Dev Call May 29, 2023

CraigElder · May 29, 2023, 10:58pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Move mavlink receive buffer into GCS_MAVLINK object

ArduPilot:master ← peterbarker:wip/comm-num-buffers-change

opened 02:40AM - 03 Jan 23 UTC

peterbarker

+51 -37

Currently we define `MAVLINK_COMM_NUM_BUFFERS` without defining MAVLINK_GET_CHAN…NEL_BUFFER This makes the mavlink library statically allocate objects to hold data about messages being received. Combined this comes to about 300 bytes per value in `MAVLINK_COMM_NUM_BUFFERS` `MAVLINK_COMM_NUM_BUFFERS` is 5 on our embedded boards. Our default parameters set mavlink on serials 0, 1 and 2. So in the default configuration we burn ~900 bytes of RAM on static buffers that will never be used. This change moves the buffer (and the status object) into the GCS_MAVLink objects, which are dynamically allocated at boot-time according to the user's parameters. This will stop us burning that 900 bytes, and for each backend the user disables will free up an additional 300 bytes. Drawbacks here include - we size a lot of arrays on MAVLINK_COMM_NUM_BUFFERS - these *should* at least be based off a renamed variable, something like MAX_GCS_MAVLINK_BACKENDS or similar. - increased overheads when getting the buffer and status objects - severity yet to be assessed - possibly a few more bytes of flash used (yet to be assessed) Some very, very badly extracted numbers from a CubeBlack: ``` master freemem/backends: 3: STABILIZE> 277: MEMINFO {brkval : 0, freemem : 50384, freemem32 : 50384} 2: STABILIZE> 522: MEMINFO {brkval : 0, freemem : 52864, freemem32 : 52864} 1: STABILIZE> 654: MEMINFO {brkval : 0, freemem : 55328, freemem32 : 55328} new freemem/backends: 3: STABILIZE> 1493: MEMINFO {brkval : 0, freemem : 51160, freemem32 : 51160} 2: STABILIZE> 1102: MEMINFO {brkval : 0, freemem : 53960, freemem32 : 53960} 1: STABILIZE> 906: MEMINFO {brkval : 0, freemem : 56520, freemem32 : 56520} ``` ... but at least there's rough correlation with the expected savings. @Hwurzburg should we document disabling un-used `SERIALn_PROTOCOL==2` backends as a way of saving memory on e.g. F405?

github.com/ArduPilot/ardupilot

DDS: Added subscriber support

ArduPilot:master ← arshPratap:ddsSubscriberSupport

opened 11:24PM - 27 Apr 23 UTC

arshPratap

+187 -25

Aims to provide a subscriber support for the current DDS functionality in Ardupi…lot. Note : based on the changes made in PR #23586 Current Scenario : ![Screenshot from 2023-04-28 04-48-40](https://user-images.githubusercontent.com/62841337/235011233-cc4eff83-c7ea-4ff0-8335-4d57ce1d6659.png) Special thanks to @Ryanf55 for initiating the said work on his [branch](https://github.com/Ryanf55/ardupilot/tree/joy-input)

github.com/ArduPilot/ardupilot

Remove type pun warnings and enable Werr in g++ SITL CI

ArduPilot:master ← Ryanf55:remove-type-pun-warnings

opened 04:08AM - 21 May 23 UTC

Ryanf55

+126 -48

I removed the type pun warnings plaguing our builds. In addition to work @peterb…arker did in #23825, the SITL build now compiles without warnings, so I enabled `Werr` in CI to prevent regressions. The approach I took is to use `memcpy`. While type punning via `union` could also work in C, it's undefined behavior in the C++ standard. I tried enabling `Werr` in other places, but there are more compiler warnings that need solving. They can be dealt with in a follow up PR. Reference: See the example here for `memcpy`, the usage I switched to is exactly in line with it. https://en.cppreference.com/w/cpp/string/byte/memcpy

github.com/ArduPilot/ardupilot

Rover: add Circle mode and Auto mode Loiter_Turns support

ArduPilot:master ← rmackay9:rover-circle1

opened 05:03AM - 25 May 23 UTC

rmackay9

+514 -9

This adds Circle mode support to Rover which is useful on its own but will also …be used as part of a new Rover AutoTune feature. Enhancements include: - Added a new ModeCircle class added (mode 9) - ModeAuto enhanced to support LOITER_TURNS commands - Auto mode implements wp_bearing, nav_bearing(), crosstrack_error() and get_desired_lat_accel() to properly get the values from the sub mode. The default implementations always called AR_WPNav which was correct for many sub modes (e.g. RTL) but not others (including this new Circle mode). - AR_PosControl implements input_pos_vel_target() and input_pos_vel_accel_target() to allow callers to pass in target positions, velocities and accelerations which allows the rover to drive a nearly perfect circle. Also a couple of drive-by fixes are also included: - INITIAL_MODE parameter values are taken from MODE1 parameter - Auto mode formatting fix This has been fairly extensively tested in SITL and lightly on a real vehicle. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/1366aac8-6e77-41e0-bd19-45bbaa3e6ae0) ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/775ed76e-6304-4f5f-9535-17f35757c66c) Some points of discussion; - Circle mode cannot be compiled out. - The target point moving around the circle does not slowdown if the vehicle cannot keep up. This means that a very high CIRC_SPEED parameter value will lead to the vehicle driving at full throttle inside the desired radius. I think this is acceptable for now. - The radius, speed and direction parameters only take effect when the vehicle enters circle mode (or begins a LOITER_TURNS command) so users cannot easily change the radius or direction just by setting the parameters. Instead they must exit and re-enter the mode. Speed can be changed using the do-change-speed command.

github.com/ArduPilot/ardupilot

GCS_MAVLink: remove more compass cal if it is not enabled

ArduPilot:master ← peterbarker:pr/compass-cal-remove-more-code

opened 02:10AM - 29 May 23 UTC

peterbarker

+4 -4

``` 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 * ``` No changes to binary targets; boards that do mavlink also all do compass cal.

github.com/ArduPilot/ardupilot

AP_Scripting: mount-poi applet sends camera feedback message

ArduPilot:master ← rmackay9:mount-poi-mavlink-send

opened 05:42AM - 29 May 23 UTC

rmackay9

+79 -0

This modifies the mount-poi applet so that it sends CAMERA_FEEDBACK messages to …the ground station so that little camera icons appear on the map. This has been tested in SITL and on a real vehicle. This new ability is thanks to PR https://github.com/ArduPilot/ardupilot/pull/13660 A couple of questionable things: 1. The CAMERA_FEEDBACK messages is always send to the 1st and 2nd mavlink channel. This covers most use cases but an improvement might be to use a definition at the top of the script, a parameter or perhaps automatically listen for heart-beat messages 2. The encode and decode messages created by mav-gen (and this PR) are copy-pasted right into the script related issue: https://github.com/ArduPilot/ardupilot/issues/23897

github.com/ArduPilot/ardupilot

waf distclean not removing build/ folder after commit 22c1470acac8bc112e77ffcdfb868314a3d32be7?

opened 06:16AM - 29 May 23 UTC

closed 11:17PM - 31 May 23 UTC

casrya

DevCallEU

## Bug report **Issue details** waf distclean not removing build/ folder a…fter commit 22c1470acac8bc112e77ffcdfb868314a3d32be7? I discovered this today when I was trying to build latest merged master and had compile errors in libraries/AP_DroneCAN and related files. I tracked it down to being because the old generated libcanard files under modules/DroneCAN/libcanard were not being cleaned. After a bit more investigation I realized that it was due to commit 22c1470acac8bc112e77ffcdfb868314a3d32be7 such that the original 'rm -rf build' does not seem to be executed anymore on ‘./waf distclean’, only the submodule sync is performed. I am not experienced with waf so don’t have a fix other than manually deleting build/ when a distclean is required but reporting FYI. P.S I am building on wsl2 Ubuntu 20.04.5 LTS if this is relevant? Cheers. **Version** master at commit e415b5fda0c0ecec546f0395c6cbb6d69802a5cf **Platform** [X] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine **Airframe type** N/A **Hardware type** N/A **Logs** N/A

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) - [ ] we should scale baro height process noise with pressure altitude - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] 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 - [ ] possible problem with disconnected RC on H16 - [ ] 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 & Rover

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: - [ ] GSF on Rover not working? ([discussion](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/2)) - [ ] CSRF and Mount Siyi boot loop ([see bottom of this issue](https://github.com/ArduPilot/ardupilot/issues/23815)) - [ ] FPV406 watchdog ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/48)) - [ ] very short ELRS failsafes ([issue](https://github.com/ArduPilot/ardupilot/issues/23853)) - [ ] yaw reset from low flying copter passing over bridge (Randy has logs) - [ ] 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: - [ ] serial pass through (for GPS) broken ([issue](https://github.com/ArduPilot/ardupilot/issues/21114), [PR](https://github.com/ArduPilot/ardupilot/pull/23888)) - [ ] RC loss+regain issue ([PR](https://github.com/ArduPilot/ardupilot/pull/23844)) - [ ] Siyi A8 ROI not working (reported by Kelly Schrock on facebook) - [ ] 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)) - [ ] 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 ([issue](https://github.com/ArduPilot/ardupilot/issues/23782)) Resolved issues: - [x] MP scales set-ekf-origin-here altitude incorrectly ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3083)) -- fixed in MP 1.3.80 build 1.3.8522.19145 - [x] Custom build server broken for Matek405 builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/13)) - [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 31, 2023, 2:01pm

Attendee count (max): 12

UTC1102 - AP_AHRS: make ExternalAHRS an AP_AHRS_Backend by peterbarker · Pull Request #18860 · ArduPilot/ardupilot · GitHub

Add a shim for externalahrs to make it a normal AHRS backend
Getting trims right really matters
- Copter landing detector really mattered
- Making these consistent
Need to check why the flash cost

UTC1115 - Move mavlink receive buffer into GCS_MAVLINK object by peterbarker · Pull Request #22558 · ArduPilot/ardupilot · GitHub

Move mavlink receive buffer into GCS_MAVLINK
Need to do better with mavlink buffers
Peripherals that do mavlink will simply not work with this

UTC1122 - https://github.com/ArduPilot/ardupilot/pull/22661

Thrust linearisation for ddfp tail rotors
Trims were interesting
Tested on real hardware
- User reported huge improvement
Want to have live-updating of some parameters
Compound helis notionally have two tail rotors
Easy post-PH’s changes

UTC1130 - https://github.com/ArduPilot/ardupilot/pull/23629

Add subscriber support to DDS
Stdint types?
Need to work out how to do DDS in terms of binaries
- Always point to custom build server?

UTC1144 - AP_GPS: Remove gsof zero initialization by Ryanf55 · Pull Request #23828 · ArduPilot/ardupilot · GitHub

Remove zero initialisation
Merged!

UTC1145 - Remove type pun warnings and enable Werr in SITL CI by Ryanf55 · Pull Request #23841 · ArduPilot/ardupilot · GitHub

Remove type-punning warnings
Add werr in SITL CI
Using a reference means you get type safety, because automatic promotion won’t work
Doesn’t turn warnings on for developers?
- Maybe we turn it on by default
  - Add a –disable-werr?

UTC0005 - AP_OSD: Add missing labels for new serial protocols by sypaq-nexton · Pull Request #23872 · ArduPilot/ardupilot · GitHub

More labels for OSD menus
Merged!
Static assert is good!

UTC0009 - AP_HAL_ChibiOS: minimize VRUbrain-v51 by peterbarker · Pull Request #23887 · ArduPilot/ardupilot · GitHub

Minimise a bunch of boards
Removing the bootloader would be reasonable
Removing CRSF is pretty extreme, however.

UTC0013 - Rover: add Circle mode and Auto mode Loiter_Turns support by rmackay9 · Pull Request #23890 · ArduPilot/ardupilot · GitHub

Add circle mode and auto mode loiter_turns support
Blocker
- SCurves needs the vehicle to be tuned!
- This PR makes it easier to add autotune
Merged!

UTC0017 - EKF: support passing in an external position estimate by tridge · Pull Request #23903 · ArduPilot/ardupilot · GitHub

Support passing in an external position estimate
Tested on a real vehicle
For if your GPS is misbehaving
So if you have a video feed you can tell the vehicle where it is
“Align”
Two use cases
- Realigning vehicle position by telling vehicle where it is
  - This requires feedback to the GPS that it succeeded
- External vision systems giving constant updates
Randy has some similar PRs
This message seems to be a superset of Randy’s except it doesn’t support yaw
Height?
That continuous update vision positon system should probably go through existing visual odometry system?
- Can’t fuse this in the EKF as it’s several seconds lagged
  - Numerically unstable if you even try
Velocity states etc are the ones you don’t want to move
This is for the correction of dead-reckoning
Upstream mavlink for this?

UTC0049 - AP_HAL_Chibios: Update hwdef for FlywooF405S-AIO (alternative IMUs) by mbuzdalov · Pull Request #23908 · ArduPilot/ardupilot · GitHub

Extra IMUs for FlyWooF405
Merged!

UTC0050 - GCS_MAVLink: remove more compass cal if it is not enabled by peterbarker · Pull Request #23909 · ArduPilot/ardupilot · GitHub

Exclude more code based on compass cal
MergeOnCIPass

UTC0052 - AP_Scripting: mount-poi applet sends camera feedback message by rmackay9 · Pull Request #23912 · ArduPilot/ardupilot · GitHub

Mount-poi applet sends camera feedback
Needs some fixing
copy/paste encode/decode because require doesn’t seem to be working?
Should we have output of mavgen available from firmware.ardupilot.org?
Aerobatics is going to change to use new mavlink stuff
Rockblok stuff can be updated to use new mavlink stuff
MergeOnCIPass

UTC0054 - waf distclean not removing build/ folder after commit 22c1470acac8bc112e77ffcdfb868314a3d32be7? · Issue #23913 · ArduPilot/ardupilot · GitHub

Waf distclean isn’t working properly
Needs Sid
Randy’s not happy about the rapid merging without proper testing

UTC0101 - AP_AHRS: don't reject airspeed using EKF if dead-reckoning by tridge · Pull Request #23915 · ArduPilot/ardupilot · GitHub

Don’t reject airspeed data based on EKF state if that EKF is dead reckoning
This can stop Planes stalling if the EKF might be having problems with its velocity estimates due to a lack of position
Why doesn’t the EKF start to trust the airspeed sensor if it has reason to think its wind estimation is suspect because of bad velocity?
Trusting your primary estimator to tell you whether your airspeed sensor is working correctly?
- Ask all your estimators and take a median?
MAX_WIND is kind of flawed
- No basis to set that parameter
- Can’t dictate the weather

UTC0114 - Plane update

4.3.7-beta is going well
Final release tomorrow
Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub
Out-of-band-beta seemed to work OK
4.4.-beta2 PR is open
- Beta after tomorrow
- RC input fix in 4.4 a good thing
Flight from 90,000 feet by NOAA
- Landed perfectly happily
- Close to the speed of sound
- Need to scale the barometric noise in the EKF with your baro alt
- Pressure noise stays constant but the relative pressure noise climbs
- Innovation climbs and climbs and climbs
- no height estimate is bad
- height-from-GPS
- 95% of the speed of sound
Too many lane changes?
- Not fusing bad velocity in same loop, you can bounce between lanes

UTC0128 - Copter update

4.3.7 tomorrow afternoon, probably
4.4
- Fpv406 reports getting watchdog
- Siyi gimbal user having problems with crsf
- beta release later this week
- Watchdog
- Want crashdump

Attendee count (max): 12

UTC1102 - AP_AHRS: make ExternalAHRS an AP_AHRS_Backend by peterbarker · Pull Request #18860 · ArduPilot/ardupilot · GitHub

UTC1115 - Move mavlink receive buffer into GCS_MAVLINK object by peterbarker · Pull Request #22558 · ArduPilot/ardupilot · GitHub

UTC1122 - https://github.com/ArduPilot/ardupilot/pull/22661

UTC1130 - https://github.com/ArduPilot/ardupilot/pull/23629

UTC1144 - AP_GPS: Remove gsof zero initialization by Ryanf55 · Pull Request #23828 · ArduPilot/ardupilot · GitHub

UTC1145 - Remove type pun warnings and enable Werr in SITL CI by Ryanf55 · Pull Request #23841 · ArduPilot/ardupilot · GitHub

UTC0005 - AP_OSD: Add missing labels for new serial protocols by sypaq-nexton · Pull Request #23872 · ArduPilot/ardupilot · GitHub

UTC0009 - AP_HAL_ChibiOS: minimize VRUbrain-v51 by peterbarker · Pull Request #23887 · ArduPilot/ardupilot · GitHub

UTC0013 - Rover: add Circle mode and Auto mode Loiter_Turns support by rmackay9 · Pull Request #23890 · ArduPilot/ardupilot · GitHub

UTC0017 - EKF: support passing in an external position estimate by tridge · Pull Request #23903 · ArduPilot/ardupilot · GitHub

UTC0049 - AP_HAL_Chibios: Update hwdef for FlywooF405S-AIO (alternative IMUs) by mbuzdalov · Pull Request #23908 · ArduPilot/ardupilot · GitHub

UTC0050 - GCS_MAVLink: remove more compass cal if it is not enabled by peterbarker · Pull Request #23909 · ArduPilot/ardupilot · GitHub

UTC0052 - AP_Scripting: mount-poi applet sends camera feedback message by rmackay9 · Pull Request #23912 · ArduPilot/ardupilot · GitHub

UTC0054 - waf distclean not removing build/ folder after commit 22c1470acac8bc112e77ffcdfb868314a3d32be7? · Issue #23913 · ArduPilot/ardupilot · GitHub

UTC0101 - AP_AHRS: don't reject airspeed using EKF if dead-reckoning by tridge · Pull Request #23915 · ArduPilot/ardupilot · GitHub

UTC0114 - Plane update

UTC0128 - Copter update

UTC0031 - close