Dev Call May 26, 2025

Development Team
1

Release Update
4.6.0 was released!

Issues & Pull requests

2

Attendee count (max): 11

UTC1100 - Copter: Mode Follow: Update to use input_pos_vel_accel commands by lthall · Pull Request #30101 · ArduPilot/ardupilot · GitHub

  • Update Copter follow mode to use input_pos_vel_accel
  • Now uses acceleration
    • So only a following error when changing acceleration
  • From co-operative lift work
  • AP_Follow has lots of side-effects that really ought to be fixed
  • To update() call or not?
    • In the future, probably
  • Should we have locking in here?
    • There’s a race condition in here where we are updating the state
  • merged!

UTC1115 - AC_AttitudeControl: Add conversions from cd to rad by lthall · Pull Request #30120 · ArduPilot/ardupilot · GitHub

  • Add conversions from cd to rad
  • Copter is intending to change internally to use radians
  • This PR does two things
    • Changes the way we calculate radians(0.01)
      • For cd conversion
    • Creates radians versions for each of the methods on the library
  • We will come back to the cd-to-rad thing…
  • Some concern over moving to use radians rather than degrees
    • Both are better than cd!
  • EKF uses radians
  • Randy’s cool with the library being in radians
    • Less sure of Copter!
  • Visualisation problems really only a problem when you’re in the debugger…
  • We also discussed the cd-to-rad conversion stuff and agreed on a function which transforms one to the other

UTC1159 - Remove INAV from Copter by lthall · Pull Request #30153 · ArduPilot/ardupilot · GitHub

  • Remove inav from Copter
  • 9 calls to get_filter_status which are somewhat uglier
    • Can be fixed in a future PR
  • Want to have a better interface onto the AHRS to get its status
  • Lower angle-p for quadplane
    • Probably want a gain margin parameter
      • For use during autotune
    • Most people don’t reduce the autotune gains as suggested?
  • Much discussion on the autotune library

UTC0042 - vehicle update

  • 4.6.0 is out!
  • Unfortunately Peter and tridge came across a massive velocity variance in Copter
    • We caught it in Replay
    • Tridge is discussing with Paul
    • Bug in EKF when operating without 3-axis mag fusion
    • Partitioning of covariance matrix
    • Very bad attitude
    • Reproducible
      • And sometimes in different axes
    • Non-level ground?
      • Three example replay logs are all nose-down and/or some roll
    • Bisect?
      • Went back as far as we could
  • Pixhawk6 user is having issues with frame not initialising
    • Maybe the compiled out the correct frame…
  • TECS_PITCH_MIN poor behaviour change
    • positive/negative value change
  • Vehicle starts upside-down?
    • Takes its time to correct the attitude?

UTC0102 - Simulink support for ArduCopter by arunMathamkode · Pull Request #29452 · ArduPilot/ardupilot · GitHub

  • Simulink problem
  • Matlab want a C++ API
  • In the same way we have a LUA API
  • We want matlab to work with our existing APIs

UTC0111 - HAL_Linux: Re-init uart with configured baudrate by DrTobe · Pull Request #29597 · ArduPilot/ardupilot · GitHub

  • Re-init uart with configured baud rate
  • … actually a problem in the Linux HAL
  • Merged!

UTC0124 - Sub: allow SURFACE mode to work with no altitude data by Williangalvani · Pull Request #29996 · ArduPilot/ardupilot · GitHub

  • Allow Sub surface mode to work with no altitude data
  • Merged!

UTC0126 - Rover: add 'Loiter or Hold' as a failsafe action by Williangalvani · Pull Request #30079 · ArduPilot/ardupilot · GitHub

  • Add loiter-or-hold as a failsafe action

UTC0130 - AP_Proximity: LD06/LD19 gets mode filter by rmackay9 · Pull Request #30107 · ArduPilot/ardupilot · GitHub

  • Fix LD06 and LD19
    • Sunlight fix
  • Merged!

UTC0133 - AP_Arming:expand metadata on ARMING_REQUIRE by Hwurzburg · Pull Request #30128 · ArduPilot/ardupilot · GitHub

  • Fix documentation on ARMING_REQUIRE
  • A lot of discussion around getting rid of ARMING_REQUIRE
    • Adding an arm-once for Plane….
  • Can be merged after a small change

UTC0149 - Add rssi to Sub by Hwurzburg · Pull Request #30166 · ArduPilot/ardupilot · GitHub

  • Add rssi to sub
  • Merged

UTC0152 - Allow for simultaneous serial passthrough connections on AP_Periph by peterbarker · Pull Request #30133 · ArduPilot/ardupilot · GitHub

  • Simultaneous serial passthrough
  • Needs testing on GPS firmware update
  • Merged!

UTC0201 - create and use AP_AHRS::has_status by peterbarker · Pull Request #30175 · ArduPilot/ardupilot · GitHub

  • AP_AHRS::has_status
  • General happiness with this shape

UTC0205 - closed