problem
- So ends up with a cross component
- A tkoff_options bitmask?
- Waypoint lat/lng has advantage because you have it right from the start
- Method where you get it from the ground course is problematic because you need sufficient velocity for the GPS and EKF to settle on a velocity vector
- Need a threshold of some description
- There’s a min-gps-speed parameter at 5m/s at the moment
- Don’t try takeoff-to-location if you don’t have position
- All this is really doing is using AHRS instead of GPS
- AHRS may not be as good as GPS
- AHRS could be affected by magnetic interference
- High currents at takeoff esp.
- This PR could go in with the few changes
- Wrap it in a switch with an option
- Specify the LLA in the takeoff command
- Need to look at the assumption of next_wp_loc == prev_wp_loc
- Bits to specify type of takeoff
- Plane: enable options for using NAV_TAKEOFF location in takeoff · priseborough/ardupilot@a6d2b2b · GitHub
- Current strategy should actually work pretty well for Tom
UTC1138 - GCS_MAVLink: home position should always send by magicrub · Pull Request #23636 · ArduPilot/ardupilot · GitHub
- Always send home position
- Home position message has a position relative to origin fields
- Need to know why we can’t send home position before origin
- We’ll send nans in fields we don’t know about
- And all-zeroes to make an invalid quaternion
UTC1152 - Plane: Quadplane: move modes fully to run function by IamPete1 · Pull Request #23657 · ArduPilot/ardupilot · GitHub
- Moves modes fully to run function
- Tested in RealFlight a lot
- merged!
UTC1153 - .editorconfig: Update for more standards aware editors by WickedShell · Pull Request #23731 · ArduPilot/ardupilot · GitHub
- Update for more standards aware editors
- Trailing newlines are a PITA
- Stop removing trailing whitespace on save as it causes git spam
- Should we make it a CI rule on code style?
- Discourages new developers?
UTC1158 - Copter update
- Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub
- Issue with very short failsafes ELRS
- Yaw reset when not having flown over 2m
- Still doing 2D fusion
- More susceptible to interference
- Andy’s report on serial ports and GPS / serial passthrough not working
- Passhtrough to GPS over CAN for firmware update e.g. ublox f9p and ucentre would be nice
- Sid had something working
- More important as people are moving to CAN GPSs
- Endless climb with vertical bendy ruler
- Siyia8 not working right?
- When yaw is disabled
- Roi with 3d works but not if you disable yaw
- Should act perfectly as a 2D gimbal at that point
- Users forgetting to set CAM1_TYPE
- Zoom not working on a8
- CAM_TRIG_TYPE must be set
- This is not just a mount!
- RC loss and regain issue
- Top priority is the RCIN problem
- 4.0.6 was first version with the bug
- Probably of bug occurring might have increased
- we ‘ve worked out how to do multiple betas now
- IOMCU problem
- Two ports on IOMCU on same pin, one inverted, one not
- Bug in IOMCU firmware means that we may lock onto wrong port and then never give you RC again
- Took tridge many hundreds of times to reproduce with a debugger
- But some people could reproduce straight away
- The no-change things might have made things worse.
- Tridge hasn’t found a reason as to why that would make things worse
- Suspicious in terms of causality but doesn’t seem to be a path
- Weirdly if you put your sticks into just the right position things might recover?!
- Just the right bit-patterns
- Randy’s going to work on a 4.3 this-afternoon
- Randy’s going to work on Rover autotune
- The quicktune method will probably work for this
UTC0002 - AP_Motors: example: add ability to dump all matrix motor layouts in JSON format by IamPete1 · Pull Request #23821 · ArduPilot/ardupilot · GitHub
- Add ability to dump all matrix motor layouts
- Generator diagrams automagically from code
- If it did it live it could dump the scripted-setup motors
- Merged
UTC0020 - AP_Motors: example: add ability to dump all matrix motor layouts in JSON format by IamPete1 · Pull Request #23821 · ArduPilot/ardupilot · GitHub
- Gate set_rc_protocols
- Just remove the defines
- 10:26 AM]Peter Barker: Apologies for running away while dicussing that defines PR. IRLock sent me a Siyi A8Mini camera which just arrived
UTC0022 - AP_Logger: make SCR name field instance by tatsuy · Pull Request #23829 · ArduPilot/ardupilot · GitHub
- Make SCR name field instance
- It’s not actually unique
- Plot.ardupilot.org?
UTC0027 - Filters: Examples add transfer function check tools by IamPete1 · Pull Request #23839 · ArduPilot/ardupilot · GitHub
- Stop brute-forcing phase lag
- Use transfer functions
- Matlab experiments show these work
- Filter tool will run very, very fast past this
UTC0031 - Remove type pun warnings and enable Werr in SITL CI by Ryanf55 · Pull Request #23841 · ArduPilot/ardupilot · GitHub
- Remove type pun warnings and enable werr in SITL
- Need a whitelist of SITL compilers to whitelist
- Some naming issues
- Sparse_endian.h is starting to get out of hand
- Some cpp functions required
- Should use byte_order.h for performance
- Sparse_endian.h is starting to get out of hand
- Hundreds of places in our code which assume little-endian
- #error ArduPilot relies on little-endian
- Let’s do the memcpys turn out before we look at
- Memcpy can be very efficient if it knows the third argument
UTC0050 - Vulnerability - AP_GPS_GSOF latitude conversion subject to arithmetic exception · Issue #23842 · ArduPilot/ardupilot · GitHub
- If we get very bad data from a GPS then we can get arithmetic exceptions
- Very weak checksum
- Stm32 we’ll do the right thing
- We don’t die
- This is a SITL-only check
- GPS vendor should fix their protocol to have a proper 16-bit crc (or better) checksum
- Rented GPS?!
- GPS will stop working….
UTC0059 - Tools: autotest: Web: remove tools by IamPete1 · Pull Request #23850 · ArduPilot/ardupilot · GitHub
- Remove WebTools as we now have a dedicated repo
- Merged!
UTC0103 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
- Beta for Plane-4.3 will be out this-arvo
- Dual betas as this will also be going into the 4.4 beta
- Please, please test the beta!
- Even if you’re just firing it up in your study!
- Flight controllers with iomcu and receiver on that iomcu
- Test and comment on the PR
UTC0104 - close