Dev Call Nov 13, 2023

CraigElder · November 13, 2023, 10:54pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_GPS: Support integrated headings from SBF

ArduPilot:master ← WickedShell:wickedshell/sbf-heading

opened 08:17PM - 05 Nov 21 UTC

WickedShell

+135 -10

This is an alternate to #18615. (Basically it implements most of my PR requests …on that PR). This also takes the step to actually configure GNSS Attitude as enabled via the config strings, as that was being ignored or manually done before. This may introduce a breakage if any older receivers (AsteRx-m is the minimum target here) don't support the command, which will have to be tested. I haven't had a chance to test it any of this PR yet though so that needs doing. (Otherwise I will probably get back to it in early December if no one else has beaten me to it). Needed Tests: - [x] Validate that normal SBF functionality isn't broken. - [ ] Test that all expected units can handle `sga, None` - [x] Test that heading works - [x] Verify the yaw accuracy information is correct (I've seen early test data from a different incarnation of adding this, that was producing wildly inaccurate yaw accuracy). - [ ] Consider if we should be setting the antenna locations to rigid instead of allowing the unit to compute them for us in auto (easier setup, but maybe not ideal, need to ask the manufacturer).

github.com/ArduPilot/ardupilot

AP_Relay: Refactor to support RELAYx_FUNCTION

ArduPilot:master ← WickedShell:wickedshell/relay_function

opened 10:29PM - 26 Sep 23 UTC

WickedShell

+301 -104

This refactors the AP_Relay library as proposed on the dev call yesterday. Th…ings that stand out from the refactoring: - You can now have per pin defaults. This is something I've been desperate for, because a number of our devices need opposite polarity. I've actually handled this in the past with inverters, but it's still frustrating. - Each relay is hidden as an enable parameter, so you don't see/notice the cost of the extra default/function parameters unless you are using a given relay - There was a small edge case before where changing a pair of relays one after the other (such as what we have to do in ICE), would result in logging just the first change, this now will catch both of these, but still rate limits logging. - In order to walk through the parameters, you need to have an update call, but this is part of what made the logging handling above better. - If a relay has a key feature assigned to it (say in this case ignition), a GCS user can't accidentally send the wrong relay command and turn off their ignition. This is actually a very significant win for my use cases. I have some relay outputs that scripts currently control, and the user has been known to try and toggle them with the relay interface in MP, which has resulted in very erroneous (and semi dangerous output). If we add some scripting functions to the list this entire failure mode disappears. Downsides: - If you are using all 6 relays then you will be viewing more parameters then before. As we start to refactor away various libraries to use this interface we should see that reduced. - Initial setup is a bit more complicated because changing the function is an enable parameter, necessitating a param download. Things missing as currently presented: - [x] Parameter conversion - [x] Need to correct that the params currently show up as `RELAY_X_FUNCTION` and the like. That's straightforward. I haven't done the work to do parameter conversion yet, I wanted to present a prototype that is working with a CubeOrangePlus on the bench, with a oscilloscope hooked up to the outputs. Pin states were toggled using both the `relay` and `engine` commands in `MAVProxy`.

github.com/ArduPilot/ardupilot

AP_Motors_Heli: Fix DDFP Min Max Trim Variables

ArduPilot:master ← Gone4Dirt:fix_DDFP_tails

opened 05:31PM - 30 Sep 23 UTC

Gone4Dirt

+91 -47

Issue found by user on master and reported via Trad Heli channel on discord. …Issues resolved: - Servo min, max, trim values were always being retrieved from servo channel 4 not the servo channel assigned to motor 4. - The update of the min, max, trim values was only being done in spool state unlimited. So the output was being forced to 0 instead of min until the system is armed and spooled up. Issues still to resolve: - I am fairly sure that trim is currently being ignored. So this is a breaking change from prior DDFP setups (ref: https://ardupilot.org/copter/docs/traditional-helicopter-tailrotor-setup.html#setting-tail-trim) Testing thus far has been on a bench setup. Board is FMUV3. Signal output is dshot.

github.com/ArduPilot/ardupilot

AP_Motors: Heli_Dual: refactor sawahplate mixing

ArduPilot:master ← IamPete1:dual_heli_mixing_refactor

opened 10:36PM - 30 Oct 23 UTC

IamPete1

+220 -188

This re-factors the dual heli swash plate mixing. The motors example was updated… to allow setting of the `H_DUAL_MODE` in the heli test. This allowed a full sweep comparison or each dual heli type. Results: ``` Dual_Heli H3 Longitudinal: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 Dual_Heli H3 Transverse: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 Dual_Heli H3 Intermeshing_or_Coaxial: Inputs max change: Roll: 0.000000 Pitch: 0.000000 Yaw: 0.000000 Thr: 0.000000 Outputs max change: Mot1: 0.000000 Mot2: 0.000000 Mot3: 0.000000 Mot4: 0.000000 Mot5: 0.000000 Mot6: 0.000000 Mot7: 0.000000 Mot8: 0.000000 Limits max change: LimR: 0.000000 LimP: 0.000000 LimY: 0.000000 LimThD: 0.000000 LimThU: 0.000000 ```

github.com/ArduPilot/ardupilot

Fix GSOF autobaud detection message.

ArduPilot:master ← Ryanf55:change-gps-detection-msg

opened 04:35PM - 02 Nov 23 UTC

Ryanf55

+6 -5

On the GSOF driver, previously, it said "detected", which made it seem like it a…lready happened. After chasing this down, the message is right, but the GSOF driver is missing certain flags. It needs to set `dstate->auto_detected_baud = false` After this change, the logs now state: ``` AP: GPS 1: specified as GSOF AP: GPS 1: specified as GSOF AP: GPS 1: specified as GSOF ``` Before this change, the logs stated: ``` AP: GPS 1: detected as GSOF at 4800 baud AP: GPS 1: detected as GSOF at 19200 baud AP: GPS 1: detected as GSOF at 38400 baud ```

github.com/ArduPilot/ardupilot

AP_RCTelemetry: throttle CRSF request RX device info messages

ArduPilot:master ← olliw42:owpr-crsfping

opened 05:59PM - 08 Nov 23 UTC

olliw42

+6 -1

I'm not sure you'll like it, but I like it a lot and hence dare to suggest: T…here are situations in which one wants to use CRSF, but only with one wire (receiver Tx -> ardupilot Rx), without the additional telemetry wire (receiver Rx <- ardupilot Tx). Examples would be companions or third-party receivers. In such cases the RCTelemetry library sends 50 statustest messages at 2 Hz rate, i.e., for a total of 25 seconds, before it concludes it can stop requesting a CRSF message. The PR here throttles the sending of these statustext messages to one every 5 seconds, which should be really sufficient to have the full attention of the user. Alternatives: One could add an option which either supresses sending these messages (similar to RC_Channels::Option::SUPPRESS_CRSF_MESSAGE) or which disables the requesting. I think the simple throttling is preferable since it doesn't need user interactions nor any documentation. The code change has been massively tested for a long while on a copter. Behavior before this PR: ![crsfping-before](https://github.com/ArduPilot/ardupilot/assets/6089567/a363f245-7f9c-4f81-bbff-ec9f5afc2ad2) Behavior after this PR: ![crsfping-after](https://github.com/ArduPilot/ardupilot/assets/6089567/b9d26602-8ded-490e-9d8f-e1e621b0c0d7)

github.com/ArduPilot/ardupilot

AP_RangeFinder: Add JRE-30 radar support

ArduPilot:master ← rmackay9:jfbblue0922-JRE-lidar

opened 02:58AM - 09 Nov 23 UTC

rmackay9

+249 -1

This adds support for the JAE-30 radar which is a 30m radar from Japan Aviation …Electronics. This replaces PR https://github.com/ArduPilot/ardupilot/pull/25377 but I've made a few mostly small NFC tweaks including: 1. shortened the DIST_MAX_CM definition from 50000cm to 5000cm (e.g. 50m). This is the max distance shown when out-of-range. 2. removed an unused variable 3. added some comments 4. changed the crc loop to use uint32_t instead of "int" 5. only enabled on boards with > 1MB of flash I've tested this fairly thoroughly including confirming the status changes correctly including when the radar is pointed up into the sky where it sees nothing. BTW, during the review of the previous PR we decided to re-work the state machine. The original author went ahead and did that and although it's still a little different from how we normally write these parsers I think it's close enough. The corresponding wiki PR is here https://github.com/ArduPilot/ardupilot_wiki/pull/5546

github.com/ArduPilot/ardupilot

hwdef:correct JFB110 defaults

ArduPilot:master ← Hwurzburg:jfb110

opened 01:39AM - 10 Nov 23 UTC

Hwurzburg

+1 -13

set serial4 back to default (GPS2) set serial5 back to default (USER,ie no prot…ocol by default) remove setting INS_ENABLE to its already default state (ie all IMUs enabled) remove incorrect serial7 protocol...it should be User (default) ...there is no such thing as a debug serial port per se btw I am not 100% sure setting Serial6 options to invert the output is correct,but seems right

github.com/ArduPilot/ardupilot

AP_Scripting: add checksum of running and loaded scripts with arming check

ArduPilot:master ← IamPete1:scripting_checksum

opened 11:08PM - 12 Nov 23 UTC

IamPete1

+87 -2

This allows a arming check that the correct scripts are running and loaded preve…nting a missing SD card from meaning critical scripts are missing. This does a crc32 on the each file and XOR's the result for multiple files. The crc caculation gives the same result per file as the `crc32` command on linux and pages such as this one: https://emn178.github.io/online-tools/crc32_checksum.html However, because of float parameter transport we can't actually set the CRC we want into parameters, so this is still a draft. We could move to a 16 bit checksum, or add a "lock in scripts" command to set the current value to the parameters. This is also very much a pass/fail arming check, we can only tell that the check sum failed, we cannot tell which script is missing. I the future this would allow a fail safe action to be taken if the running scripts do not match the expected checksum.

github.com/ArduPilot/ardupilot

AP_GPS: Increase robustness of GSOF configuration with ACK/NACK handling and retry logic

ArduPilot:master ← Ryanf55:gsof-robust-config-response-parsing

opened 06:13AM - 13 Nov 23 UTC

Ryanf55

+203 -34

# Purpose This PR implements robust configuration in the GSOF driver. The cor…e design change here is to read responses to configuration commands, and check they were successful. The DCOL commands have an ACK/NACK return code (single byte). During configuration, the first step now is to disable all data channels (streaming) so they don't conflict with configuration data. Next, the same original commands are run as before, except this time a response is attempted to be read before continuing. Even though all data channels are disabled before configuration, as the requestGSOF command starts going through each request, the unit starts sending data again. The only way I could get around this is by adding retry logic. While doing this, I broke apart the checksum and transaction number into separate utilities to reduce code duplication. Previous behaivor was to not check for a response. The GPS device was assumed to be working. Finally, the time to configure the GSOF driver was cut down by an order of magnitude: from 601 milliseconds to 41 milliseconds. In the event that the driver fails in flight, and ArduPilot wants to cycle through all the bauds, this could allow significantly quicker recovery time. # Changes * Refactor checksum to unique function * Clear uart before reading data * Add ack/nack check * Implement output disable before requesting GSOF data * Improve debug message to have line number * Use debug in more code # Demo See attached screenshot. All configuration responses result in ACK, which means they are valid. ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/5fbd2251-6396-408f-af28-c5ed91d6ea19) # Conflict Resolution You can see here, a configuration item was attempted while existing data was coming in the UART. The ACK shows up at the end. ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/454bf8ac-9533-4582-a0e2-398340764612) In this case, the new behavior will do a retry of the config slightly later, since the current serial read will fail the request/response routine because more than one byte will be read. # Testing Performed * Run configuration 10 times on device with data already enabled, and ensure it configures successfully each time. * Verify retry logic caused by conflict works ## Autotest logic Without changes to the simulator, ` test.CopterTests2b.GPSTypes` will fail because it doesn't support reading data.

github.com/ArduPilot/ardupilot

Add signal_quality to RangeFinder_State

opened 06:55PM - 13 Nov 23 UTC

clydemcqueen

DevCallTopic

## Feature request **Is your feature request related to a problem? Please des…cribe.** Background: several rangefinder backends support signal quality (BLPing, LightWareSerial, MAVLink). For these backends the distance and signal quality are stored separately: distance is copied from the backend to the frontend by `update()` but signal quality remains in the backend and is accessed by `get_signal_quality_pct(...)`. The problem: the backend API doesn't support a way to get the (distance, signal quality) tuple. Callers can get the distance from the frontend and the signal quality from the backend, but they might be out of sync. This is OK for most use cases, but it is hard to reason about and it makes testing tricky. **Describe the solution you'd like** Add a field `signal_quality` to `RangeFinder_State`. **Describe alternatives you've considered** Add a method `AP_RangeFinder_Backend::get_measurement(uint16_t &distance_cm, int8_t &quality_pct)`. **Platform** [ x ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine **Additional context** Signal quality is very important for sub use cases. This came up while working on a Lua rangefinder simulator that supports signal quality: the idea is to simulate sensor delay, different seafloor types, etc. Writing a nice autotest for this is tricky.

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) - [ ] lua scripts sometimes do not start: https://github.com/ArduPilot/ardupilot/issues/25455 - [x] https://github.com/ArduPilot/ardupilot/issues/25157 - [ ] can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height - [ ] scaling of baro gate with height: https://github.com/ArduPilot/ardupilot/issues/25337 - [ ] pitch stick mixing can stall aircraft - [ ] https://github.com/ArduPilot/ardupilot/issues/25283 - [ ] support new DroneCAN ESC status msg - [ ] slow down EFI update in periph - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] add frame to fly to in mavproxy - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [x] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] 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: - [ ] H743 I2C with 0x70 not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/25508)) - [ ] CRSF option for "RX Battery Sensor" sends telem that conflicts with Yaapu telem (?) ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-beta1-available-for-beta-testing/106076/12)) - [ ] EKF3 external nav is fusing using wrong GPS noise ([issue](https://github.com/ArduPilot/ardupilot/issues/24020)) - [ ] benewake TFminiPlus-I2C timing out with NoData ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-released/105233/56)) - [ ] Lane switching warning (reported by Partner, [issue](https://github.com/ArduPilot/ardupilot/issues/24181)) - [ ] MSP on Matek board ([discussion](https://discuss.ardupilot.org/t/msp-problem-no-gps-comp-and-baro-data/103043)) - [ ] CSRF and Mount Siyi boot loop ([see bottom of this issue](https://github.com/ArduPilot/ardupilot/issues/23815)) - [ ] very short ELRS failsafes ([issue](https://github.com/ArduPilot/ardupilot/issues/23853), [PR](https://github.com/ArduPilot/ardupilot/pull/24170)) - [ ] 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)) Confirmed issues: - [ ] SERVO_FUNCTION = RCIN3Scaled output range incorrect ([discussion](https://discuss.ardupilot.org/t/release-rover-4-4-as-stable-ok/106080/6), [issue](https://github.com/ArduPilot/ardupilot/issues/25524)) - [ ] MAVFTP (using MP) of terrain data to SD card takes 25min ([discussion](https://discuss.ardupilot.org/t/terrain-data-loading-on-sd-card-via-mavftp-is-slow/107750), [MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3229), [MAVProxy issue](https://github.com/ArduPilot/MAVProxy/issues/1270)) - [ ] GSF on Rover not working below 5m/s ([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), [related PR](https://github.com/ArduPilot/ardupilot/pull/23515), [issue](https://github.com/ArduPilot/ardupilot/issues/24183), [PR](https://github.com/ArduPilot/ardupilot/pull/24206)) - [ ] 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)) Enhancements or Issues that may not be resolved before the stable release: - [ ] KDECAN not working ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/11)) -- needs backport from 4.5. - [ ] Gremsy ZIO zoom and focus not working ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-mavlink-commands-not-working/103080)) -- needs backport from 4.5 - [ ] MAV_CMD_YAW should accept direction=0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23874)) - [ ] Provide RemoteID support firmware to ease setup ([issue](https://github.com/ArduPilot/ardupilot/issues/24789), [discussion](https://discuss.ardupilot.org/t/offical-copter-release-with-remote-id-support/105543)) - [ ] ADSB on AP_Periph support? ([discussion](https://discuss.ardupilot.org/t/adsb-using-ap-periph-not-connecting/105634), [wiki](https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Periph/README.md), [issue](https://github.com/ArduPilot/ardupilot/issues/24802)) - [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9) - [ ] Enable 10hz PID logging - [ ] RPLidarA2M12 not working ([discussion](https://discuss.ardupilot.org/t/rp-lidar-a3-integration-with-ardupilot/101792/11)) - [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23782)) Resolved issues: - [x] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594), [PR may help](https://github.com/ArduPilot/ardupilot/pull/24135)) -- PR merged, no further followup - [x] TKOFF_THR_MAX not actually included in release ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-released/107005/3), [PR](https://github.com/ArduPilot/ardupilot/pull/25514)) - [x] corners less curved? ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-released/105233/77)) -- caused by slight change in default cornering acceleration. - [x] 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)) -- fewer reports recently perhaps because of wiki updates - [x] RockBlock only works with MAVProxy ([discussion](https://discuss.ardupilot.org/t/rockblock-iridium-sbd-and-mission-planner/102728), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/5263)) -- Stephen Dade will raise wiki and MP/QGC issues -- added to wiki for -beta4 - [x] yaw reset from low flying copter passing over bridge (Randy has logs) -- older version of AP, new versions should be a little better - [x] Request to add Custom Build Server support for beta builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/7), [issue](https://github.com/ArduPilot/CustomBuild/issues/54, [PR](https://github.com/ArduPilot/CustomBuild/pull/55))) -- resolved for -beta3 - [x] Gremsy WE not working ([4.4 discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/15), [4.3.7 discussion](https://discuss.ardupilot.org/t/gremsy-pixy-we-not-working-with-4-3-5/99163)) -- Gremsy software issue. Fix from Gremsy coming soon - [x] Siyi A8 ROI not working (reported by Kelly Schrock on facebook, [discussion](https://discuss.ardupilot.org/t/siyi-a8-roi-issue/102091), [PR](https://github.com/ArduPilot/ardupilot/pull/24011)) -- resolved for -beta3 - [x] MatekF405-TE-bdshot only 2 channels working (see Painless360's channel) -- user error - [x] FPV406 watchdog due to cracked SD card ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/48)) -- no logs - [x] Mount serial gimbal param description confusion ([discussion](https://discuss.ardupilot.org/t/ip-cameras-rtsp-mavlink-support/99893/20)) -- fixed for beta3 - [x] serial pass through (for GPS) broken ([issue](https://github.com/ArduPilot/ardupilot/issues/21114), [PR](https://github.com/ArduPilot/ardupilot/pull/23888)) -- fixed in -beta2 - [x] RC loss+regain issue ([PR](https://github.com/ArduPilot/ardupilot/pull/23844)) -- fixed in -beta2 - [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 · November 14, 2023, 3:54pm

Attendee count (max): 18

UTC2300 - AP_GPS: Support integrated headings from SBF by WickedShell · Pull Request #19165 · ArduPilot/ardupilot · GitHub

Support integrated headings from SBF
Manufacturer wants stuff merged in so they don’t have to maintain their fork
Customers are using a branch
- GitHub - septentrio-gnss/Septentrio-ArduPilot-Autopilot: ArduPilot Autopilot Software with Septentrio support
Manufacturer can supply hardware as needed; Randy got hardware today
Tridge doesn’t think this PR is correct
- GPS replay…
  - Only gets you so far as you can’t query the device for settings
- Antenna location problematic because wrong yaw can have disastrous consequence?
- front/back only on vehicle is kind of problematic
When using GPS-for-yaw it’s very important for the ArduPilot parameters in regards to offsets
Tridge happy to work with Randy, who has the hardware
Vehicle needs to provide yaw and baseline
- Or a NED offset between two antennas
- To do qualification of the parameters
Testing seems to be mostly on Rovers, we need to make sure it works across all vehicle types

UTC2307 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

Refactor to support RELAYx_FUNCTION
Needs CI tests to pass
Carbonix patches would make the ICEngine patches
- Which Peter needs to re-review
- Needs testing on hardware

UTC2313 - Handle "Reset Mission" param in DO_SET_MISSION_CURRENT command by nexton-winjeel · Pull Request #25130 · ArduPilot/ardupilot · GitHub

Handle “reset mission param” in DO_SET_MISSION_CURRENT
Resets jump counters
merged!

UTC2322 - AP_Motors_Heli: Fix DDFP Min Max Trim Variables by Gone4Dirt · Pull Request #25155 · ArduPilot/ardupilot · GitHub

Fix ddfp min/max trim variables
Merged!

UTC2324 - AP_Motors: Heli_Dual: refactor swash plate mixing by IamPete1 · Pull Request #25405 · ArduPilot/ardupilot · GitHub

Refactor dual swashplate mixing
Merged!

UTC2325 - Fix GSOF autobaud detection message. by Ryanf55 · Pull Request #25445 · ArduPilot/ardupilot · GitHub

Autobaud detection message fix
merged!

UTC2325 - AP_GPS: correct uBlox M10 configuration on minimised boards (4.3 backport) by peterbarker · Pull Request #25478 · ArduPilot/ardupilot · GitHub

Backport of 4.3 M10 support fix
Need a policy on merging bugfixes into 4.3 etc
- Want people to get the actual stable branch or the one with bugfixes on the stable branch?
Getting these merged in has the advantage that the things will get tested
merged!

UTC2327 - AP_RCTelemetry: throttle CRSF request RX device info messages by olliw42 · Pull Request #25494 · ArduPilot/ardupilot · GitHub

Throttle CRSF request-rx-device-info messages
Merged!

UTC2336 - AP_RangeFinder: Add JRE-30 radar support by rmackay9 · Pull Request #25495 · ArduPilot/ardupilot · GitHub

Add JRE-30 radar support
Some very silly things going on with data buffers
Randy will rework
Peter will help out with the simulator

UTC2353 - hwdef:correct JFB110 defaults by Hwurzburg · Pull Request #25503 · ArduPilot/ardupilot · GitHub

Correct JFB110 defaults
Merged!

UTC2355 - AP_OpticalFlow: increase scaler param desc ranges by rmackay9 · Pull Request #25505 · ArduPilot/ardupilot · GitHub

Increase recommended OF scaler ranges
Merged!

UTC2357 - Correct ESC mask for takeoff check by andyp1per · Pull Request #25512 · ArduPilot/ardupilot · GitHub

Correct ESC mask for takeoff check
It is a bug.
Do we want a second beta which would hold up the other critical fixes?
- Or should this be a 4.4 thing?
- Would hold up the stuck-gyro one
- CubeOrangePlus-BG
- Extreme-low-frequency filter bugfix
Will delay this until 4.4.3 goes out
Release to go out this-arvo

UTC2359 - AP_ExternalAHRS: Specify brand on all VN log messages by Ryanf55 · Pull Request #25515 · ArduPilot/ardupilot · GitHub

Include source of messages for vectornav
Merged!

UTC0003 - ProfiLED Fix by andyp1per · Pull Request #25518 · ArduPilot/ardupilot · GitHub

ProfiLED fix
Andy still can’t get things flashing
Other people got it working

UTC0007 - AP_Scripting: add checksum of running and loaded scripts with arming check by IamPete1 · Pull Request #25521 · ArduPilot/ardupilot · GitHub

Add checksum of running and loaded scripts
So you know things are working
PH to make it easier to use

UTC0016 - AP_GPS: Increase robustness of GSOF configuration with ACK/NACK handling and retry logic by Ryanf55 · Pull Request #25525 · ArduPilot/ardupilot · GitHub

Increase robustness of GSOF configuration
Move stuff out of constructor
Simulated parsing of messages is an open question

UTC0026 - Add signal_quality to RangeFinder_State · Issue #25528 · ArduPilot/ardupilot · GitHub

Add signal quality to rangefinder state
Yes, do it

UTC0029 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
New 4.4 out this-afternoon
- Closely followed by a new release
Tridge wrote a facebook post explaining why there are so many releases
- He’ll make it a blog post on discuss
X-Plane problems
Peter to put a funding request in for XPlane so the Jasmine parser stuff can go in

UTC0033 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Copter and Rover update
New releases this-afternoon
Still a long list of outstanding 4.4 issues
Scaled RC passthrough is buggy
- E.g. copter throttle channel to output on channel 9 but scaled
  - 1000-2000 becomes 1500-2000 which isn’t good
Mavftp is really slow
- 30MB terrain file took 35 minutes
- Could be a windows serial driver issue
EKF errors on small quad from Michelle
- Raise again if there are still problems
Less curvy corners?
- There was a change to corner accel
- Special param you can set to specify accel

UTC0041 - GCS funding passed

So we’ve got some UI fixes for mount support on the way

UTC0042 - off the floor

Tridge is playing with MAVFTP and found it’s not really fast but not terrible
There’s reasons for it
- Round-trip-per-packet
- Could be pipelined

UTC0047 - new RPanion out

Randy’s been testing and likes it
Self-update to latest
Video-streaming stuff
VPN support
- Zero-tier and one other
Log upload to server

Attendee count (max): 18

UTC2300 - AP_GPS: Support integrated headings from SBF by WickedShell · Pull Request #19165 · ArduPilot/ardupilot · GitHub

UTC2307 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

UTC2313 - Handle "Reset Mission" param in DO_SET_MISSION_CURRENT command by nexton-winjeel · Pull Request #25130 · ArduPilot/ardupilot · GitHub

UTC2322 - AP_Motors_Heli: Fix DDFP Min Max Trim Variables by Gone4Dirt · Pull Request #25155 · ArduPilot/ardupilot · GitHub

UTC2324 - AP_Motors: Heli_Dual: refactor swash plate mixing by IamPete1 · Pull Request #25405 · ArduPilot/ardupilot · GitHub

UTC2325 - Fix GSOF autobaud detection message. by Ryanf55 · Pull Request #25445 · ArduPilot/ardupilot · GitHub

UTC2325 - AP_GPS: correct uBlox M10 configuration on minimised boards (4.3 backport) by peterbarker · Pull Request #25478 · ArduPilot/ardupilot · GitHub

UTC2327 - AP_RCTelemetry: throttle CRSF request RX device info messages by olliw42 · Pull Request #25494 · ArduPilot/ardupilot · GitHub

UTC2336 - AP_RangeFinder: Add JRE-30 radar support by rmackay9 · Pull Request #25495 · ArduPilot/ardupilot · GitHub

UTC2353 - hwdef:correct JFB110 defaults by Hwurzburg · Pull Request #25503 · ArduPilot/ardupilot · GitHub

UTC2355 - AP_OpticalFlow: increase scaler param desc ranges by rmackay9 · Pull Request #25505 · ArduPilot/ardupilot · GitHub

UTC2357 - Correct ESC mask for takeoff check by andyp1per · Pull Request #25512 · ArduPilot/ardupilot · GitHub

UTC2359 - AP_ExternalAHRS: Specify brand on all VN log messages by Ryanf55 · Pull Request #25515 · ArduPilot/ardupilot · GitHub

UTC0003 - ProfiLED Fix by andyp1per · Pull Request #25518 · ArduPilot/ardupilot · GitHub

UTC0007 - AP_Scripting: add checksum of running and loaded scripts with arming check by IamPete1 · Pull Request #25521 · ArduPilot/ardupilot · GitHub

UTC0016 - AP_GPS: Increase robustness of GSOF configuration with ACK/NACK handling and retry logic by Ryanf55 · Pull Request #25525 · ArduPilot/ardupilot · GitHub

UTC0026 - Add signal_quality to RangeFinder_State · Issue #25528 · ArduPilot/ardupilot · GitHub

UTC0029 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0033 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0041 - GCS funding passed

UTC0042 - off the floor

UTC0047 - new RPanion out

UTC0048 - close