Dev Call Nov 27, 2023

CraigElder · November 27, 2023, 10:49pm

Issues & Pull Requests

github.com/ArduPilot/CustomBuild

Improve checkout/clone process to fix missing upstream

ArduPilot:main ← Ryanf55:smoother-build-process

opened 07:11PM - 25 Nov 23 UTC

Ryanf55

+49 -15

# Purpose This fixes numerous omitted steps that resulted in failed default b…ehavior and replaces #61. ## Issues fixed * No remote upstream added * No requests library installed * Converted from manual python deps install to a `requirements.txt` file (standard python practice) * Added terminal commands to make it easier for ubuntu devs to get started with the custom build server * spelling * no syntax highlighting for bash commands ## Logs Here is one failure, because the user never added `upstream` as a remote or fetched it: ``` $ ./app.py [2023-11-25 11:54:07,195] INFO in app: Creating /home/ryan/Dev/ros2_ws/src/base/builds [2023-11-25 11:54:07,195] INFO in app: Got queue lock [2023-11-25 11:54:07,221] INFO in app: Initial fetch [2023-11-25 11:54:07,221] INFO in app: Running git rev-parse upstream/master in /home/ryan/Dev/ros2_ws/src/base/ardupilot fatal: ambiguous argument 'upstream/master': unknown revision or path not in the working tree. Use '--' to separate paths from revisions, like this: 'git <command> [<revision>...] -- [<file>...]' Traceback (most recent call last): File "/home/ryan/Dev/ros2_ws/src/CustomBuild/./app.py", line 544, in <module> checkout_branch(get_default_branch_name(), s_dir=sourcedir, fetch_and_reset=True) File "/home/ryan/Dev/ros2_ws/src/CustomBuild/./app.py", line 144, in checkout_branch if not on_branch(targetBranch): File "/home/ryan/Dev/ros2_ws/src/CustomBuild/./app.py", line 127, in on_branch git_hash_target = get_git_hash(branch) File "/home/ryan/Dev/ros2_ws/src/CustomBuild/./app.py", line 124, in get_git_hash return subprocess.check_output(['git', 'rev-parse', branch], cwd=sourcedir, encoding='utf-8', shell=False).rstrip() File "/usr/lib/python3.10/subprocess.py", line 421, in check_output return run(*popenargs, stdout=PIPE, timeout=timeout, check=True, File "/usr/lib/python3.10/subprocess.py", line 526, in run raise CalledProcessError(retcode, process.args, subprocess.CalledProcessError: Command '['git', 'rev-parse', 'upstream/master']' returned non-zero exit status 128. ``` Another failure, the dev was never told to install requests. ``` $ ./app.py /home/ryan/Dev/ros2_ws/src/CustomBuild/./app.py:13: DeprecationWarning: The distutils package is deprecated and slated for removal in Python 3.12. Use setuptools or check PEP 632 for potential alternatives from distutils.dir_util import copy_tree Traceback (most recent call last): File "/home/ryan/Dev/ros2_ws/src/CustomBuild/./app.py", line 18, in <module> import requests ModuleNotFoundError: No module named 'requests ``` After this change, the following behavior is now correct: ``` $ ./app.py [2023-11-25 12:01:57,252] INFO in app: Got queue lock [2023-11-25 12:01:57,252] INFO in app: Initial fetch [2023-11-25 12:01:57,252] INFO in app: Running 'git rev-parse upstream/master' in /home/ryan/Dev/ros2_ws/src/base/ardupilot [2023-11-25 12:01:57,254] INFO in app: Expected branch git-hash 'ea237724c772a0dd5ec3c30dba3f3eca5c49f46a' [2023-11-25 12:01:57,254] INFO in app: Running 'git rev-parse HEAD' in /home/ryan/Dev/ros2_ws/src/base/ardupilot [2023-11-25 12:01:57,256] INFO in app: Current branch git-hash 'ea237724c772a0dd5ec3c30dba3f3eca5c49f46a' [2023-11-25 12:01:57,256] INFO in app: Running git: git fetch upstream [2023-11-25 12:01:58,617] INFO in app: Running git: git reset --hard upstream/master HEAD is now at ea237724 Tools: autotest: Fix junit printing for double str [2023-11-25 12:01:58,639] INFO in app: Running 'git rev-parse HEAD' in /home/ryan/Dev/ros2_ws/src/base/ardupilot [2023-11-25 12:01:58,641] INFO in app: Updating submodules [2023-11-25 12:01:58,641] INFO in app: Running git: git submodule update --recursive --force --init Submodule 'modules/ChibiOS' (https://github.com/ArduPilot/ChibiOS.git) registered for path 'modules/ChibiOS' Submodule 'modules/CrashDebug' (https://github.com/ardupilot/CrashDebug) registered for path 'modules/CrashDebug' Submodule 'modules/DroneCAN/DSDL' (https://github.com/DroneCAN/DSDL.git) registered for path 'modules/DroneCAN/DSDL' Submodule 'modules/DroneCAN/dronecan_dsdlc' (https://github.com/DroneCAN/dronecan_dsdlc) registered for path 'modules/DroneCAN/dronecan_dsdlc' Submodule 'modules/DroneCAN/libcanard' (https://github.com/DroneCAN/libcanard) registered for path 'modules/DroneCAN/libcanard' Submodule 'modules/DroneCAN/pydronecan' (https://github.com/DroneCAN/pydronecan) registered for path 'modules/DroneCAN/pydronecan' Submodule 'modules/Micro-CDR' (https://github.com/ardupilot/Micro-CDR.git) registered for path 'modules/Micro-CDR' Submodule 'modules/Micro-XRCE-DDS-Client' (https://github.com/ardupilot/Micro-XRCE-DDS-Client.git) registered for path 'modules/Micro-XRCE-DDS-Client' Submodule 'modules/gbenchmark' (https://github.com/google/benchmark.git) registered for path 'modules/gbenchmark' Submodule 'modules/gsoap' (https://github.com/ArduPilot/gsoap) registered for path 'modules/gsoap' Submodule 'gtest' (https://github.com/ArduPilot/googletest) registered for path 'modules/gtest' Submodule 'modules/mavlink' (https://github.com/ArduPilot/mavlink) registered for path 'modules/mavlink' Submodule 'modules/waf' (https://github.com/ArduPilot/waf.git) registered for path 'modules/waf' Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/ChibiOS'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/CrashDebug'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/DroneCAN/DSDL'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/DroneCAN/dronecan_dsdlc'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/DroneCAN/libcanard'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/DroneCAN/pydronecan'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/Micro-CDR'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/Micro-XRCE-DDS-Client'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/gbenchmark'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/gsoap'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/gtest'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/mavlink'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/waf'... Submodule path 'modules/ChibiOS': checked out '3ef1657d53e643aa61f7268ab4b8596bf6826fdb' Submodule 'ext/lwip' (https://github.com/ArduPilot/lwip.git) registered for path 'modules/ChibiOS/ext/lwip' Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/ChibiOS/ext/lwip'... Submodule path 'modules/ChibiOS/ext/lwip': checked out '6ca936f6b588cee702c638eee75c2436e6cf75de' Submodule path 'modules/CrashDebug': checked out '599965086437137ec0fe66e185611f43f335f889' Submodule 'CrashCatcher' (https://github.com/ardupilot/CrashCatcher.git) registered for path 'modules/CrashDebug/CrashCatcher' Submodule 'mri' (https://github.com/ardupilot/mri.git) registered for path 'modules/CrashDebug/mri' Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/CrashDebug/CrashCatcher'... Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/CrashDebug/mri'... Submodule path 'modules/CrashDebug/CrashCatcher': checked out '4cf6e11df3a081b0f573a7834ed8e1e4000af73e' Submodule 'CppUTest' (https://github.com/ardupilot/CppUTest.git) registered for path 'modules/CrashDebug/CrashCatcher/CppUTest' Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/CrashDebug/CrashCatcher/CppUTest'... Submodule path 'modules/CrashDebug/CrashCatcher/CppUTest': checked out '011f371fdb5d7e441fb023be67295783e053df4a' Submodule path 'modules/CrashDebug/mri': checked out 'b35c89451b41a45b7f5b580acaff555315ac88e2' Submodule 'CppUTest' (https://github.com/ardupilot/CppUTest.git) registered for path 'modules/CrashDebug/mri/CppUTest' Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/CrashDebug/mri/CppUTest'... Submodule path 'modules/CrashDebug/mri/CppUTest': checked out '011f371fdb5d7e441fb023be67295783e053df4a' Submodule path 'modules/DroneCAN/DSDL': checked out 'de93d9c8bb76de1b093050e3a31e4d4ce539c577' Submodule path 'modules/DroneCAN/dronecan_dsdlc': checked out 'ebaf96860a11a4cc43c01df6b651df143c6cde2d' Submodule path 'modules/DroneCAN/libcanard': checked out '22102c717db29cc2a2c2869ff80f3e4389704d89' Submodule 'drivers/avr/avr-can-lib' (https://github.com/rennerm/avr-can-lib) registered for path 'modules/DroneCAN/libcanard/drivers/avr/avr-can-lib' Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/DroneCAN/libcanard/drivers/avr/avr-can-lib'... Submodule path 'modules/DroneCAN/libcanard/drivers/avr/avr-can-lib': checked out '9c6bc9118de66d6edaf1b8539e2b9717ba26d123' Submodule path 'modules/DroneCAN/pydronecan': checked out '19fdf2e5b383243ccdb1094edae0603cf11469e8' Submodule path 'modules/Micro-CDR': checked out '3d1b17703c7cf4f22def2910bc845bdb5152d7b5' Submodule path 'modules/Micro-XRCE-DDS-Client': checked out '97175304425c5bee87c6fddd99de1ef8d0c394dc' Submodule path 'modules/gbenchmark': checked out 'd572f4777349d43653b21d6c2fc63020ab326db2' Submodule path 'modules/gsoap': checked out 'e1f690585d4803402584962bfaa8240ecaf1db30' Submodule path 'modules/gtest': checked out 'c5fed93f941865a0e912e9baf46ded713506590a' Submodule path 'modules/mavlink': checked out 'dccd8555cd601467dc793ea9abf85caa63c0a9e8' Submodule 'pymavlink' (https://github.com/ArduPilot/pymavlink.git) registered for path 'modules/mavlink/pymavlink' Cloning into '/home/ryan/Dev/ros2_ws/src/base/ardupilot/modules/mavlink/pymavlink'... Submodule path 'modules/mavlink/pymavlink': checked out '19e385ccb4b6cbe2d08a8689dfcc586389fe14ce' Submodule path 'modules/waf': checked out '1b1625b8e7da6e1307d73335cb995fa8813d5950' [2023-11-25 12:02:54,747] INFO in app: Python version is: 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0] * Serving Flask app 'app' * Debug mode: off [2023-11-25 12:02:54,749] INFO in _internal: WARNING: This is a development server. Do not use it in a production deployment. Use a production WSGI server instead. * Running on http://127.0.0.1:5000 [2023-11-25 12:02:54,749] INFO in _internal: Press CTRL+C to quit ```

github.com/ArduPilot/ardupilot

Add MAVLink receiver support, RADIO_RC_CHANNELS

ArduPilot:master ← olliw42:owpr-radiorcchannels

opened 01:10PM - 10 Aug 23 UTC

olliw42

+116 -3

This is the first piece of adding what should be called a "MAVLink receiver". … This PR requires that the storm32.xml mavlink dialect file in https://github.com/ArduPilot/mavlink/tree/master/message_definitions/v1.0 is updated to that in the main mavlink repository. The idea is simple, namely a receiver which does send its RC channel data (and other data such as link statistics) not via common protocols like SBus or CRSF but via a MAVLink message. Since it's such an obvious concept and so much desired, at least in the hobby world, I don't really know what else to say to make the case. - A deeper analysis of the situation and description of the underlying concept can be found here https://github.com/mavlink/mavlink/issues/1921. - I note that the very same is been done for DroneCAN, https://github.com/dronecan/DSDL/pull/26, and the same arguments should apply here. It would be ironical that there would be a case for a CAN receiver but not a MAVLink receiver. - A follow up PR would implement support for a RADIO_LINK_STATS message as second piece. While not formally approved by MAVLink it was discussed and seem to at least not have thrown out of the window: https://github.com/mavlink/mavlink/wiki/20230719-Dev-Meeting This message is implemented since in a while in my BetaPilot/Copter fork as well as in the mLRS project which provides a practical example of a MAVLink receiver, and also establishes a proof of concept, as well as demonstrates that the code PR'ed here works (in the setups used by those who tested/use it). The RADIO_RC_CHANNELS mavlink message is currently located in the storm32.xml with ID 60045, but I'm happy to remove it from there and move it to any other location with any other ID you guys would suggest.

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

+8 -9

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

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

+120 -18

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

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

+586 -199

# 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. * Enable testing GPS configuration in CI. * Enable GSOF to implement configuration guarantees as part of initialization logic * Enable higher code coverage prior to my planned GSOF refactor of splitting into separate library for EAHRS support # How it works (physics, throttling, and updates) ## Previous behavior 1. A call to `update_publish(const GPS_Data *d)` in the backend builds the packet and immediately publishes, so this needs to be throttled 1. 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. The throttling of data writing now occurs in the GSOF simulator backend in addition to the front-end. 2. The dcol parser now reads incoming configuration data, parses it, and acts upon *some* of the commands to enable/disable channels and set the output rates # 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. In Dev call, Tridge thought it would good for the driver to set the simulation behavior instead of separate SIM params since this is more like the real device. # Future work * Support baud rate commands from GSOF and change SITL's baud rate # Testing performed 1. Autotest with `./Tools/autotest/autotest.py build.Copter test.CopterTests2b.GPSTypes` 1. GDB to inspect all logic is working correctly (happy path logic)

github.com/ArduPilot/ardupilot

Plane: QAssist speed warning added

ArduPilot:master ← LachlanConn:pr-qassist-messages

opened 01:42AM - 20 Nov 23 UTC

LachlanConn

+3 -3

Added a message to be sent when aircraft enters QAssist but added the check that… it is between Q_ASSIST_SPEED and half of ARSPD_FBW_MIN so that the message doesn't show up during fwd transition from low arspd. This means it should only show up in fwd flight when airspeed drops below Q_ASSIST_SPEED The main point of this is to increase pilot awareness of QAssist. By increasing the severity of these messages they will show up on MissionPlanner's HUD.

github.com/ArduPilot/ardupilot

AP_GPS: Support integrated headings from SBF

ArduPilot:master ← rmackay9:wickedshell-sbf-heading

opened 10:33AM - 22 Nov 23 UTC

rmackay9

+133 -12

This is a rebased version of PR https://github.com/ArduPilot/ardupilot/pull/1916…5 which in turn was an alternative to https://github.com/ArduPilot/ardupilot/pull/18615. This adds support to the SBF driver so that heading can be retrieved from the GPS. I've tested this on a Mosaic-H and confirmed that position and yaw work. I have not added support for retrieving the antenna positions from the GPS although I have a development branch that retrieves these values (but does nothing with them). I think though that if we can't find time to do that additional development we should just merge this because it does improve things. The original PR mentions these possible tests we should do although the other PR also has two people (including an intern at Septentrio) who says it is working correctly. - [x] Test that all expected units can handle `sga, None` -- confirmed by Septentrio tests - [x] 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) -- we now calculate the yaw within the driver. This has been tested on real hardware and below is a comparison of compass yaw vs GPS yaw. Note that the yaws diverge around 405000 which is when I turned the autopilot+GPS upside-down. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/a4c70c98-058f-4f91-9c13-33fb7651c204) The corresponding wiki update is here https://github.com/ArduPilot/ardupilot_wiki/pull/5583

github.com/ArduPilot/ardupilot

AP_Generator: Intelligent Energy: add support for new protocol version

ArduPilot:master ← IamPete1:IE_protocol_update

opened 01:52AM - 23 Nov 23 UTC

IamPete1

+608 -66

This adds support for a new protocol version that will be used by Intelligent En…ergy fuel cells going forward. The protocol version is auto-detected, core functionality is the same but we get better error messages and more information about the hardware and software version running on the fuel cell. It also adds a checksum to give some protection against data corruption. This also adds the new protocol version to our simulator and autotest. This is already hidden `AP_GENERATOR_IE_2400_ENABLED` define, which is currently enabled on 2M boards. This has been flight tested by the folks at intelligent energy.

github.com/ArduPilot/ardupilot

CAN: added CAN_Dn_PROTOCOL2 for 11 bit auxillary protocol

ArduPilot:master ← tridge:pr-can-aux

opened 03:29AM - 23 Nov 23 UTC

tridge

+133 -2

This allows for a 2nd CAN protocol specified by CAN_Dn_PROTOCOL2. This protocol …needs to use 11 bit addressing and the same CAN bitrate as the DroneCAN driver (usually 1MBit) With this enabled users no longer need to dedicate a CAN bus for devices such as Benewake CAN lidar, USD1 radar and various EFI CAN ECUs Tested with both SITL and a CubeOrangePlus with a Benewake Lidar

github.com/ArduPilot/ardupilot

Rover: auto keeps navigating while paused at waypoints

ArduPilot:master ← rmackay9:rover-pivot-control4

opened 06:38AM - 24 Nov 23 UTC

rmackay9

+28 -29

This PR improves improves auto modes handling of corners especially for skid-ste…ering vehicles by keeping the position controller active during delays and pivot turns. The detailed changes are: 1. Auto's WP submode continues to "navigate_to_waypoint" even after reaching the destination instead of switching to the Stop submode. This means the vehicle will continue to try to correct any position errors during the delay which (for better or worse) may mean the vehicle even backs up. 2. AR_WPNav continues to update the position controller even during pivot turns. The position controller's desired turn rate output is ignored but its desired speed is used meaning the vehicle may move forward or backwards to stay close to the segments origin. Another positive effect is that when pivoting at a corner, the previous waypoint's destination is used as the new segments origin. 3. AC_PosControl does not enforce a minimum speed when the vehicle is stopping. This minimum speed was added to ensure that Ackermann steering vehicles do not become stuck if the target position is directly to the left or right of the vehicle. Once the top item was implemented though this minimum speed led to the vehicle driving slowly away from the waypoint during the delay. This has been successfully tested in SITL and on a real vehicle. Below are some before vs after screen shots of the overshoot: ![overshoot-before](https://github.com/ArduPilot/ardupilot/assets/1498098/1e4933d6-db27-456c-9c6c-be6b41a3cec7) ![overshoot-after](https://github.com/ArduPilot/ardupilot/assets/1498098/3985fa4f-ece7-40c2-aef1-62edb0146853) Here are before vs after screen shots of some debug output of the active leg's origin and destination. As we pass the waypoint we can see that in the "after" pic the previous leg's destination has become the following leg's origin. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/3744fabe-2be2-4fae-8402-33c09c7c1030) ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/c399eaf3-5696-430e-a679-9ae6eb5c94fd) There are potentially other solutions to some of these issues: - Auto's WP submode might continue to control the vehicle (after reaching the waypoint) for just some specified minimum time to allow the vehicle to settle. 3 seconds might be enough. - We could ensure the previous leg's destination is used for the next leg by caching it away and the forcibly setting the next leg's origin. - AC_PosControl's minimum speed might only be applied when the target is more then 45degrees off from the vehicle's heading

github.com/ArduPilot/ardupilot

Plane: ignore invalid pilot throttle

ArduPilot:master ← IamPete1:plane_ignore_invalid_pilot_throttle

opened 11:56PM - 25 Nov 23 UTC

IamPete1

+9 -3

Extract from https://github.com/ArduPilot/ardupilot/pull/25416 superseding https…://github.com/ArduPilot/ardupilot/pull/25631 This now always ignores pilot throttle if there is invalid RC. Currently on master you can get stuck at your last throttle in some cases with guided or suppressed passthrough and manual mode. This should be covered by the `set_control_in` call here: https://github.com/ArduPilot/ardupilot/blob/bf6bd3a023da746cf21319138cab7cb6be3b2cef/ArduPlane/radio.cpp#L278 However that does not fix all cases. If we call `get_throttle_input(true)` to get the no deadzone value we call `get_control_in_zero_dz`: https://github.com/ArduPilot/ardupilot/blob/bf6bd3a023da746cf21319138cab7cb6be3b2cef/ArduPlane/reverse_thrust.cpp#L123-L139 However, `get_control_in_zero_dz` does not use `control_in` it uses `radio_in` so our `set_control_in` call is bypassed. https://github.com/ArduPilot/ardupilot/blob/bf6bd3a023da746cf21319138cab7cb6be3b2cef/libraries/RC_Channel/RC_Channel.cpp#L391-L397 https://github.com/ArduPilot/ardupilot/blob/bf6bd3a023da746cf21319138cab7cb6be3b2cef/libraries/RC_Channel/RC_Channel.cpp#L361-L379 The problem with `get_adjusted_throttle_input` is that is uses `norm_input` with again bypasses `control_in` Recreation: Turn off short fail-safe (`FS_SHORT_ACTN` 3) Arm and go to full throttle in manual. Have a RC fail-safe, (`SIM_RC_FAIL` 1) Master: Throttle remains at 100% until long action. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/b42c2f7a-7672-457d-b99e-58e9b47d493b) PR: Throttle goes to 0 as soon as RC is lost, throttle is output again once in RTL. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/62149853-4bc9-4e01-a5f9-0d717cb44a35) The same issue also affects roll/pitch/yaw inputs in some modes....

github.com/ArduPilot/ardupilot

Rover: Circle mode aux function support and SYSID_MYGCS param desc fix

ArduPilot:master ← rmackay9:rover-nfc-changes

opened 03:18AM - 26 Nov 23 UTC

rmackay9

+14 -2

This PR adds Rover support for the existing Circle mode auxiliary function switc…h. Circle mode was added to Rover in PR https://github.com/ArduPilot/ardupilot/pull/23890 back in may. There are also these unrelated parameter description fixes that I noticed while making the above change: - Rover's PSC_VEL_I parameter range is updated to allow "0" which is actually the params default value. - SYSID_MYGCS parameter increment is set to "1" for all vehicles. This should fix MP's odd behaviour of making it easy to set the parameter to values like 254.9 (see below how this can happen) ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/e9a29a5b-97cc-4ceb-aa4a-624aab2ca45f) These changes have been lightly tested in SITL.

github.com/ArduPilot/ardupilot

Tools: Add g++ 11.4 to Werr whitelist

ArduPilot:master ← Ryanf55:add-to-whitelist

opened 03:28AM - 26 Nov 23 UTC

Ryanf55

+3 -1

On ubuntu 22.04 with ccache installed, the version used is not yet whitelisted. …It should be. For whatever reason, the version run by ccache is different than what's installed by my OS distro. Also somewhat concerning, we're using it in CI, but it's not in the whitelist. https://packages.ubuntu.com/jammy/g++ ``` ryan@B650-970:~/Dev/ros2_ws/src/ardupilot$ sudo apt info g++ [sudo] password for ryan: Package: g++ Version: 4:11.2.0-1ubuntu1 Priority: optional Build-Essential: yes Section: devel Source: gcc-defaults (1.193ubuntu1) Origin: Ubuntu Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com> Original-Maintainer: Debian GCC Maintainers <debian-gcc@lists.debian.org> Bugs: https://bugs.launchpad.net/ubuntu/+filebug Installed-Size: 16.4 kB Provides: c++-compiler, g++-x86-64-linux-gnu (= 4:11.2.0-1ubuntu1) Depends: cpp (= 4:11.2.0-1ubuntu1), gcc (= 4:11.2.0-1ubuntu1), g++-11 (>= 11.2.0-1~), gcc-11 (>= 11.2.0-1~) Suggests: g++-multilib Task: ubuntustudio-video, ubuntustudio-publishing, ubuntu-mate-core, ubuntu-mate-desktop Download-Size: 1,412 B APT-Manual-Installed: yes APT-Sources: http://us.archive.ubuntu.com/ubuntu jammy/main amd64 Packages Description: GNU C++ compiler This is the GNU C++ compiler, a fairly portable optimizing compiler for C++. . This is a dependency package providing the default GNU C++ compiler. ``` ``` ryan@B650-970:~/Dev/ros2_ws/src/ardupilot$ g++ --version g++ (Ubuntu 11.4.0-1ubuntu1~22.04) 11.4.0 Copyright (C) 2021 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. ryan@B650-970:~/Dev/ros2_ws/src/ardupilot$ which g++ /usr/lib/ccache/g++ ``` Along the way, I had to fix this error: https://github.com/ArduPilot/ardupilot/actions/runs/6993177372/job/19025571678?pr=25637#step:7:5721 ``` [5283/5401] Compiling libraries/AP_Math/benchmarks/benchmark_matrix.cpp ../../libraries/AP_Math/benchmarks/benchmark_geodesic_grid.cpp: In function ‘void BM_GeodesicGridSections(benchmark::State&)’: ../../libraries/AP_Math/benchmarks/benchmark_geodesic_grid.cpp:89:32: error: ‘int64_t benchmark::State::range_x() const’ is deprecated: use 'range(0)' instead [-Werror=deprecated-declarations] 89 | int section = state.range_x(); ``` That function call has been deprecated for 7 years, since gbenchmark 1.2.0. https://github.com/google/benchmark/blob/v1.1.0/include/benchmark/benchmark_api.h

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 - [x] 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 - [x] 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 - [x] 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: - [ ] 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 28, 2023, 1:39am

Attendee count (max): 15

UTC2300 - Improve checkout/clone process to fix missing upstream by Ryanf55 · Pull Request #62 · ArduPilot/CustomBuild · GitHub

Improve instructions around CustomBuild installation
Merged!

UTC2307 - MAV_CMD_CONDITION_YAW - shortest direction v2 by rmackay9 · Pull Request #341 · ArduPilot/mavlink · GitHub

Pull in upstream wording fixes for MAV_CMD_CONDITION_YAW
Some discrepancy between auto mode and guided mode use of this command
Merged!

UTC2310 - Add MAVLink receiver support, RADIO_RC_CHANNELS by olliw42 · Pull Request #24577 · ArduPilot/ardupilot · GitHub

RADIO_RC_CHANNELS
Single serial port gets you mavlink and radio
We generally like the concept but the pr does need a bunch of work

UTC2324 - Plane: Mode LoiterAltQLand to reuse same loiter point if available by magicrub · Pull Request #25318 · ArduPilot/ardupilot · GitHub

Loiteraltqland / reuse same loiter point
Back from last week
Now checking for stale data
Merged!

UTC2327 - Add Aocoda-RC-H743Dual target board configuration by aocodarc · Pull Request #25396 · ArduPilot/ardupilot · GitHub

Aocoda-RC-H743Dual target board configuration
Merged Henry’s tidy

UTC2330 - 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
Want to use all the bits we can in the mask
Maybe a failsafe in the future?
Add an option bit to recalculate the checksum
Tridge might have a lead on script-not-starting issue
- Flag getting cleared after a script has faulted

UTC2347 - SIM_GPS_GSOF - support dcol parser via new bidirectional data parsing by Ryanf55 · Pull Request #25541 · ArduPilot/ardupilot · GitHub

Understand DCOL protocol for GSOF GPSs in simulation
Minor fixes required
Want implementations in cpp files

UTC2353 - Plane: QAssist speed warning added by LachlanConn · Pull Request #25581 · ArduPilot/ardupilot · GitHub

QAssist speed warning
Info goes to warning, angle assist to warning
Air assist happens as part of normal transition….
- Need a transition expected flag?
Maybe go off the motor spool desired state?

UTC2358 - AP_HAL: clean up UART driver storage/access by tpwrules · Pull Request #25589 · ArduPilot/ardupilot · GitHub

Clean up UART driver storage/access
Tridge will look further at this

UTC0006 - hwdef:correct JFB110 defaults by jfbblue0922 · Pull Request #25591 · ArduPilot/ardupilot · GitHub

Correct JFB110 defaults
Henry points out that extra stuff is not required

UTC0008 - AP_GPS: Support integrated headings from SBF by rmackay9 · Pull Request #25601 · ArduPilot/ardupilot · GitHub

Support integrated headings from SBF
Merged!
Creating a new datasheets repository

UTC0022 - AP_Param: check dynamic param tables are available before adding a param by IamPete1 · Pull Request #25608 · ArduPilot/ardupilot · GitHub

Fix bug when a param is registered before a param table
Merged!
Outstanding bug when creating prefix with QA_

UTC0022 - https://github.com/ArduPilot/ardupilot/pull/25616

Generator protocol update for IE2400
Merged!

UTC0027 - CAN: added CAN_Dn_PROTOCOL2 for 11 bit auxillary protocol by tridge · Pull Request #25617 · ArduPilot/ardupilot · GitHub

Added CAN_Dn_PROTOCOL2 for 11-bit auxiliary protocol
Can share an 11-bit protocol with DroneCAN
All devices on the bus must be at same bitrate
merged!

UTC0038 - Rover: auto keeps navigating while paused at waypoints by rmackay9 · Pull Request #25623 · ArduPilot/ardupilot · GitHub

Auto keeps navigating while paused at awaypoints
Keeps position controller active
Fixes overshoot of 40cm by backing up
- Real vehicle doesn’t do as poorly
Perhaps the simulation fidelity could be improved?
Might need to squash the minimum speed if you’re skid-steering

UTC0047 - Update README.md by okok125 · Pull Request #25624 · ArduPilot/ardupilot · GitHub

Fix SDModelH7 documentation
Merged!

UTC0047 - AP_ExternalAHRS: Clarify public interface design intent by Ryanf55 · Pull Request #25628 · ArduPilot/ardupilot · GitHub

Fix comments in externalahrs
Merged!

UTC0051 - Tools: Expose DDS in build options by Ryanf55 · Pull Request #25632 · ArduPilot/ardupilot · GitHub

Expose DDS in build options
Tangent:
- IP over CAN
- IP over mavlink?
- Tridge thinks the high-end vehicles might all be over-ethernet
Needs to pass CI

UTC0105 - Plane: ignore invalid pilot throttle by IamPete1 · Pull Request #25633 · ArduPilot/ardupilot · GitHub

Ignore invalid pilot throttle
Approved but tridge wants qstab tested (and some others)
NeedsTesting

UTC0107 - Network: added TCP client and server and UDP server by tridge · Pull Request #25634 · ArduPilot/ardupilot · GitHub

Add TCP client and server
Udp client unicast multi, uni and broad and in
- Target address
Log download over tcp of 700kB/second
- Bottleneck is GCS_MAVLink, CPU-bound
Throughput test shows that backoff can really hurt
Onboard web server coming
merged!

UTC0118 - Tools: Add g++ 11.4 to Werr whitelist by Ryanf55 · Pull Request #25637 · ArduPilot/ardupilot · GitHub

Add g++ 11.4 to whitelist
Merged!

UTC0121 - Return MAV_RESULT_COMMAND_INT_ONLY if command-long support compiled out by peterbarker · Pull Request #25643 · ArduPilot/ardupilot · GitHub

MAV_RESULT_COMMAND_INT_ONLY
Peter will work with upstream to change the comments on the mavlink messages

UTC0127 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
4.4 is going well
Major 4.5 milestones are being knocked off
- Networking
- DDS
Parameter changes for 4.5 coming…

UTC0128 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Copter update
Randy’s been knocking problems off over the last week or so and will be doing a few more
Do-change-speed command after takeoff should be fixed in the next week or so
New Autotune method coming along for Rover
Randy wants Rover 4.4 out!
Randy thinks we could start 4.5 now
4.4.4? There are a few backports out there

UTC0130 - off the floor

Congrats to new funded positions, Craig, Michelle, Matt
- Thanks to our partners for the funding which allows us to do this!
OpenSolo gimbal is now open source!
- Tridge has had a look - fascinating stuff!

Attendee count (max): 15

UTC2300 - Improve checkout/clone process to fix missing upstream by Ryanf55 · Pull Request #62 · ArduPilot/CustomBuild · GitHub

UTC2307 - MAV_CMD_CONDITION_YAW - shortest direction v2 by rmackay9 · Pull Request #341 · ArduPilot/mavlink · GitHub

UTC2310 - Add MAVLink receiver support, RADIO_RC_CHANNELS by olliw42 · Pull Request #24577 · ArduPilot/ardupilot · GitHub

UTC2324 - Plane: Mode LoiterAltQLand to reuse same loiter point if available by magicrub · Pull Request #25318 · ArduPilot/ardupilot · GitHub

UTC2327 - Add Aocoda-RC-H743Dual target board configuration by aocodarc · Pull Request #25396 · ArduPilot/ardupilot · GitHub

UTC2330 - AP_Scripting: add checksum of running and loaded scripts with arming check by IamPete1 · Pull Request #25521 · ArduPilot/ardupilot · GitHub

UTC2347 - SIM_GPS_GSOF - support dcol parser via new bidirectional data parsing by Ryanf55 · Pull Request #25541 · ArduPilot/ardupilot · GitHub

UTC2353 - Plane: QAssist speed warning added by LachlanConn · Pull Request #25581 · ArduPilot/ardupilot · GitHub

UTC2358 - AP_HAL: clean up UART driver storage/access by tpwrules · Pull Request #25589 · ArduPilot/ardupilot · GitHub

UTC0006 - hwdef:correct JFB110 defaults by jfbblue0922 · Pull Request #25591 · ArduPilot/ardupilot · GitHub

UTC0008 - AP_GPS: Support integrated headings from SBF by rmackay9 · Pull Request #25601 · ArduPilot/ardupilot · GitHub

UTC0022 - AP_Param: check dynamic param tables are available before adding a param by IamPete1 · Pull Request #25608 · ArduPilot/ardupilot · GitHub

UTC0022 - https://github.com/ArduPilot/ardupilot/pull/25616

UTC0027 - CAN: added CAN_Dn_PROTOCOL2 for 11 bit auxillary protocol by tridge · Pull Request #25617 · ArduPilot/ardupilot · GitHub

UTC0038 - Rover: auto keeps navigating while paused at waypoints by rmackay9 · Pull Request #25623 · ArduPilot/ardupilot · GitHub

UTC0047 - Update README.md by okok125 · Pull Request #25624 · ArduPilot/ardupilot · GitHub

UTC0047 - AP_ExternalAHRS: Clarify public interface design intent by Ryanf55 · Pull Request #25628 · ArduPilot/ardupilot · GitHub

UTC0051 - Tools: Expose DDS in build options by Ryanf55 · Pull Request #25632 · ArduPilot/ardupilot · GitHub

UTC0105 - Plane: ignore invalid pilot throttle by IamPete1 · Pull Request #25633 · ArduPilot/ardupilot · GitHub

UTC0107 - Network: added TCP client and server and UDP server by tridge · Pull Request #25634 · ArduPilot/ardupilot · GitHub

UTC0118 - Tools: Add g++ 11.4 to Werr whitelist by Ryanf55 · Pull Request #25637 · ArduPilot/ardupilot · GitHub

UTC0121 - Return MAV_RESULT_COMMAND_INT_ONLY if command-long support compiled out by peterbarker · Pull Request #25643 · ArduPilot/ardupilot · GitHub

UTC0127 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0128 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0130 - off the floor

UTC0138 - close