Dev Call May 4, 2020

CraigElder · May 4, 2020, 10:58pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Allow OSD driven parameter configuration

ArduPilot:master ← andyp1per:pr-osd-param

opened 03:29PM - 26 Apr 20 UTC

andyp1per

+1523 -49

This PR adds two new "parameter configuration" OSD screens. Any parameter can… be put on a screen and transmitter roll and pitch can be used to cycle through the parameters, selecting one to change and then using pitch up and down to raise or lower the value. While modifying parameters arming is disabled. If the parameter screen is selected while armed then modification is disabled

github.com/ArduPilot/ardupilot

Spektrum SRXL2 support incl. telemetry

ArduPilot:master ← andyp1per:pr-srxl2

opened 02:34PM - 29 Mar 20 UTC

andyp1per

+5159 -308

Full support for SRXL2 and Spektrum Telemetry when using SRXL2. Protocol is h…alf-duplex, non-inverted. Setup is identical to that for FrSky passthrough. The protocol *requires* half-duplex and therefore will not work on the IOMCU or with soft serial. Flight test on a KakuteF7 Mini with these options: ``` BRD_ALT_CONFIG=1 SERIAL6_PROTOCOL=23 SERIAL6_OPTIONS=12 RSSI_TYPE=3 ```

github.com/ArduPilot/ardupilot

FFT Enhancements

ArduPilot:master ← andyp1per:pr-filtered-harmonic-detection

opened 10:03PM - 05 Mar 20 UTC

andyp1per

+1750 -647

This PR fixes several issues in the in-flight FFT support: - The in-flight FF…T support has support for "harmonic matching". This is where on larger copters the motor rpm peak has less energy than the second harmonic and so the code attempts to detect this. The problem is that the signal picked up by the FFT varies a lot and it's possible to pick up the harmonic above the peak rather than below causing spikes in the detected frequency. This PR fixes this by tracking all three peaks (the three highest), filtering the frequency and then doing a comparison between the detected peaks. The user can optionally select which peak to track by setting ```FFT_HMNC_PEAK``` - In addition to tracking three peaks this change now biases which peak is which based on the last few cycles, thus if one peak is tracking 50Hz another 100Hz and they suddenly switch places in energy and then back again the algorithm will correctly assign the new values to maintain a smoothly changing frequency. This not only makes harmonic matching much more accurate, it also results in much more accurate FFT matching in general. Physically you can see why this might be - the FFT is only on a short window and you only have to miss a few samples for one run to look very different to another. - Fixes a bug with gyro sampling whereby we were dropping two out of three sets of samples for any given axis. We now process all axes and samples independently leading to more accurate FFT analysis - Fixes a bug with gyro sampling whereby if we got too far behind we ended up analyzing a discontinuous set of samples - Fixes an error in gyro sampling for FFT lengths >= 256 - Allows the harmonic matching to be switched off by setting ```FFT_HMNC_FIT = 0``` - Separates out the gyro sampling from fft initiation, this allows the fft initiation to run at a lower loop rate. All of the gyro buffers have been converted to RingeBuffers to virtually eliminate locking and allow all of the FFT steps to run in the FFT thread. - Always runs the self-test for all window lengths. Fixed several problems where the self-test would never complete under some circumstances. - Added a dedicated arming check for the self-test which can be disabled - Fixed a problem where we were sleeping too long or too short in the FFT thread resulting in dropped cycles or the logging thread not getting any airtime - Added a measure of health based on when the engine last cycled successfully and how many peaks were detected for the cycle. If the engine is unhealthy for too long fall back to throttle-based estimation. Fixes https://github.com/ArduPilot/ardupilot/issues/13736

github.com/ArduPilot/ardupilot

Global: Check if @value field is in increasing order for all parameters

ArduPilot:master ← rishabsingh3003:param_inc_order

opened 12:26PM - 02 May 20 UTC

rishabsingh3003

+2 -2

This PR adds a check inside param_metadata to verify @value field for all parame…ters if the values are in increasing order. I have fixed all the parameters that did not follow this. I have also cherry-picked @tatsuy commit from https://github.com/ArduPilot/ardupilot/pull/14256 to confirm that all the checks pass. Before merging this in (and after that PR is merged), I can remove that commit if needed. @peterbarker please have a look if possible. Thanks :)

github.com/ArduPilot/ardupilot

Add support for custom compass rotation via COMPASS_CUS_{ROLL,PIT,YAW}

ArduPilot:master ← andyp1per:pr-compass-pitch-offset

opened 04:14PM - 16 Feb 20 UTC

andyp1per

+61 -3

I have a mini-quad where the compass sits at an angle on top of the camera cage …at about 20 degrees. I suspect this situation is not uncommon given some of the issues I have seen raised. This PR allows you to specify ROTATION_CUSTOM as your compass rotation (100) and then specify the rotation in degrees along each axis. Tested on a KakuteF7Mini with a QMC5883L external compass.

github.com/ArduPilot/ardupilot

AP_Scripting: add support for dataflash logging

ArduPilot:master ← IamPete1:scripting-logging3

opened 11:18PM - 17 Jan 20 UTC

IamPete1

+397 -25

This add support for writing to dataflash logs from scripting. This also adds a …example writing to both dataflash logs and a file on the SD card. There is also a second example that reads in data over serial and writes to dataflash closing https://github.com/ArduPilot/ardupilot/pull/12801. The examples use find_baudrate() and tabel.concat from https://github.com/ArduPilot/ardupilot/pull/13268. Tested both in SITL and on real hardware. This generally works OK, not all the the formats are supported for lua so I added a helper to auto fill the timestamp for a 'Q' character in the format string. Is there a nicer way to give the binding access to AP_logger? I had to make a couple of functions public to get this working. Possibly we may have also bypassed some checking that gets done by logger before logging. Many thanks to @WickedShell for helping me out when I got stuck (more than once)

github.com/ArduPilot/ardupilot

AP_Mission: Relative Mission (translation, rotation, altitude-adaption)

ArduPilot:master ← WillyZehnder:MissionRelative

opened 11:21AM - 15 Apr 20 UTC

WillyZehnder

+3 -7

Translation of a defined Mission at start or restart of AUTO-mode related to th…e Homepoint and the Location where AUTO has been switched on. Different translation-modes are selectable via MIS_Parameters. - parallel translation - additional rotation - additional adaption of altitude - ignore necessity of achieving altitude target at first Waypoint ![2020-04-13 18_58_09-parallel](https://user-images.githubusercontent.com/39805388/79332105-837c6180-7f1c-11ea-9c20-cd69a5428c34.png) ![2020-04-13 19_04_47-rotated](https://user-images.githubusercontent.com/39805388/79332123-89724280-7f1c-11ea-80fc-d94287132129.png)

github.com/ArduPilot/ardupilot

Rover: Safety Switch Rework

opened 10:14PM - 08 Feb 20 UTC

NickNunno

Rover AllVehicles

### Feature request **Problem** AP safety button logic was primary designed …around copters which have many specific caveats. Unlike copters, rover should have a means to support inexpensive, industry std Emergency-Stop buttons. These switches are purpose built and typically come with two individual circuit breakers that can be setup NO/NC. When pressed, they lock in position and must be axially turned in order to safely resume the default state. (Available with/without keyed locks) 1. Not all rovers have electric drives which are trivial to disable. 2. If you do have a drive, and disable it without AP knowing about it, the integrators build up and if the user enables before the vehicle happens to crash check, this is dangerous. 3. A sufficiently short crash check to mitigate #2 will result in false positives during operation. 4. Rovers tend to be larger, leading to longer wire runs to switch locations 5. Std E-stop buttons are not momentary so dont work with the current logic 6. The log 5 second or so timer is not appropriate for use with rovers. **Describe the solution you'd like** Modify safety code so that: 1. I/O processor monitors two pins, one normally high, the other normally low. This helps sanity check Enable/Disable state. 2. Remove timer or lower it to an order of ms. 3. Wen disabled, I/O processor instantly kills channel output and tells FMU we're in a safety state. 4. FMU disarms and/or puts vehicle in hold etc. 5. When in safety state, FMU can not reset I/O processor state. This can only be done by the I/O processor when the pins return to enable state. **Describe alternatives you've considered** 1. There are mechanical work arounds but to do this correctly, AP must be in the loop. 2. Not all vehicles have simple electric drives. 3. Its not always safe/possible to kill power to the autopilot or other hardware systems. 4. Some vehicles, like those with combustion engines, and/or with ackermann steering, hydraulic systems etc should stay online during safety state. **Platform** [ ] All [ ] AntennaTracker [ ] Copter [ ] Plane [x] Rover [ ] Submarine **Failure Modes** The proposed solution is not perfect but I believe it to be a substantial improvement to the current scheme which really isn't useful for ground vehicles. The first failure mode would be the E-Stop wiring/button. This is inherent in all systems. high/low sync should mitigate most physical issues. Second failure mode would be the I/O Processor which kills pin output. If this fails, we have a problem but I think its reasonable to trust? Third failure mode would be I/O processor failing to communicate with FMU about the current state or FMU lock up. This scenario would be nothing but a fallback to where we are today where an eventual crash check will change modes.

github.com/ArduPilot/ardupilot

Arduplane/quadplane.cpp: shut down motors when parachute released

ArduPilot:master ← Davidsastresas:ArduPlane-Parachute

opened 10:11PM - 03 May 20 UTC

Davidsastresas

+12 -0

Parachute was not shutting down quadplane motors while released. Instead of …doing it like Copter, with a plain disarm command in parachute_release() function I did it checking parachute.release_initiated(), as it is done currently in ArduPlane for the throttle motor in servos.cpp. I have a doubt. With this implementation, after parachute release the quadmotors are shut down no matter which flight mode they are in. For Airplane modes, throttle is only suppressed under parachute_release() for auto throttle modes, so in case the parachute does not deploy the user may change to fbwA and get motor again. Shall we do something like that and allow the motors to run if QStabilize or something like that? The would fix the issue https://github.com/ArduPilot/ardupilot/issues/14252 Thank you!

github.com/ArduPilot/ardupilot

GCS_MAVLink: correct response codes when mode change fails

ArduPilot:master ← peterbarker:pr/fix-mode-change-reasons

opened 04:34AM - 02 May 20 UTC

peterbarker

+32 -11

Was "UNSUPPORTED", which is supposed to mean, "Command is not supported" Now …is either "DENIED" (Command is invalid (is supported but has invalid parameters)) or "FAILED" (Command is valid, but execution has failed.) We should probably returned DENIED if we try to change to a mode which doesn't exist, but that would require another callback on AP_Vehicle. It would also lead to questions around what a valid mode is - so QSTABILIZE if quadplane is disabled in Plane, for example.

github.com/ArduPilot/ardupilot

Fixed bug in terrain disk format and added terrain generation script

ArduPilot:master ← tridge:pr-terrain-generation

opened 02:31AM - 02 May 20 UTC

tridge

+353 -19

This fixes a bug in the terrain disk format where two locations could map to the… same disk block. That means that if you flew across both locations in a single flight you would at least download an unnecessary block from the GCS. More importantly, if you lose contact with the GCS during the flight and then fly back across one of these duplicate blocks then you would not have terrain data available. The fix results in slightly larger disk files on average (around 10% larger) but guarantees that two different locations use different disk blocks. This change will cause users to re-download most terrain data if they already have it. This PR also adds a script that generates terrain data files so you can preload the sdcard with terrain data for a region This change does not affect the MAVLink terrain protocol or require any changes in GCS implementations of the terrain protocol

github.com/ArduPilot/ardupilot

Copter: add disarm aux switch RCn_OPTION=81

ArduPilot:master ← tatsuy:pr-aux-disarm

opened 03:23PM - 30 Apr 20 UTC

tatsuy

+52 -22

This is similar to Estop and Arm/Disarm, but there is a slight difference. Wh…en you set the Disarm switch to High, the copter immediately disarms. Arming will fail if the Disarm switch is enabled. Emergency Stop is not immediately disarmed (the timing is depends on DISARM_DELAY). Without noticing that it has not been disarmed, it is possible to return the switch to Low and unintentionally start the motor running again. With the Arm/Disarm option, there is a risk that the switch will be inadvertently set to High and start to rotate the motors.

github.com/ArduPilot/ardupilot

regularise CAN pre-arm failure messages

ArduPilot:master ← peterbarker:pr/arming-regularise-can-messages

opened 05:20AM - 01 May 20 UTC

peterbarker

+23 -26

AP_Arming tacks on the sub-system bit. Remove PiccoloCAN's silly nullptr chec…k Require the library to supply the failure message (no default message) Remove default cases so authors know to think about places they should add things. Tested this by flashing it onto a CubeBlack, returning messages like this: ``` APM: PreArm: KDECAN: Too few ESCs detected ``` and ``` APM: PreArm: PiccoloCAN: ESC 1 not detected ``

github.com/ArduPilot/ardupilot

Plane: ignore guided cmds from mavlink if we're in avoidADSB.

ArduPilot:master ← krausaerospace:pr/require_guided_to_set_guided_wp

opened 06:21AM - 30 Apr 20 UTC

magicrub

+2 -3

This change makes it behave like MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED. … If a companion computer was streaming guided points, and the aircraft switches itself into avoidADSB, then two things happen: - AvoidADSB module is asynchronously (or at least out of phase) setting the point at the same time as the companion computer so the commands will blend together and the aircraft will go back and forward trying to navigate to whichever is the most recent one. - While we're in an emergency and/or evasive maneuver to avoid an obstacle the companion computer is still allowed to fly us right into that obstacle. This has additional bad implications for when mode_follow gets added to plane.

github.com/ArduPilot/ardupilot

Emit description of internal error in statustext

ArduPilot:master ← peterbarker:pr/internal-error-string

opened 05:17AM - 30 Apr 20 UTC

peterbarker

+74 -1

@meee1 I'm hoping this will allow for the removal of the textual description… of these errors that's currently in MissionPlanner. These bits were never supposed to be an external interface. The internal error descriptions are *supposed* to be scary - we want people to tell us whenever they receive an internal error, and @tridge has been active in squashing false-positives that have occurred. To be clear here - any time an Internal Error occurs, a user should most definitely land and reconsider their life choices - it's that serious. Let's not make the user any more comfortable than we need to.

github.com/ArduPilot/ardupilot

Plane: update throttle mix uses filtered accelerations

ArduPilot:master ← rmackay9:quadplane-landdetect-filt1

opened 06:39AM - 04 Mar 20 UTC

rmackay9

+9 -3

This is the QuadPlane equivalent of this multicopter PR:https://github.com/ArduP…ilot/ardupilot/pull/13639 which aims to improve landing detection by placing a 1hz filter on the accelerations used in the update_throttle_mix function. The update_throttle_mix feature's output is one of the inputs to the landing detector ([see QuadPlane::should_relax()'s call to attitude_control->is_throttle_mix_min())](https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/quadplane.cpp#L1157). @lthall is really the expert in this area but the purpose of the "throttle_mix" feature is to decide on the priority of attitude control vs altitude control. A example of when these two controllers conflict with each other is during a fast descent (or more accurately a fast vertical deceleration). The **alt**itude controllers will want to pull the overall throttle low to descend while the **att**itude controllers will want to raise the overall throttle in order to give the rate controllers more "room" (i.e. a larger difference in PWM between opposite motors). One of the inputs to the throttle_mix feature is the vehicle's acceleration. Master currently uses the instantaneous accelerations while this PR adds a 1hz filter instead (consistent with Copter). This has been lightly tested in SITL with multiple landings using various accelerations (I set SIM_ACC_RND to 0, 3, 5, 10, 15, 20 and even really large values). Sadly this testing didn't expose any existing issues with QuadPlane's landing detection meaning I couldn't see any improvement by applying this PR. In multicopter's this is the kind of accelerations we can see on large vehicles during touch down. This is the situation where we think this type of filtering should help (actual flight testing should happen in the coming few days). ![image](https://user-images.githubusercontent.com/1498098/75851989-5709fb80-5e2e-11ea-9a82-e80dc2cb1923.png) This PR closes this issue: https://github.com/ArduPilot/ardupilot/issues/13664

GSOC
Update

Plane

Copter

github.com/ArduPilot/ardupilot

Copter: 4.0 issues list

opened 10:33PM - 12 Oct 19 UTC

rmackay9

Copter

This is a list of issues discovered during Copter-4.0 testing: Common support… problems: - [ ] users can't figure out which barometer is being used ([discussion](https://discuss.ardupilot.org/t/external-baro-sensor-on-can/51390/6)) - [ ] users can't figure out if Oneshot or DShot are working ([discussion](https://discuss.ardupilot.org/t/oneshot125-42-blhelis/51462), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2474), [discussion2](https://discuss.ardupilot.org/t/pixhawk-4-holybro-arducopter-3-6-9-4-0-1rc3-no-control-over-two-motors-in-an-x8-with-dshot/51480), [possible improvement](https://github.com/ArduPilot/ardupilot/pull/13409)) - [ ] two reports of barometer glitches on CubeOrange ([discussion](https://discuss.ardupilot.org/t/barometer-glitch-inducing-ekf-primary-change/51345)), one report on Pixhawk-2.4.8 ([discussion](https://discuss.ardupilot.org/t/copter-instantly-released-itself-from-30m/53368)) Regressions from 3.6.x: - [ ] autotune method for testing gains has changed ([discussion](https://discuss.ardupilot.org/t/has-there-been-a-change-to-autotune-procedure/51058)) - [ ] logging is skipping messages ([issue](https://github.com/ArduPilot/ardupilot/issues/13810)) - [ ] performance regressions which lead to more long loops ([timings](http://uav.tridgell.net/tmp/perf_regression.txt)) - [ ] speedybee telem5 not working? ([discussion](https://discuss.ardupilot.org/t/speedybee-f4-aio-board/50907)) - [ ] sparky2 doesn't work with UAVCAN? ([discussion](https://discuss.ardupilot.org/t/no-uavcan-communication/50858)) - [ ] kakutef7 not working with px4flow sensor ([discussion](https://discuss.ardupilot.org/t/kakute-f7-mini-and-kakute-f7-aio-px4flow-not-working-in-copter-4-0/51000), [issue](https://github.com/ArduPilot/ardupilot/issues/10105)) - [ ] DCM yaw inconsistent pre-arm message ([discussion](https://discuss.ardupilot.org/t/dcm-yaw-inconsistent-by-68-deg-after-battery-change/50813/22), [discussion2](https://discuss.ardupilot.org/t/ekf2-yaw-inconsistent/51701), [PR](https://github.com/ArduPilot/ardupilot/pull/14334)) New for 4.0.4: - [x] PreArm failure if UAVCAN compass removed ([issue](https://github.com/ArduPilot/ardupilot/issues/14686)) - [x] LIS3MDL missing ([PR](https://github.com/ArduPilot/ardupilot/pull/14649)) - [ ] NeoPixel causes EKF instability ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc2-available-for-beta-testing/57916/2)) - [ ] CubePurple has no heater but still has BRD_IMU_TARGTEMP param ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/64)) - [x] Compass ordering issue found by HenryW, AndyP (i.e. "unstable sort" of unused compass offsets) ([possible fix](https://github.com/ArduPilot/ardupilot/pull/14529)) - [x] AP_Proximity ignore zones incorrect ([PR with fix](https://github.com/ArduPilot/ardupilot/pull/14496)) Other issues: - [ ] MAVFTP with MP locks up creating or deleting new folders ([AP issue](https://github.com/ArduPilot/ardupilot/issues/14643), [MP issue](https://github.com/ArduPilot/MissionPlanner/issues/2413)) - [ ] watchdog reset on Copter-4.0.3 ([issue](https://github.com/ArduPilot/ardupilot/issues/14582)) - [ ] DShot on KakuteF7 ([issue](https://github.com/ArduPilot/ardupilot/issues/14475)) - [ ] param download stuck using MP is lua scripts enabled on CubeBlack ([discussion](https://discuss.ardupilot.org/t/activated-lua-scripting-parameter-download-problems/55830)) - [ ] MAVFTP still locking up? ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [ ] Watchdog reset not creating log files ([issue](https://github.com/ArduPilot/ardupilot/issues/14054)) - [ ] TFMiniPlus Glitches ([issues](https://github.com/ArduPilot/ardupilot/issues/13411), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13765)) - [ ] dual CAN compass order changing ([discussion](https://discuss.ardupilot.org/t/can-compasses-selection/53153/9)) - [ ] can't flash kakutef7 aio from QGC ([issue](https://github.com/mavlink/qgroundcontrol/issues/8431)) - [ ] BLHeli passthrough still not reliable on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2))? - [ ] vibration failsafe unable to bring down vehicle? ([discussion](https://discuss.ardupilot.org/t/quadcopter-fly-away/52948)) - [ ] blended mRo LocationOne GPSs (using AP_Periph, UAVCAN) produce internal error 400 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/79), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2557), [issue](https://github.com/ArduPilot/ardupilot/issues/14879)) - [ ] neopixel sync loss ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/74), [issue](https://github.com/ArduPilot/ardupilot/issues/13563)) - [ ] UAVCAN ESCs keep spinning even if vehicle is disarmed ([discussion](https://discuss.ardupilot.org/t/in-what-section-in-log-can-i-find-uavcan-escs-telemetry/51613), [issue](https://github.com/ArduPilot/ardupilot/issues/13394)) - [ ] kakutef7 not detecting external bmp280 baro? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/10)) - [ ] [baro temp compensation](https://ardupilot.org/copter/docs/common-baro-temp-comp.html) not working? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/11)) - [ ] neopixels not working on some boards at least? ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/18)) - [ ] kakutef7 aio doesn't detect hmc5883 ([discussion](https://discuss.ardupilot.org/t/compass-type-hmc5883-in-copter-4-0-0-tricopter-frame/50621)) - [x] durandal buzzer ([discussion](https://discuss.ardupilot.org/t/buzzer-on-durandal/50637)) - [ ] frsky passthrough not working on some H7 boards ([discussion](https://discuss.ardupilot.org/t/orange-cube-frsky-passthrough-and-mot-pwm-type-issues/48564/5)) - [ ] twitch when "IMU yaw alignment complete" is displayed while vehicle is moving (3.6.12) ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/24)) - [ ] LIS3MDL driver not enabled on KakuteF7 ([discussion](https://discuss.ardupilot.org/t/kakute-f7-aio-enable-compass-greyed-out/41338), [issue](https://github.com/ArduPilot/ardupilot/issues/12512)) - [ ] Object Avoidance issues: - [ ] Dijkstra's doesn't support spline waypoints (issue: https://github.com/ArduPilot/ardupilot/issues/12691) - [ ] MP complex fence support is not complete - [ ] dshot600 is not working on MatekF765 ([rover discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804)) - [ ] dshot125 is not working on Navio2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] autotune gets stuck while tuning yaw if ATC_RAT_YAW_FLTE = 0 (reported by leonard) - [ ] motor emergency stop RC channel range changed ([discussion](https://discuss.ardupilot.org/t/motor-kill-switch-behavior/48797/8)) - [ ] log download slows down when CAN enabled? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [ ] navio2 LEDs not lighting up ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] drift-away with WPNAV_ALT_MIN ([issue](https://github.com/ArduPilot/ardupilot/issues/12888), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13695)) Resolved in Copter-4.0.4: - [x] Hott telemetry not working ([issue](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/45), [possible fix PR](https://github.com/ArduPilot/ardupilot/pull/14525)) - [x] Loiter-Turns mission command does not face towards center ([issue](https://github.com/ArduPilot/ardupilot/issues/14031), [possible fix](https://github.com/ArduPilot/ardupilot/pull/14038)) - [x] Dijkstra memory issue ([possible fix](https://github.com/ArduPilot/ardupilot/pull/13820)) - [x] extra RC input channel (actually Copter-3.6.12, [issue](https://github.com/ArduPilot/ardupilot/issues/13709)) -- RFD900x software issue - not AP. - [x] parameters wiped occasionally (happens on 3.6.x as well) ([issue](https://github.com/ArduPilot/ardupilot/issues/13134), [fix](https://github.com/ArduPilot/ardupilot/pull/13780)) - [x] landing gear retract after takeoff mission command completes ([discussion](https://discuss.ardupilot.org/t/landing-gear-retract-on-auto-mission-start/51978), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13638)) - [x] Mavlink Gimbal limits not being applied? ([discussion](https://discuss.ardupilot.org/t/gimbal-limits-with-storm32-backend-mavlink-not-applied-correctly/51438/4), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13646)) - [x] Object Avoidance issues: - [x] re-visit object database sizes: https://github.com/ArduPilot/ardupilot/issues/12661 (fixed in master) - [x] BendyRuler cannot maintain altitude (Randy found this during tests) (fixed in master) Resolved in Copter-4.0.3: - [x] BLHeli passthrough doesn't work on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13487)) and pixhawk mini? - [x] watchdog on 1st SBUS RC input ([discussion](https://discuss.ardupilot.org/t/crash-following-rcinput-decoding-sbus/52290), [issue](https://github.com/ArduPilot/ardupilot/issues/13615), [fix](https://github.com/ArduPilot/ardupilot/pull/13619)) - [x] zigzag motors don't spin when landed ([issue](https://github.com/ArduPilot/ardupilot/issues/13471), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13501)) and lurching ([issue](https://github.com/ArduPilot/ardupilot/issues/13472))? - [x] CUAVv5+ autopilot cannot connect using USB port? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/30), [discussion2](https://discuss.ardupilot.org/t/copter-4-0-2-rc4-available-for-beta-testing/52008/37), [driver solution](https://ardupilot.org/copter/docs/common-connect-mission-planner-autopilot.html#loading-composite-usb), [solution to fix usb ids](https://github.com/ArduPilot/ardupilot/pull/13179)) - [x] allow do-set-servo commands to affect at least some non-motor channels ([discussion](https://discuss.ardupilot.org/t/do-set-servo-in-spray-function-does-not-work-in-4-0-0/51950), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13481)) Resolved in Copter-4.0.2: - [x] MAVFTP causes reboot ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [x] Spektrum DX8 not working on pixracer ([discussion](https://discuss.ardupilot.org/t/spektrum-dx8-radio-incompatible-not-recognized-with-arducopter-v-4-all-flavors/50702), [issue](https://github.com/ArduPilot/ardupilot/issues/13458)) - [x] RTL may return at incorrect alt ([issue](https://github.com/ArduPilot/ardupilot/issues/13441), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13444)) - [x] log file reliability on non-SD card boards like open-revo, omnibus ([discussion](https://discuss.ardupilot.org/t/tuning-the-harmonic-notch/48836/9)) - [x] SBUS lag ([discussion](https://discuss.ardupilot.org/t/urgent-s-bus-input-on-4-0-1-is-stuttering-often-100-300ms-up-to-500ms/51591), fixed along with ESC sync issues) - [x] ESC sync issues ([discussion](https://discuss.ardupilot.org/t/esc-sync-problem-with-update-from-3-6-9-to-3-6-10/48261/5), [issue](https://github.com/ArduPilot/ardupilot/issues/13310), [issue2](https://github.com/ArduPilot/ardupilot/issues/13374)) - [x] AutoTune incorrectly restores yaw acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/13344), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13345)) - [x] px4flow doesn't work on CubeBlack ([discussion](https://discuss.ardupilot.org/t/px4flow-not-working-with-copter-4-0/51018), [fix](https://github.com/ArduPilot/ardupilot/pull/13391)) - [x] AP_RangeFinder PWM driver not using OFFSET parameter ([discussion](https://discuss.ardupilot.org/t/rngfnd1-offset-not-working-for-pwm-and-i2c-lidarlite/51125), [issue](https://github.com/ArduPilot/ardupilot/issues/13252), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13293)) Resolved in Copter-4.0.1: - [x] need to update [tuning process guide](https://ardupilot.org/copter/docs/tuning-process-instructions.html) with new filter params ([discussion](https://discuss.ardupilot.org/t/what-should-i-use-for-atc-rat-pit-flt-values/49768/10)) - [x] spectrum 22ms broken? (https://discuss.ardupilot.org/t/mro-r15-pixracer-incompatible-with-arducopter-v-4/50702) - [x] optical flow output not being sent to GCS ([discussion](https://discuss.ardupilot.org/t/cheerson-cx-of-low-cost-optical-flow-sensor-testing/35598/154), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13182)) - [x] onboard SSD1306 not working with CubeOrange ([discussion](https://discuss.ardupilot.org/t/cube-orange-4-0-0-i2c-ssd1306-problem/50561), [issue](https://github.com/ArduPilot/ardupilot/issues/13127)) - [x] kakutef7mini watchdog resets ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x800-watchdog-reset-reboot-with-kakute-f7-mini-logging-issue/50789)) (resolved with FrSky Telemetry Status Text fix) Resolved in Copter-4.0.0-rc5: - [x] RM3100 compass not enabled (it's on a DroTek F9P Sirius GPS unit) ([PR](https://github.com/ArduPilot/ardupilot/pull/10581), [discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-available-for-beta-testing/50250/19)) - [x] Arming with Here2 CAN GPS fails due to bad HDOP ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/8), [fix](https://github.com/ArduPilot/ardupilot/pull/12916)) -- fixed in -rc3 - [x] autopilot is not booting up sometimes ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-rc4-available-for-beta-testing/50250/45), [fix](https://github.com/ArduPilot/ardupilot/commit/6b0252b44f4cf8bc71425345d918cb98e75937ff)) - [x] GPS not working on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/aad45986444f79444081b221045d9f2aea8eb90c)) - [x] missing serial ports on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/cac1cc0d9b6de101e7f4f275961331fe49d49b07)) Resolved in Copter-4.0.0-rc3: - [x] sysid needs enable param ([issue](https://github.com/ArduPilot/ardupilot/issues/12927), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12955)) - [x] user can force arming in Loiter with no position estimate ([issue](https://github.com/ArduPilot/ardupilot/issues/11435), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12928)) - [x] rangefinder parameters not being copied from 3.6. to 4.0 ([issue](https://github.com/ArduPilot/ardupilot/issues/12921), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12922)) - [x] neopixel not working ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580)) - [x] altitude hold oscillation with CubeOrange ([discussion](https://discuss.ardupilot.org/t/alt-hold-issues-in-copter-4-0/48604), [fix](https://github.com/ArduPilot/ardupilot/pull/12898#event-2838474162)) - [x] rename RangeFinder_TYPE "25:Benewake TFmini Plus” to “Benewake TFmini Plus IIC” or “Benewake Plus IIC” ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [x] LandingGear: RETRACTED message where then are not gear setup ([issue](https://github.com/ArduPilot/ardupilot/issues/12815)) - [x] Auto may become stuck on Takeoff command if range finder is enabled and large altitude error ([issue](https://github.com/ArduPilot/ardupilot/issues/12818)) - [x] "Geofence breached" messages when no polygon fences available. Potential Fixed: https://github.com/ArduPilot/ardupilot/pull/12724 - [x] can't calibrate compasses ([discussion](https://discuss.ardupilot.org/t/compass-not-calibrated/48583/12)) -- older Here GPS with longer boot time, resolved by setting BRD_BOOT_DELAY = 400. Resolved in Copter-4.0.0-rc2: - [x] Sparky2 build is broken, overflows flash by1084 bytes. This can be seen in the autotest output. Fixed with https://github.com/ArduPilot/ardupilot/pull/12678 - [x] PSC_ACCZ_FILT should be converted to PSC_ACCZ_FLTE on upgrade. Fixed with https://github.com/ArduPilot/ardupilot/pull/12687 - [x] QGC upload of fences is rejected because of mav frame (qgc issue: https://github.com/mavlink/qgroundcontrol/issues/7960, AP fix:https://github.com/ArduPilot/ardupilot/pull/12665) - [x] blank PreArm message on newly setup vehicles: https://github.com/ArduPilot/ardupilot/issues/11800. Fixed:https://github.com/ArduPilot/ardupilot/pull/12690 - [x] loss motor detection bug (reported by leonard) fixed:https://github.com/ArduPilot/ardupilot/pull/12697 - [x] loss of yaw control on fast descent ([from Sergey here](https://github.com/ArduPilot/ardupilot/issues/12695)). Fixed: https://github.com/ArduPilot/ardupilot/pull/12696, https://github.com/ArduPilot/ardupilot/pull/12700 - [x] fly away caused by high gains and mot-mix-max set too high (reported by leonard). Fixed:https://github.com/ArduPilot/ardupilot/pull/12701 - [x] BLHeli telemetry causes internal error 0x8000 (https://github.com/ArduPilot/ardupilot/issues/12542) potentially fixed by PR #12677 - [x] Shaky copter due to filtering changes - [x] Garmin LidarLite PWM interface doesn't work: https://github.com/ArduPilot/ardupilot/issues/10111#issuecomment-546627151. User settings were non-standard, updated [wiki page](https://github.com/ArduPilot/ardupilot/issues/10111) Could not be verified OR not a problem: - [x] Emlid CAN compass not found with CubeOrange ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc3-available-for-beta-testing/51295/6)) unless BRD_BOOT_DELAY = 5000. Only affected one user, waiting for more reports. - [x] blue screen of death on Windows machines when using usb2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/18)). Affects only this user, could not be reproduced. - [x] MiniPix current sensing not working ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/4)). User worked it out. - [x] constant GCS failsafes because crossfire telem sends heartbeat at 0.2hz ([discussion](https://discuss.ardupilot.org/t/failsafe-changes/48910)) -- telemetry system issue - [x] rm3100 not found ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/6)) - [x] DJIX quad motor order is CCW instead of CW ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/20)) - [x] benewake jumps to 0.3m when actually 19m ~ 20m ([discussion](https://discuss.ardupilot.org/t/issue-with-lgr-deploy-and-or-rangefinder/51041)) -- benewake suggests a sensor setting change to resolve - [x] complaints that RNGFND and BATT_MONITOR param conversions not working but cannot be reproduced ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc2-available-for-beta-testing-critical-fix-included/50940/16), [issue](https://github.com/ArduPilot/ardupilot/issues/13239)) - [x] omnibus f4pro can't write wp or parameters on serial1 ([discussion](https://discuss.ardupilot.org/t/omnibus-f4-pro-gps/50394/2)) - [x] rangefinder can't be used as EKF_ALT_SOURCE? ([issue](https://github.com/ArduPilot/ardupilot/issues/12991), [discussion](https://discuss.ardupilot.org/t/bug-in-ap-navekf2-posvelfusion-cpp/49919)) -- Randy tested and found EK2_ALT_SOURCE worked if EK2_RNG_USE_HGT was set to 70. - [x] can't get IBUS RC to work ([discussion](https://discuss.ardupilot.org/t/am-i-doing-something-wrong-with-ibus/48789)) - [x] compass1,2 not used but still checked as part of pre-arm consistency? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/20))

Rover

github.com/ArduPilot/ardupilot

Rover: 4.0 issues list

opened 05:28AM - 07 Oct 19 UTC

rmackay9

Rover

This is a list of bugs and features that have been reported as part of Rover's 4….0 beta testing ([category on discuss is here](https://discuss.ardupilot.org/c/ardurover/rover-4-0)) that we should resolve before the official release: - [ ] BLHeli passthrough only works when MOT_PWM_TYPE = 0 (PWM) on KakuteF7. Stops working when set to DSHot ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804/26)) - [ ] skid-steering rover jumps forward because of bad velocity estimate ([issue](https://discuss.ardupilot.org/t/uncommanded-throttle-in-acro/49751)) - [ ] dijkstra: cannot find path if within a fence ([discussion](https://discuss.ardupilot.org/t/dijkstra-could-not-find-path/48781)), should drive out of fence? - [ ] DShot600 not working ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc)) - [ ] EKF wheel encoder bug? ([issue](https://github.com/ArduPilot/ardupilot/issues/12702), [PR](https://github.com/ArduPilot/ardupilot/pull/12703)) - [ ] OneShot (and possibly other output types) not working. Raised by Nando here: https://discuss.ardupilot.org/t/rover-3-5-0-rc2-is-available-for-beta-testing/37731/12 - [ ] Need documentation on how to setup two GPSs and use them for yaw/heading ([discussion](https://discuss.ardupilot.org/t/rover-4-0-0-rc3-available-for-beta-testing/49003/8)) Resolved in -rc4: - [x] RCx_OPTION config error for RTL, SmartRTL, Simple modes ([discussion](https://discuss.ardupilot.org/t/rover-4-0-0-rc3-available-for-beta-testing/49003/5), [issue](https://github.com/ArduPilot/ardupilot/issues/12805), [partial fix](https://github.com/ArduPilot/ardupilot/pull/12804)) - [x] watchdog triggering with BLHeli? ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804/16)) Resolved in -rc3: - [x] Blank PreArm message: https://github.com/ArduPilot/ardupilot/issues/12663 - [x] ignores do-change-speed ([issue](https://github.com/ArduPilot/ardupilot/issues/12753)) Resolved in -rc2: - wheel encoders don't seem to work (https://github.com/ArduPilot/ardupilot/issues/9303, https://github.com/ArduPilot/ardupilot/issues/10318, https://github.com/ArduPilot/ardupilot/issues/10752)

CraigElder · May 7, 2020, 4:50pm

Attendee count (max): 28

UTC 1100 - https://github.com/ArduPilot/ardupilot/pull/14203

Draft PR for OSD support for setting parameters
Video!
Looking for feedback!
We have multiple different protocols for carrying this sort of thing
Param set via transmitter is a thing
- Alex’s methods
- Mavlite
This is stick-inputs OSD display stuff
There’s a third one which is Graupner
- Arbitrary text on a few line display
- Maybe also srxl
  - 4 lines of 13 characters, one at a time
    - Also use these for showing flightmode and whatnot rather than just statustext
How does this work?
- Same way that the read-only PR works
- Two new screens
  - Set of 8 OSD param settings which set where it is on the screen and which ID
    - The IDs are not persistent
  - Can only do 8
Would like to be able to do entire parameter tree
Users could set parameters to use using the GCS
- So they have a set to modify out at the field
[9:07 AM] (Channel) PH: i guess you could have a screen of pre-sets and then the search tree
Store token numbers which are persistent?
- 32-bit number
  - Only useful if you’re using FTP to transfer your parameters
- Could store as two parameters
  - key/index
[9:08 AM] (Channel) PH: can you have the param to change the params on the osd on the osd?
Can’t really use the index id as when firmware is updated the OSD parameter things will break
A new storage area for OSD display data?
- Lack of metadata around ranges is still an issue
- Don’t have metadata like ranges available
- Ranges on our floats are very, very large
  - Some count to hundreds, some are 0.01 increments
  - Change things to be a percentage?
    - Moving from zero would be a problem
Bitmasks?!
Enumerated types
GCS has the metadata…
- It could provide the metadata
- Alex stores parameter, min/max, increment and description
- MissionPlanner and Alex’s GUI handle all of this nicely
- Lots of parameters?
  - Descriptions are still a problem
Will come back to this one

UTC1118 - https://github.com/ArduPilot/ardupilot/pull/13923

Stack size seems good
- Param-ftp-sys stuff all merged
- Stack checking
  - Disarmed is a panic
  - armed will try to keep flying with the memory corruption
    - Internal error in this case
  - First 4 characters of name of thread provided
Srxl is 200 bytes of max-stack
296 left
Is there some way we could cross codepaths that have big buffer sizes?
- Send text, for example
  - It happens to be protected
Merged!

UTC1123 - https://github.com/ArduPilot/ardupilot/pull/13741

FFT enhancements
- Definitely not ready
Already discussed pre-call

UTC1124 - https://github.com/ArduPilot/ardupilot/pull/13586

Add support for custom compass rotation
Requested changes have been made
- Name-change and dynamic allocation
Merged!
[9:26 AM] (Channel) TomPittenger: why do we exclude periph?
[9:27 AM] (Channel) andypiper: @tom because the euler claculation drags in something that blows up the flash size

UTC1125 - https://github.com/ArduPilot/ardupilot/pull/14259

Global check if @Values is increasing
People were raising PRs to keep things in order
Tridge doesn’t like the new ordering on many of these
- [9:27 AM] (Channel) tridge: // @Values: -256:External only (0xFF00),-1:All (0xFFFF),0:None (0x0000)
Tom: Most of these are improvements
- The negative ones are counterproductive
  - Negative because of historical problems with type widths / conversion to floats
[9:28 AM] (Channel) tridge: -6146:NearlyAll-AC315
Default or zero would be nice as the first one
Can now properly transfer int32 values using ftp
[9:30 AM] (Channel) TP: sounds like we’re wanting to reject this PR. That woudl be a bad idea. Lets take in the good ones, leave out the “bad” ones and move on
[9:30 AM] (Channel) TP: can we figure out the “known good” ones that we know we’ll accept?
[9:31 AM] To Weekly devcall: @Tom: the point of this PR from my perspective was that things would get enforced somehow. So we don’t do this call again in a year
[9:32 AM] (Channel) TP: @peter we have lots of those discussions and nothing happens because of a stupid corner case. progress is good
Special-cases?
Attitude control input time constant reverses order so very-crisp is the top one
Cherry-pick out the good ones

UTC1137 - https://github.com/ArduPilot/ardupilot/pull/14187

Battery voltage
Slewrate works fine
- Why?
- Applied after this stuff
Shouldn’t touch manual throttles
[9:38 AM] (Channel) MdB: auto only I think…
[9:38 AM] (Channel) MdB: don’t mess with manual being a passthrough personally
Watt limits?
- This is a tuning thing
- Not directly comparable
Exempt which modes?
- Just manual?
- Fbwa?
- Huge range in throttle position charged vs discharged on 18650-style cells?
- This can only range throttle so stopping shouldn’t be a problem
Reversed throttles?
- Still works
Failed voltage sensor?
- Any limits?
- Does nothing if resting estimate voltage is <25% of minimum
This can push up your throttle on landing
High-voltage on battery pack?
- Constrained away
merged!

UTC1139 - https://github.com/ArduPilot/ardupilot/pull/13315

AP_Scripting add support for dataflash logging
Ready for a full review
Any valgrind test?

UTC1147 - https://github.com/ArduPilot/ardupilot/pull/14100

Translation data?
Moves first waypoint with coordinates to point where you switch to auto mode
Orientation comes from home point to auto mode change point
- Probably not the right way to do it
This is calling out for a script
- Problem is the intended board doesn’t have scripting
- 1MB board
No GCS available
Using for soaring
9:56 AM] (Channel) RM: Peter Barker’s suggestion is we set the frame, on the MISSION_ITEM to MAV_FRAME_LOCAL_NED
[9:57 AM] (Channel) RM: https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED
[9:57 AM] To Weekly devcall: Thanks Randy.
Problem using frame?
- Relative to current position
- Relative to where you entered auto
- There’s BODY_NED
  - Not relative to current
- 20 waypoints?
Too much maintenance?
Part of AP_Soaring?
- Too much maths in common functions?
- Advance-current-nav command for example
Other operators want things relative to home location, not to where you entered auto
[10:00 AM] (Channel) MdB: I’ve heard the desire to rotate but how people want to define where that comes from is hard, hence my preference for letting scripts do it…
Fewer and fewer boards over next few years that can’t do scripting
https://www.youtube.com/watch?v=7QOQGBDR4uA
Maintenance cost on this is too high
- Specific use case
- 2kB of flash and lots of code
Lots of capable chips coming out
F7 is where things should be
Conditional compilation?
- If it was nicely separated
[10:06 AM] (Channel) PH: is there any hope of getting scriptting when we drop the EKF?
- Can we fit it now we don’t have EKF2 on them?
[10:07 AM] (Channel) RM: Willy, thanks very much for the effort on this PR…
[10:08 AM] (Channel) MdB: lua ate a fair amount…
[10:08 AM] (Channel) MdB: and then lua is probably gonna be held up on 1MB boards quickly…
Tridge will add something to the PR
[10:13 AM] (Channel) PH: its totaly worth the upgrade of flight conroller to get scripting and lots of other stuff BTW

UTC0015 - https://github.com/ArduPilot/ardupilot_wiki/pull/2705

Style guide
Constants aren’t really what matters
Merged!

UTC0019 - https://github.com/ArduPilot/mavlink/pull/133

Merged
Old outdated commented out message definitions

UTC0019 - https://github.com/ArduPilot/mavlink/pull/93

Has-destination and is-location stuff
Some units stuff
Merged

UTC0022 - https://github.com/ArduPilot/ChibiOS/pull/20

Should try a smaller SD card on exfat
Asked the author to tell tridge what compiler he’s using

UTC0025 - https://github.com/ArduPilot/ardupilot/pull/14282

Merged

UTC0029 - https://github.com/ArduPilot/ardupilot/pull/14273

Shut down motors when parachute released
Disarm by default
- But should be able to rearm
Disable disarm checks if you were flying when parachute popped

UTC0031 - https://github.com/ArduPilot/ardupilot/issues/13526

Redo safety switch stuff
Behaviour switchable using parameters?
- Hard to get into iomcu
[10:34 AM] (Channel) MdB: We worry about integrators winding up on plane I think
- We reset integrators when safety switch is enabled
Not many pins on the F103 available
Either done as a script
- Force safety state
- AP_Button use pins off the FMU rather than IOMCU
Should make sure throttle isn’t wound up when estop is enabled on Rover
[10:38 AM] (Channel) NN: perhaps a digital signal out on one pin, through a switch then into another I/O sense pin. On disconnect, we switch to user defined state. (hold etc)
[10:39 AM] (Channel) PH: I’m fairly sure the RC option E-stop on rover doesn’t zero integrators
[10:41 AM] To Weekly devcall: @Peter_Hall could be fun to see what happens in copter in Loiter mode with full throttle and the RC channel option asserted to disable motors…
Use a button and scripting?
Does this need to be on IOMCU?
Boards with no IOMCU would seem to make sense
Two auxillary ports, one talking pwm to another
External safety switches are supported
- So API is in place for AP_Button to manipulate safety switch state
mRo CAN node with safety button on it?
Will be discussed more on partner’s call tomorrow when Nick has sound working
[10:45 AM] (Channel) NN: I think the end action should be user param. disarm/hold/pause etc

UTC0048 - https://github.com/ArduPilot/ardupilot/pull/14237

Could make this come from the option bits
Set attitude target / set position target
Don’t honour these under avoid-adsb
merged!

UTC0051 - https://github.com/ArduPilot/ardupilot/pull/14238

Refactor
What’s the definition of “guided”?
- Uses the external guided commands?
- Able to accept position targets from external systems
In_vtol_mode
- Lots of logic
- Vtol loiter in ADSB?
- [10:54 AM] (Channel) MdB: i dont know if that even works now honestly
- [10:55 AM] (Channel) MdB: I had that thought while reviewing
Needs to be reworked for previous change (avoidadsb doesn’t do external commands any more)
Should probably all be changed to just be mode-guided
External override stuff seems to have a bug in it
Attitude overrides in ADSB?
- Shouldn’t be the case
Most things should just be MODE_GUIDED
This PR will probably just move to checking against &mode_guided
[11:00 AM] (Channel) Michael_duBreuil: Despite the outcome I think this flagged real bugs so thanks!

UTC0101 - https://github.com/ArduPilot/ardupilot/pull/14249

Avoid extra work
merged!

UTC0104 - https://github.com/ArduPilot/ardupilot/pull/14244

Use check-failed-for-arming-check
Dead-man’s-disarm-switch
Merged!

UTC0108 - https://github.com/ArduPilot/ardupilot/pull/14263

Change autotest output format
Merged

UTC0110 - https://github.com/ArduPilot/ardupilot/pull/14255

Stop returning unsupported for a command we do support
Remove comment and can then be merged
Should be using temporarily rejected

UTC0115 - https://github.com/ArduPilot/ardupilot/pull/14254

One disk block could map to two locations
Changes the assignment of lat/lon
Tridge has script to pregenerate for region and upload
- In AP_Terrain/tools
  - Two days to write it….
May need to download data
Someone is generating things for the entire world
- 100GB or more?
- Download would be ~13GB
  - Highly compressible data
- Just Australia would be quite achievable, for example

UTC0020 - https://github.com/ArduPilot/ardupilot/pull/14248

Just make it emergency yaw reset, don’t include mag data information
- Can be merged after that
Long strings are really bad on MissionPlanner?

UTC0024 - https://github.com/ArduPilot/ardupilot/pull/14247

Merged
https://github.com/ArduPilot/ardupilot/pull/14235
[11:29 AM] (Channel) PH: can we have spaces instead of underscores?
Text strings need to be fixed
Can be merged after the strings are shortened

UTC0037 - https://github.com/ArduPilot/ardupilot/pull/14234

No interest in having this in master
Closed

UTC0041 - https://github.com/ArduPilot/ardupilot/pull/14225

Needs to just be based off --debug
Performance problems? Don’t run --debug then!

UTC0042 - https://github.com/ArduPilot/ardupilot/pull/13723

Make landing detector more forgiving
Small accelerations / landing
3D filter for a one-degree Z
- Consistent with Copter

UTC0045 - https://github.com/ArduPilot/ardupilot/pull/13685

Allow scripting to set mission item stuff
Tridge and MdB looked at this
Points addressed
Ready for merge?
Commented out stuff in bindings?
One big commit?
- Two commits, one for auto-generation
  - Want to not pre-generate
[11:49 AM] (Channel) PH: can we have a exmaple too if you have one
A whole bunch of comments from MdB
- Michael needs to sign off on this
- Tridge is happy enough with this

UTC0050 - GSoC update

Students have been announced!
We have 5 students
2 have already been involved for a while
OA
Walking robots
T265
matlab/simulink

UTC0054 - Copter

4.0.4 beta testing to start soon

UTC0055 - Partner’s call tomorrow

UTC0056 - Close