Dev Call Nov 20, 2023

CraigElder · November 20, 2023, 10:54pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

PID notches and D feed-foward

ArduPilot:master ← andyp1per:pr-pid-notch-d-ff

opened 02:01PM - 27 Jul 23 UTC

andyp1per

+1223 -41

This is a PR for discussion and experimentation only. We have discussed how notc…h filtering of the target and error terms might be useful for things like frame resonance and how allowing target D feedforward might bring some of the benefits in control that betaflight see. This change lumps them all together so that they can be tried.

github.com/ArduPilot/ardupilot

Plane: Mode LoiterAltQLand to reuse same loiter point if available

ArduPilot:master ← magicrub:pr/vtol_land_here

opened 09:04PM - 19 Oct 23 UTC

magicrub

+9 -10

Current behavior: - When switching to mode LoiterAltQLand we set the current lo…cation as the center of the loiter. Problem: - If we were already performing a loiter then our circle center changes New/Proposed behavior in this PR: - When switching to mode LoiterAltQLand, if we were already in a loiter then continue using that same center location point

github.com/ArduPilot/ardupilot

Fix C++ One Definition Rule violations and misc. UB

ArduPilot:master ← tpwrules:fix-odr-violations

opened 12:20AM - 29 Oct 23 UTC

tpwrules

+43 -50

Fix various violations of the C++ [One Definition Rule](https://en.cppreference.…com/w/cpp/language/definition) discovered during testing with LTO. Fix a couple of easy UB cases noticed when doing the above. Not necessarily an exhaustive list, but this does fix the complete list of violations diagnosed by GCC. No code size or functional change.

github.com/ArduPilot/ardupilot

GCS_MAVLink: Tidy defines in try_send_message

ArduPilot:master ← peterbarker:pr/tidy-gcs-try-send-message-defines

opened 02:03AM - 08 Nov 23 UTC

peterbarker

+95 -30

Be consistent with our pattern of removing entire case statements throughout the… try-send-message code ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal -8 * -8 -8 -8 8 -8 HerePro 0 Hitec-Airspeed * KakuteH7-bdshot 0 * 0 0 0 0 0 MatekF405 -32 * -32 -32 -32 -24 -32 Pixhawk1-1M-bdshot -24 -32 -32 -32 -32 -24 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -32 * -32 -32 -32 -24 -32 skyviper-v2450 0 ```

github.com/ArduPilot/ardupilot

Plane: Allow BATT_WATT_LIMIT to bring Throttle to 0% and report it

ArduPilot:master ← magicrub:pr/watt_limit_0

opened 10:47PM - 09 Nov 23 UTC

magicrub

+79 -33

Allow BATT_WATT_LIMIT to bring Throttle to 0% and report it. Previously it's aut…hority only allowed it to bring the max throttle down to 25% and there was no way to know it was happening. Use case: Catastrophic Motor/ESC failure resulting in a short circuit where Wattage goes through the roof (and such risking brownout) whenever almost any throttle is applied. New behavior: - allow throttle to get limited all the way down to 0%. - if it ever gets to 0% then back off 5s before trying trying to normal recovery of 1%/sec - spam the GCS every 5s with info about what's happening. (Previously you had no idea this was happening) Other improvement: - It's now more obvious when the limiter has no effect on the throttle limits by returning early - Changed behavior and comment for attack to be 50%/sec which was the original intent when I implemented this feature in 7 years ago via PR https://github.com/ArduPilot/ardupilot/pull/3573 - removed a 1ms timer check which was useless because it ran at 1KHz anyway (set_servo() is now in FAST_TASK instead of 50Hz so it's even more odd) - fixed a bug where a limited negative thrust would never recover. I guess no one ever had that problem! - wrapped this in a define AP_BATTERY_WATT_MAX_ENABLED, default enabled when battery is enabled - disabled AP_BATTERY_WATT_MAX_ENABLED on minimize boards (saves 808 bytes) - declared AP_BATTERY_WATT_MAX_ENABLED 0 as default in periph - Added to build_options and feature_extract

github.com/ArduPilot/ardupilot

AP_DDS: MicroROS agent doesn't publish topics when GPS automatically gets GPS lock.

opened 03:21AM - 14 Nov 23 UTC

KyleJewiss

BUG GPS ROS DevCallTopic For-4.5

## Bug report AP_DDS: MicroROS agent doesn't publish topics when GPS automatica…lly gets GPS lock. We have Ardupilot running on a PX4 with a CubeOrange and a Here3+ GPS. We followed the documentation in the AP_DDS library to setup DDS/MicroROS: https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS We got it all working, where the data from the Here3+ could be published as topics to a ROS domain, however this is only the case when the Here3+ starts in a flashing blue "Disarmed with no GPS lock" state. When it is outside it automatically achieves GPS lock and flashes green "Disarmed (ready to arm), GPS lock acquired". See documentation here: https://docs.cubepilot.org/user-guides/here-3/here-3-manual When the GPS starts without GPS lock the console output looks like the following: ![Untitled](https://github.com/ArduPilot/ardupilot/assets/60417507/c976931e-0f99-4ab1-9360-cfa86450bf81) When the GPS starts with GPS lock the console output looks stops as this point. It never publishes any of the topics: ![image](https://github.com/ArduPilot/ardupilot/assets/60417507/ad402654-ca15-478f-abd0-eb52109bebac) **Version** 4.5 dev version **Platform** [ ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ X ] Rover [ ] Submarine **Hardware type** Pixhawk4 with CubeOrange and a Here3+ **Logs** ![Untitled](https://github.com/ArduPilot/ardupilot/assets/60417507/c976931e-0f99-4ab1-9360-cfa86450bf81) ![image](https://github.com/ArduPilot/ardupilot/assets/60417507/ad402654-ca15-478f-abd0-eb52109bebac)![image](https://github.com/ArduPilot/ardupilot/assets/60417507/ad402654-ca15-478f-abd0-eb52109bebac)

github.com/ArduPilot/ardupilot

SIM_GPS_GSOF - support dcol parser via new bidirectional data parsing

ArduPilot:master ← Ryanf55:gsof-sim-support-dcol-parser

opened 12:44AM - 15 Nov 23 UTC

Ryanf55

+692 -278

# Purpose In #25525, the driver changes require active configuration parsing …and response from the driver. That PR can't merge easily, and it wasn't trivial to implement because bidirectional serial simulators for GPS did not exist. This performs the leg work to set up the GPS as a full bidirectional capability. # How it works (physics, throttling, and updates) ## Previous behavior 1. In SIM_GPS::update(), there was a timing restriction to do an early return if the GPS shouldn't be updated. This limited physics updates to a typical 5Hz. 2. A call to `update_write(const GPS_Data *d)` in the backend builds the packet and immediately publishes, so this needs to be throttled 3. A call to `update_read(const GPS_Data *d)` in the backend reads incoming data. Previously, it read one bit per loop, and would just throw them on the floor ## New behavior 1. In SIM_GPS::update(), the physics update step now runs at full update speed 2. The `update_read()` call removed passing in GPS_Data structure because it's not needed (yet) during read of config 3. The throttling of data writing now occurs in `GPS_Backend::update`, because it now has the `last_write_update_ms` data member. The new behavior uses more CPU because physics runs every iteration. Perhaps we could change it to only run physics when the driver is updating, but that somehow couples the write speed of the backend to front end physics update loop. # How the GSOF parser works I added a DCOL parser, which receives incoming configuration packets. Upon receipt of a successful packet, it spits back out an ACK. This will allow active configuration in #25525 to actually work. The parser is pretty standard, using a switch statement, keeping track of parser state, and then I have a bunch of little routines for doing the parsing and utilities. A key important part is the fact that the GSOF simulator rates are now configured from ArduPilots driver, just like the real device, instead of the previous hard coded behavior of immediately outputting data streams. This now enforces whatever configuration packets are sent are probably valid. Coverage is not complete for all cases, but it at least covers the data channel enable/rate configuration that's currently in GSOF. In order to handle scenarios where the simulator is missing configuration parsing, I want to let developers know with a a flow_of_control error. This is a good indication that you added new config in the driver without supporting it in the simulator, which is much better than silently failing. As an aside, indent was totally off in SIM_GPS, so I fixed it. # Complications with SITL params interfering with GPS params The GSOF driver is configuring the output rates with the APP File command, but then the ArduPilot simulator also gates write speeds with `_sitl->gps_hertz[instance]`. This param will interfere if it's lower than 10Hz because the GSOF driver should ideally be driven by `GPS_RATE_MS` parameter. In the land of GSOF in this PR, there is no reason SITL should also have a parameter. One idea is to make `GPS_Backend::update(const GPS_Data &d)` virtual, and override in the GSOF driver to skip the throttling. # Testing performed 1. Autotest with `./Tools/autotest/autotest.py build.Copter test.CopterTests2b.GPSTypes` 2. GDB to inspect all logic is working correctly (happy path logic)

github.com/ArduPilot/ardupilot

Plane: add param LAND_RNGFND_HLD to hold-off lidar during landing

ArduPilot:master ← magicrub:pr/land_reduced_lidar

opened 08:42PM - 15 Nov 23 UTC

magicrub

+22 -1

Add param LAND_RNGFND_HLD to holdd-off lidar during landing ` // @Descript…ion: Rangefinder hold-off distance from land point. Hold off using the rangefinder's altitude correction until you're this close to the NAV_LAND point. Requires RNGFND_LANDING = 1. This is useful to avoid the rangefinder reacting to objects/trees, or pits, before the level-ish runway starts. Set to zero to disable the hold-off (don't inhibit the rangefinder). Using this feature will cause the rangefinder to correct the baro offset later in the landing which will lead to a larger slope correction. It is suggested to use LAND_ABORT_DEG with this feature so that unacheivable slopes will cause automatic go-arounds while retaining the rangefinder correction in the baro for a smoother landing on the next attempt. ` Inspired by Ryan Johnston (@ryanjAA) at Applied Aeronautics An even better solution would be to add it to the NAV_LAND point but it's pretty maxed out for us :(

github.com/ArduPilot/ardupilot

AP_RangeFinder Add signal_quality_pct to range finder state

ArduPilot:master ← ptrmu:ptrmu_rngfnd_quality_state

opened 10:14PM - 15 Nov 23 UTC

ptrmu

+40 -27

Addresses issue #25528 "Add signal_quality to RangeFinder_State". Any suggest…ions on the appropriate way to test this? It is a lightly used feature. A follow-on PR has already been created to add signal_quality to the lua range finder frontend and backend interfaces. That PR has a more complete lua autotest.

github.com/ArduPilot/ardupilot

SITL: Bump up read rate on SITL

ArduPilot:master ← Ryanf55:update-read-rate-sim

opened 07:10AM - 16 Nov 23 UTC

Ryanf55

+8 -17

## What * Read/Write of serial data has been split and exposed to ensure phy…sics/write rate is still coupled to avoid impacting the jamming and delayed data * The update() for backend was removed since you want read/write running at different rates. * Removed passing the gps data in read() because it's not calculate yet, and not used. * Created a utility to allocate the SITL instance ## Why Needed by #23843. Broke out this logic as separate. This is needed to do active configuration quickly

github.com/ArduPilot/ardupilot

DroneCAN: support CAN serial ports

ArduPilot:master ← tridge:pr-can-serial

opened 09:00PM - 18 Nov 23 UTC

tridge

+589 -136

This builds on the recent virtual serial ports for ethernet to allow for serial …ports over CAN. It adds parameters like this: ``` CAN_D1_UC_SER_EN 1 CAN_D1_UC_S1_BD 57600 CAN_D1_UC_S1_IDX 2 CAN_D1_UC_S1_NOD 124 CAN_D1_UC_S1_PRO 5 CAN_D1_UC_S2_BD 57600 CAN_D1_UC_S2_IDX 0 CAN_D1_UC_S2_NOD 0 CAN_D1_UC_S2_PRO -1 ``` this allows any serial protocol supported by AP_SerialManager to be mapped to a remote DroneCAN serial port. tested with a u-blox M10 on a MatekL431 CAN node. The IDX is the serial port number on the remote node. The NOD is the CAN node number of the remote node. The PRO is the serial protocol for serial manager. BD is the initial baudrate. Network bandwidth cost is around 120 frames/sec, compared to DroneCAN at around 75 frames/second for the same type of GPS Supports up to 3 virtual serial ports per CAN bus for now Test flown on a CubeOrange quadplane with 3 CAN serial devices: - a SiK radio - a F9P GPS - a ArduRemoteID remoteid device Also tested uCenter over serial pass-thru to CAN virtual com port, and updated a F9P firmware with uCenter fw updater

github.com/ArduPilot/ardupilot

Microstrain7 Initial Support

ArduPilot:master ← Ryanf55:microstrain7

opened 11:15PM - 18 Nov 23 UTC

Ryanf55

+512 -47

# Purpose This forms initial support for the [MicroStrain 3DM-AQ6 EAHRS syste…m(https://www.microstrain.com/inertial-sensors/3dm-gq7). It's "working on the bench". # What's different from MicroStrain5 * Dual GNSS antenna support with new messages available on the GQ7 * Minimal refactor to improve shared code between MicroStrain5 and MicroStrain7 * Improved state machine for health reporting based on device health rather than message frequency * The chosen set of messages are endorsed by MicroStrain # Manual Testing So far, bench testing the driver against hardware. There are a few more things I'd like to do (in follow up PR) prior to flight testing. It would be nice to get this minimum version in to avoid major merge conflicts. # Automated Testing Coming soon.... SITL is currently missing dual GNSS antenna simulation so I'll need to add that first before adding a SIM_MicroStrain7. # Known issues Missing: * FilterPacketField::GPS_TIME * GNSSPacketField::GPS_TIME MicroStrain will supply instructions to fix those missing data items. # Set up Use MicroStrain Sensor Connect and configure these data rates and channels manually: ![image](https://github.com/ArduPilot/ardupilot/assets/25047695/4951c4fd-3e4e-4526-8795-549033150ecd)

discuss VTOL landing ANYWHERE while in guided mode

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

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: - [ ] 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: - [ ] 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)) - [ ] 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] 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), [PR](https://github.com/ArduPilot/ardupilot/pull/25538)) - [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 21, 2023, 5:18pm

Attendee count (max): 16

UTC2300 - AP_BattMonitor:remove unused param from analog fuel level by Hwurzburg · Pull Request #25584 · ArduPilot/ardupilot · GitHub

Remove unused parameter from fuel level
Merged!

UTC2302 - AP_MSP: update option metadata for clarity by Hwurzburg · Pull Request #25580 · ArduPilot/ardupilot · GitHub

Fix up some documentation around MSP parameters
Merged!
The “unused” should probably not appear in the GUIs, so we might want to remove that in the future

UTC2306 generators: js: fix sinon dependency to 15.2.0, add node tests by Williangalvani · Pull Request #875 · ArduPilot/pymavlink · GitHub

Improved javascript support in pymavlink
Merged!

UTC2308 - common.xml: add extensions to MANUAL_CONTROL by Williangalvani · Pull Request #338 · ArduPilot/mavlink · GitHub

Updating to Upstream to implement button presses in Sub
Merged

UTC2311 - https://github.com/ArduPilot/ardupilot/pull/24411

PID notches and D feed-forward
Come back to this when we have a tridge

UTC2311 - AP_Scripting: change some _INFO msgs to _CRITICAL by magicrub · Pull Request #25081 · ArduPilot/ardupilot · GitHub

Elevate some info messages to critical
Will merge once one of them has been changed to warning

UTC2318 - Plane: Mode LoiterAltQLand to reuse same loiter point if available by magicrub · Pull Request #25318 · ArduPilot/ardupilot · GitHub

Reuse same loiter point when entering loiteraltqland
Need to test a whole bunch of places here, not just loiteraltqland
- Validity checks should be in mode, says Pete
Tom will change things to not change behaviour and do it as PH wants
- PH will then approve….

UTC2321 - GCS: Change param default SRx_PARAMS to 50 by magicrub · Pull Request #25365 · ArduPilot/ardupilot · GitHub

Change param default streamrates
This could break a lot of people’s setups
Should we document this better in the Wiki?
Maybe change the defaults in the ground control stations?
Closed

UTC2330 - Fix C++ One Definition Rule violations and misc. UB by tpwrules · Pull Request #25394 · ArduPilot/ardupilot · GitHub

Fix C++ one-definition rule violations and misc
Separate PR for the sample_regs
We’ll move to using a hal_mutable reference rather than the mutable keyword
Will also have a separate PR for the array of uarts
Tpw_rules will raise more PRs and bring them up on the relevant Discord channel

UTC2337 GCS_MAVLink: Tidy defines in try_send_message by peterbarker · Pull Request #25485 · ArduPilot/ardupilot · GitHub

Tidy use of defines in try_send_message
MergeOnCIPass

UTC2343 - Plane: Allow BATT_WATT_LIMIT to bring Throttle to 0% and report it by magicrub · Pull Request #25502 · ArduPilot/ardupilot · GitHub

Allow BATT_WATT_LIMIT to bring throttle to 0% and report it
Makes a bug worse according to PH
If there is a catastrophic failure on an ESC
- Does a hard-failure
- And your battery voltage drops and you potentially brown out
- Then catch that problem
- Drop your throttle
- If you go down to 25% then you will run out
- So go to zero
- So you can reboot the aircraft
Tom saw a mechanical failure where a motor would not turn
25% is an arbitrary number
Parameterise the lower threshold?
PH and Tom spotted pre-existing bug
- uses wrong throttle
- Takes input throttle
- You end up having an i-term watt limit to zero
- Happens when you set a very slow throttle slew rate
PH says WATT_LIMIT is a bit of an unknown quantity
- Thinks adding a parameter is the correct thing
Will come back to this next week
Another feature which only works on the first battery…
Tom will create a separate PR for the new define

UTC2354 - AP_DDS: MicroROS agent doesn't publish topics when GPS automatically gets GPS lock. · Issue #25535 · ArduPilot/ardupilot · GitHub

MicroROS agent doesn’t public topics when GPS automatically gets GPS lock
This might just be confusion between serial0, serial1 and USB

UTC2358 - SIM_GPS_GSOF - support dcol parser via new bidirectional data parsing by Ryanf55 · Pull Request #25541 · ArduPilot/ardupilot · GitHub

New bidirectional data parsing in simulated GSOF
Several comments left in

UTC0008 - Plane: add param LAND_RNGFND_HLD to hold-off lidar during landing by magicrub · Pull Request #25549 · ArduPilot/ardupilot · GitHub

Add param to hold off using lidar during landing
Peter’s concern is that this is part of a mission
- Tom points out the abort altitude takes up the storage we have
Could be done with scripting
PH thinks the logic should be in AP_Landing
- …pass the rangefinder correction in?
Applied to both slope and deep-stall
Applying it in flaring always is interesting….
- What’s it supposed to do once it has flared?
- What’s the result?
- Do it more intelligently if things were in AP_Landing
- This is why things should be in AP_Landing rather than in Plane
Tom will put it into AP_Landing and from there into Slope, possibly

UTC0024 - AP_RangeFinder Add signal_quality_pct to range finder state by ptrmu · Pull Request #25550 · ArduPilot/ardupilot · GitHub

SIGNAL_QUALITY_UNKNOWN is better than NODATA
Several other small things

UTC0032 - GCS_MAVLink: exclude deadlock-creation based on FAILURE_CREATION_ENABLED by peterbarker · Pull Request #25555 · ArduPilot/ardupilot · GitHub

Put more code behind AP_MAVLINK_FAILURE_CREATION_ENABLED
Merged!

UTC0035 - SITL: Bump up read rate on SITL by Ryanf55 · Pull Request #25559 · ArduPilot/ardupilot · GitHub

Bump up read rate on SITL simulated GPS drivers
Peter will merge after some very minor changes

UTC0048 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

4.4.3 went out
- With M10 fix in
4.4 is very stable these days and nobody disagreed on the call
Randy’s been going back through the issues list
- Mavftp speed
- 30MB file takes a long time
  - We found why it was slow
    - Optimised for download, not upload
    - Enhancement request
      - Clients will need to be updated to do pipelining
        
        Will do it in MAVProxy and then do it in MissionPlanner
      - No burst upload in protocol
Randy’s worked out why boats overshoot waypoints
- 4.4 for Rover someday!

UTC0052 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Microstrain 7 initial support
Tridge is working on support for another AHRS, reserve a different ID (4 rather than 3)
Sim will come later. It requires refactor and Ryan preferred doing that in a different PR
Tridge said the GPS replay won’t work for AHRS yet, but it should be moved
Tridge said we should use 5Hz GPS data by default rather than 1Hz.
Distinguishing between raw sensor data and fusion output is problematic
- It’s currently handled
Few issues, Ryan will mention it in code review when it’s been looked at again

UTC0105 - DroneCAN: support CAN serial ports by tridge · Pull Request #25577 · ArduPilot/ardupilot · GitHub

Serial over CAN - new-style
Use a periph’s serial ports as if they were directly off the autopilot
Tested in flight with GPS
Can update firmware on serial GPS connected to periph connected to autopilot via CAN connected to GCS via mavlink…
Tridge wants a periph node with multiple serial ports that also have flow control

UTC0107 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
Bad firmware from Hobbywing
We have a workaround merged to master
Will go out in 4.4 if another goes out
Tridge is trying to convince them to send out a new firmware
Updating firmware currently requires a special adapter….

Attendee count (max): 16

UTC2300 - AP_BattMonitor:remove unused param from analog fuel level by Hwurzburg · Pull Request #25584 · ArduPilot/ardupilot · GitHub

UTC2302 - AP_MSP: update option metadata for clarity by Hwurzburg · Pull Request #25580 · ArduPilot/ardupilot · GitHub

UTC2306 generators: js: fix sinon dependency to 15.2.0, add node tests by Williangalvani · Pull Request #875 · ArduPilot/pymavlink · GitHub

UTC2308 - common.xml: add extensions to MANUAL_CONTROL by Williangalvani · Pull Request #338 · ArduPilot/mavlink · GitHub

UTC2311 - https://github.com/ArduPilot/ardupilot/pull/24411

UTC2311 - AP_Scripting: change some _INFO msgs to _CRITICAL by magicrub · Pull Request #25081 · ArduPilot/ardupilot · GitHub

UTC2318 - Plane: Mode LoiterAltQLand to reuse same loiter point if available by magicrub · Pull Request #25318 · ArduPilot/ardupilot · GitHub

UTC2321 - GCS: Change param default SRx_PARAMS to 50 by magicrub · Pull Request #25365 · ArduPilot/ardupilot · GitHub

UTC2330 - Fix C++ One Definition Rule violations and misc. UB by tpwrules · Pull Request #25394 · ArduPilot/ardupilot · GitHub

UTC2343 - Plane: Allow BATT_WATT_LIMIT to bring Throttle to 0% and report it by magicrub · Pull Request #25502 · ArduPilot/ardupilot · GitHub

UTC2354 - AP_DDS: MicroROS agent doesn't publish topics when GPS automatically gets GPS lock. · Issue #25535 · ArduPilot/ardupilot · GitHub

UTC2358 - SIM_GPS_GSOF - support dcol parser via new bidirectional data parsing by Ryanf55 · Pull Request #25541 · ArduPilot/ardupilot · GitHub

UTC0008 - Plane: add param LAND_RNGFND_HLD to hold-off lidar during landing by magicrub · Pull Request #25549 · ArduPilot/ardupilot · GitHub

UTC0024 - AP_RangeFinder Add signal_quality_pct to range finder state by ptrmu · Pull Request #25550 · ArduPilot/ardupilot · GitHub

UTC0032 - GCS_MAVLink: exclude deadlock-creation based on FAILURE_CREATION_ENABLED by peterbarker · Pull Request #25555 · ArduPilot/ardupilot · GitHub

UTC0035 - SITL: Bump up read rate on SITL by Ryanf55 · Pull Request #25559 · ArduPilot/ardupilot · GitHub

UTC0048 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0052 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0105 - DroneCAN: support CAN serial ports by tridge · Pull Request #25577 · ArduPilot/ardupilot · GitHub

UTC0107 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0131 - Close