Dev Call May 5, 2025

[CraigElder]

Release Update

ArduPilot 4.6 issues list

Issues & Pull Requests

Move rudder arming up into RC_Channel library

DroneCAN: support sending/receiving DroneCAN messages in lua

AP_Terrain: Protect against division by 0 when TERRAIN_SPACING is less then 1

All vehicles: Fix non fatal rc failsafe bug

AP_Follow axis and unit naming

hwdef: remove unused USB_HW_ENABLE_HS define

AP_Mission: Include fence and rally point in stored_in_location

Vector3p output of position from _inav.get_position_ned_m();

Allow AHRS to return postype for position-relative-to-origin

waf: allow --embed-XXX on configure

Add Sub tests for GCS and RC

CAN: fixed race in SITL and Linux HALs

ArduSub: add EMERGENCY surface mode to Sub

Sub:add aux func disarm/estop to pre-arm check for disarm function

GitHub - lthall/Leonard_ardupilot at 20250503_READONLY_to_WRITABLE

Discuss how we could specify a white list of writable variables and the default read only.

GSOC

[CraigElder]

Attendee count (max): 16

UTC1100 - vehicle update

• Release notes have been updated
• A couple of new issues
  • TBS firmware corruption
• IST8310
  • Pixhawk 6x rev8, holybro micro gps with IST8310 external compass not detecterd · Issue #29854 · ArduPilot/ardupilot · GitHub
• LD06/LD19
  • Regression in sunlight
  • Move this back to being an average
  • This is the major blocker
• LUA internal error with heap allocations
  • Tridge will look at this
• AM32 pass-through
  • Tridge will also look at this
• Pre-arm check for velocities means we don’t need fix for velocities in EKF3
• IOMCU messages
  • Corrupted messages possible?
  • 8 bit CRCs expect a good link
  • Possibly mis-configured the device at boot?

UTC1137 - Move rudder arming up into RC_Channel library by peterbarker · Pull Request #16091 · ArduPilot/ardupilot · GitHub

• Move rudder arming up
• Should we warn the user if they go to arm and their throttle is non-zero
  • no
• Move gesture check into RC channels library
• Do not send message if user accidentally tries to arm vehicle with non-zero throttle value
• Custom changes to toymode
  • Add enum value for toymode

UTC1150 - DroneCAN: support sending/receiving DroneCAN messages in lua by tridge · Pull Request #29310 · ArduPilot/ardupilot · GitHub

• Dronecan messages in LUA
• Libcanard changes look good
  • Merged
• Possible memory leak in dronecan stuff

UTC1155 - AP_AHRS: External wind extimate handler for EKF3 by suraqis · Pull Request #29973 · ArduPilot/ardupilot · GitHub

• Grid spacing less than 1?
• Should we allow for floating point distances
• Make it a prearm check instead

UTC1156 - All vehicles: Fix non fatal rc failsafe bug by Hwurzburg · Pull Request #29846 · ArduPilot/ardupilot · GitHub

• RC errors
• When you disable failsafe this gets you out of failsafe
• Merged!

UTC0003 - AP_Follow axis and unit naming by lthall · Pull Request #29887 · ArduPilot/ardupilot · GitHub

• AP_Follow axis and unit naming
• Peter can merge when he’s happy

UTC0008 - hwdef: remove unused USB_HW_ENABLE_HS define by peterbarker · Pull Request #29920 · ArduPilot/ardupilot · GitHub

• Remove unused compiler lines
• High-speed USB lines, unused
  • Never implemented
• You lose your second CAN interface on the H7!
  • Documented on the H7, not a bug
• Colcon?
  • Ryan’s keen on getting these fixed up…

UTC0010 - Allow sending of rangefinder message to be compiled out of the code by peterbarker · Pull Request #29923 · ArduPilot/ardupilot · GitHub

• Rangefinder out of code defines
• Can be merged once CI passes

UTC0014 - AP_Mission: Include fence and rally point in stored_in_location by rishabsingh3003 · Pull Request #29925 · ArduPilot/ardupilot · GitHub

• Include fence and rally point stored in location
• Peter will look at after the call

UTC0021 - waf: stop setting CXX flags based on C compiler version by peterbarker · Pull Request #29938 · ArduPilot/ardupilot · GitHub

• Fix the way we set compiler flags
• Merged!

UTC0028 - Vector3p output of position from _inav.get_position_ned_m(); · Issue #29952 · ArduPilot/ardupilot · GitHub

• Return double-precision locations from EKF
• Get rid of the double-precision interface for the down axis
• People are very happy with the change

UTC0039 - waf: allow --embed-XXX on configure by tridge · Pull Request #29955 · ArduPilot/ardupilot · GitHub

• –embed-XXX on configure
  • Embed a lua script by name
• Merged!

UTC0047 - Add Sub tests for GCS and RC by Hwurzburg · Pull Request #29959 · ArduPilot/ardupilot · GitHub

• Add some tests for GCS and RC
• Merged!

UTC0051 - CAN: fixed race in SITL and Linux HALs by tridge · Pull Request #29960 · ArduPilot/ardupilot · GitHub

• Fixed race in SITL and Linux HALs
• Some discussion on CAN and ethernet on QURT here
• Merged!

UTC0055 - ArduSub: add EMERGENCY surface mode to Sub by Hwurzburg · Pull Request #29963 · ArduPilot/ardupilot · GitHub

• Add emergency surface mod to Sub
• Only available to code, not user?
• Should we require a baro?
  • We don’t on Copter
• Willian will look at fixing surface mode

UTC0102 - Sub:add aux func disarm/estop to pre-arm check for disarm function by Hwurzburg · Pull Request #29979 · ArduPilot/ardupilot · GitHub

• Allow Sub to arm when you don’t have buttons but do have RC
• MissionPlanner doesn’t work well for subs

UTC0110 - GitHub - lthall/Leonard_ardupilot at 20250503_READONLY_to_WRITABLE

• Want to make parameters read-only by default
• So modifiable parameters are nominated in the defaults.parm files
  • @READONLY goes to @WRITABLE
• Leonard did do it
  • And added a BRD_OPTIONS bit to allow all to be modifiable
• Do it with a LUA script?
  • Complications…
• A set_readonly interface in param?
• A bit which says “don’t allow parameter changes via mavlink”
  • And a LUA script which handles the parameter protocol
• Need to check is_read_only in ftp parameter upload

UTC0146 - off the floor

• Partner call tomorrow

UTC0146 - close

[Adam_Borowski]

I rebased my old fix for LD06/LD19 using code parts from RPLidar.

Bugfix/ld 19 rebased master