Dev call Nov 4, 2024

CraigElder · November 4, 2024, 10:50pm

Issues & Pull requests

github.com/ArduPilot/ardupilot

AP_DDS: Parameters service

ArduPilot:master ← PQuill33:ap_dds_parameter_management

opened 08:19PM - 03 Oct 24 UTC

PQuill33

+617 -2

### ISSUE ### [#28292 ](https://github.com/ArduPilot/ardupilot/issues/28292) … ### Changes ### -Add set parameters service call to AP_DDS library - service is /ap/set_parameters - Add get parameters service call to AP_DDS library - service is /ap/get_parameters ### Test ### Using ros2 CLI, build and launch ardupilot sitl ``` colcon build --packages-up-to ardupilot_sitl source install/setup.bash ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501 ``` - Check that parameter service is up ``` ros2 service list ``` Expected output ![service_list](https://github.com/user-attachments/assets/9a59f4f3-91f8-4233-a6da-514444ad466e) - Service call to set parameter ``` ros2 service call /ap/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: LOIT_SPEED, value: {type: 2, integer_value: 1250}}]}" ``` Expected output mavproxy window: ![param_success](https://github.com/user-attachments/assets/1459d43e-30e2-41a1-b875-69745b5bc3bb) service call window: ![single_param_success](https://github.com/user-attachments/assets/0db6e55e-87dc-4acc-a49e-6d6fc42e52d7) - Service call to get parameter ``` ros2 service call /ap/get_parameters rcl_interfaces/srv/GetParameters "{names: ['LOIT_SPEED']}" ``` Expected output mavproxy window: ![get_param_success](https://github.com/user-attachments/assets/13cf50ae-2067-4b8f-89c6-6525ae8c0e88) service call window: ![get_param_response](https://github.com/user-attachments/assets/cf17944c-1a1e-4311-8e93-319d250ba9ae)

github.com/ArduPilot/ardupilot

AP_NavEKF3: Add EK3_OPTIONS bit to enable EKF3 init w/out gps for planes

ArduPilot:master ← paulerikf:gps_denied_plane_ekf3

opened 12:13PM - 13 Oct 24 UTC

paulerikf

+7 -4

Allow EKF3 to initialize w/out GPS for non-VTOL fixed wings. The previous beh…avior stopped non-VTOL planes from being used completely without GPS. As NavEKF3::setOriginLLH returns false if EKF3 is unitialized - which makes it impossible to set the EKF Origin from a GCS before a flight. This check originates in EKF2, and I'm unable to see a reason for it to remain in the code. The arming checks already provide configurable GPS checks to prevent accidentally takeoff w/out GPS unless that is intended. I've tested in SITL w/out this check removed and got the behavior I expected - able to set EKF Origin from a GCS & take off w/out GPS if configured w/out GPS arming checks. Please don't hesitate to push back if I'm missing something major here.

github.com/ArduPilot/ardupilot

AP_Math: move zeroing to header, use memset, reuse in identity

ArduPilot:master ← peterbarker:pr/matrix-zero

opened 04:02AM - 17 Oct 24 UTC

peterbarker

+4 -12

this method is in ITCM memory on STM32 - which makes small optimisations worthwh…ile ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * CubeRedPrimary -72 * -72 -64 -72 -72 -64 Durandal -64 * -64 -64 -64 -64 -64 Hitec-Airspeed * KakuteH7-bdshot -64 * -64 -64 -64 -64 -64 MatekF405 -48 * -40 -48 -40 -32 -40 Pixhawk1-1M-bdshot -40 -40 -48 -40 -40 -48 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -40 * -40 -40 -48 -40 -48 skyviper-v2450 -48 ```

github.com/ArduPilot/ardupilot

AP_DDS: External Control enable

ArduPilot:master ← tizianofiorenzani:wips/servos

opened 09:40PM - 18 Oct 24 UTC

tizianofiorenzani

+106 -5

# User Story As an operator, I want to be able to completely cut off any exte…rnal control from the DDS interface. This functionality is especially helpful during debugging tests, when a quick reaction is of utmost importance. I would like to be able to assign a switch to Enable/Disable external control, as well as the ability for a script or an external GCS to trigger External Control. # What Changed - AP_ExternalControl has now the ability to set and retrieve its status. - AP_DDS prevents any Subscription or Service to affect the vehicle: Subscriptions callbacks are simply returned, while service requests reply with `false`. - RC_Channel has been given a new functionality `DDS_EXTERNAL_CONTROL = 181` which allows a channel to enable External control when HIGH. # Test - For now I left the `/ap/joy` subscription always active, so it's easy to emulate an RC input. - I assigned RC6_OPTION = 181 - Start the SITL - Set the RC switch to High `ros2 topic pub /ap/joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, .nan, .nan, .nan, -1]}"` - Try to Arm the vehicle with `ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "arm: true"` - Arming command is rejected! ![image](https://github.com/user-attachments/assets/f5000107-b26e-48c2-ba37-8565add0c51c) - Set the RC switch to High `ros2 topic pub /ap/joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, .nan, .nan, .nan, 1]}"` - Try to Arm the vehicle with `ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "arm: true"` - Vehicle is Armed ![image](https://github.com/user-attachments/assets/2aa8fef3-b9bb-4652-bff2-5e356aeb2153)

github.com/ArduPilot/ardupilot

AP_DDS: Rally Get and Set

ArduPilot:master ← tizianofiorenzani:wips/rally

opened 10:15PM - 22 Oct 24 UTC

tizianofiorenzani

+534 -2

# Issue https://github.com/ArduPilot/ardupilot/issues/28444 # What Changed… - Service `/ap/rally_set` appends a Rally Point to the list or clears the list (using the `clear` flag). - `point`: geolocation - `break_altitude` and `land_dir` follow the `AP_Rally.h` definition; - `flag_favorable_winds` and `flag_do_auto_land` follow the `AP_Rally.h` definition; - `altitude_frame` mandatory, follows enum of AltFrame. - Replies with: - `success` is the action is successful; - `size` is the list's size. - Service `/ap/rally_get` gets the Rally Point at a given index. Returns: - `success` - `rally` the rally point as `ardupilot_msgs/Rally` type. - New `ardupilot_msgs/Rally` type is defined, that copies the structure definition in `AP_Rally`. # Test A test has been added to the dds_test package. - run the SITL - Call the service to clear the rally list `ros2 service call /ap/rally_set ardupilot_msgs/srv/RallySet "{clear: true}"` - Open up Mavproxy with map and make sure the rally list is clear. - Append a new Rally Point: `ros2 service call /ap/rally_set ardupilot_msgs/srv/RallySet "{rally: {point: {latitude: -35.36, longitude: 149.17, altitude: 400}}}"` - In mavproxy, update the rally list and make sure the rally point appears on the map ![image](https://github.com/user-attachments/assets/f35937f6-0eb7-4e0e-a26e-8055f74a5360) - use the service call to get the Rally at index 0: `ros2 service call /ap/rally_get ardupilot_msgs/srv/RallyGet "index: 0"`

github.com/ArduPilot/ardupilot

AP_ICEngine: If surfaces are disabled do not allow a disarmed start

ArduPilot:master ← WickedShell:wickedshell/ice-suprress-if-locked-surfaces

opened 09:58PM - 24 Oct 24 UTC

WickedShell

+2 -1

We don't want to allow AP_ICEngine to start an engine while disarmed if the surf…aces are locked, as in this case we should have little to no control over the engine. This is particularly evident when using relay control for starter/ignition control, as it's now easy to enable both of these without having active throttle control. Bench tested with relay outputs from AP_ICE, with a relay control for ignition power, and a scope connected to the throttle signal.

github.com/ArduPilot/ardupilot

AP_Mission: exclude more code based on defines

ArduPilot:master ← peterbarker:pr/mission-exclude-code

opened 02:36AM - 26 Oct 24 UTC

peterbarker

+86 -15

``` Board AP_Periph blimp bootloader copter heli iofirm…ware plane rover sub CubeOrange-periph-heavy * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 -664 * -664 -664 -664 -664 -664 Pixhawk1-1M-bdshot -448 -448 -448 -448 -448 -448 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -648 * -648 -648 -640 -648 -648 skyviper-v2450 -664 ```

github.com/ArduPilot/ardupilot

AP_Bootloader: correct compilation when signing enabled

ArduPilot:master ← peterbarker:pr/signed-firmware-include-fix

opened 04:47AM - 27 Oct 24 UTC

peterbarker

+2 -0

``` In file included from ../../libraries/AP_CheckFirmware/AP_CheckFirmware.cpp…:13: ../../libraries/AP_CheckFirmware/../../Tools/AP_Bootloader/support.h:57:25: error: "CH_CFG_USE_HEAP" is not defined, evaluates to 0 [-Werror=undef] 57 | #if defined(STM32H7) && CH_CFG_USE_HEAP | ^~~~~~~~~~~~~~~ compilation terminated due to -Wfatal-errors. cc1plus: all warnings being treated as errors ```

github.com/ArduPilot/ardupilot

Plane Guided Alt Command: Use frame instead of bools for setting alt frame

ArduPilot:master ← Ryanf55:plane-gcs-mavlink-alt-frame-constructor

opened 01:57AM - 28 Oct 24 UTC

Ryanf55

+12 -28

# Purpose When a plane receives an altitude command from mavlink [SET_POSITIO…N_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT), we were using the booleans in the Location field to set the frame. This switches to using the altitude setter with the frame which is more explicit. We now convert the frames with `mavlink_coordinate_frame_to_location_alt_frame`. Conveniently, deleting code saves 40b flash. # Tests performed `./Tools/autotest/autotest.py test.Plane`. It seems like this might be covered by `SetpointGlobalPos`, but that test is not run by Plane. I also used the `changealt` and `changealt_abs` command in `GUIDED` mode while flying in SITL to verify we can change altitude. Those commands do not use this interface. I do not have a great way to test this as is. Suggestions welcome! # Size Compare Durandal ``` Binary Name Text [B] Data [B] BSS (B) Total Flash Change [B] (%) Flash Free After PR (B) --------------- -------------- ----------- ----------- ---------------------------- ------------------------- arducopter-heli 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 14[28](https://github.com/ArduPilot/ardupilot/actions/runs/11563094404/job/32185663719?pr=28479#step:10:29)72 antennatracker 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 615404 arducopter 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 142344 ardurover 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) [29](https://github.com/ArduPilot/ardupilot/actions/runs/11563094404/job/32185663719?pr=28479#step:10:30)6528 arduplane -40 (-0.0022%) 0 (0.0000%) 0 (0.0000%) -40 (-0.0022%) 145824 blimp 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 593368 ardusub 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 0 (0.0000%) 352236 ```

github.com/ArduPilot/ardupilot

Tools: autotest: Test guided altitude commands in Plane

ArduPilot:master ← Ryanf55:autotest-guided-alt-plane-commands

opened 09:33PM - 28 Oct 24 UTC

Ryanf55

+54 -3

# Purpose Add a test for `master` to preserve existing behavior of planes gui…ded [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) support where you set the bitmask to only change the vehicle altitude. This is to be sure that the small cleanup in https://github.com/ArduPilot/ardupilot/pull/28479 does not cause regressions. As far as I can tell, the guided change altitude plane API in MAVLink is not tested in CI. # Details The existing `SetpointGlobalPos` class is used on copter and rover tests, but not in Plane. Although it has some conditions for plane in the code, those are likely leftovers from something else. None of the existing tests will pass on plane because they aren't implemented. I'm hung up right now on why * The `MAV_FRAMES_TO_TEST` list includes `MAV_FRAME_GLOBAL`, but the `to_alt_frame` function does not include a converter. * If the vehicle type is plane, `FS_GCS_ENABLE` cannot be set to 0 * Whether it's ok to call `AutoTestPlane.fly_home_land_and_disarm` in `vehicle_test_suite.TestSuite`, which couples the classes Logs right now show that the vehicle is trying to climb to 750m, starting at CMAC, and I suspect it's because MAV_FRAME_GLOBAL is not having the home altitude taken off. ![Uploading image.png…]() # Logs [ArduPlane-SetpointGlobalPos.txt](https://github.com/user-attachments/files/17549045/ArduPlane-SetpointGlobalPos.txt)

github.com/ArduPilot/ardupilot

Fix Documentation Generating Parameters Incorrectly

ArduPilot:master ← joshanne:pr/fix-ap-periph-documentation-generation

opened 01:22AM - 31 Oct 24 UTC

joshanne

+2 -2

Parameters are being generated as `INS_` as the group, so `INS_USE` is actually …documented as `INS__USE` (note the double underscore). (See: [INS__USE: Use first IMU for attitude, velocity and position estimates](https://ardupilot.org/dev/docs/AP_Periph-Parameters.html#ins-use-use-first-imu-for-attitude-velocity-and-position-estimates) Also fixes documentation in the battery library where the generated referenced parameter contains double underscores: (see: [BATT2_ARM_MAH: Required arming remaining capacity](https://ardupilot.org/plane/docs/parameters.html#batt2-arm-mah-required-arming-remaining-capacity))

Plane

github.com/ArduPilot/ardupilot

Plane 4.5.x issue tracking

opened 03:03AM - 13 Feb 24 UTC

tridge

Plane DevCallTopic ReleaseAdmin

Pending: - [ ] centre throttle options not working: https://discuss.ardupilot.…org/t/plane-4-5-0-beta-release/112518/14 - fix in mission planner https://github.com/ArduPilot/MissionPlanner/pull/3291 - [ ] ramping of motors on tilt quadplanes not working on back transition - fix https://github.com/ArduPilot/ardupilot/pull/26249 - [ ] POSITION_TARGET_GLOBAL_INT alt is wrong for terrain following - [ ] ALT_ASSIST not working while completing fwd transition? - [ ] terrain following not working from long distances in QRTL - [ ] re-test flightgear and JSBSim recent versions https://discuss.ardupilot.org/t/aircraft-appears-underground-on-ardupilot-flightgear - [ ] should auto-set HAL_USE_ADC=False if no ADC lines in hwdef.dat - [ ] ftp fence upload not working - [ ] exfat with 64G sandisk can't create APM/scripts directory - [x] lua/log corruption on 6x: fix: https://github.com/ArduPilot/ardupilot/pull/26538 - [ ] unplugging CAN battery mon leaves voltage unchanged - should it go to zero? - [ ] should a dead rangefinder report zero distance? - [ ] pitch stick mixing on landing needs to handle changed height - [ ] add AP_STATISTICS_ENABLE for dma.txt and --enable-status in custom build - [ ] is terrain offset handling correct? see angel log7 - [ ] https://github.com/ArduPilot/ardupilot/pull/26808 - [ ] https://github.com/ArduPilot/ardupilot/issues/26815 - [ ] https://github.com/ArduPilot/ardupilot/pull/26762 - [ ] GPS disable/re-enable, EK2 and EK3 did not re-init. Log 32.BIN lift AdNav test - [ ] EK3 switch to source set with no GPS did not disable GPS fusion, log 31.BIN, AdNav tests - [ ] motor test in quad-can not showing RPM on CAN - [x] fix places not using ahrs EAS2TAS - [ ] consider changing all instance indexes to match params, eg. ESC[1] for SERVO1, not ESC[0] (baro, gps, imu etc) - [ ] add logging of ESC StatusExtended DroneCAN msg - [ ] should implement this for plane: https://github.com/ArduPilot/ardupilot/pull/26383 - [ ] baro compensation: https://github.com/ArduPilot/ardupilot/pull/26917 - [ ] surfaces to max on soft reboot, 350ms pulse - [ ] https://github.com/ArduPilot/ardupilot/pull/23658 - [ ] https://github.com/ArduPilot/ardupilot/pull/27115 - [ ] use of 2nd airspeed if ARSPD_USE=0 and ARSPD_PRIMARY=0 and ARSP2_USE=1 - [ ] https://github.com/ArduPilot/ardupilot/issues/27171 - [ ] during fence breach flyto bypasses fence - [ ] errno race condition in GCS_FTP - [ ] should have common mutex in DNA server instances - [ ] remove EK3 dependence on GPS lag for horizon lag size - [ ] add ICE_OPTIONS bit for ignoring start on rc channel if it hasn't seen off - [ ] holybro G4 GPS F9P still configuring forever with moving baseline yaw - [ ] should check AP_Param::done_all_default_params at arming, warn of unused param in a defaults.parm - [x] autotune save on disarm must happen after soft armed goes false - [ ] arming check quadplane for notch with N*bw > 3*freq - [ ] https://github.com/ArduPilot/ardupilot/pull/26417 - [ ] https://github.com/ArduPilot/ardupilot/issues/27822 - [x] common origin for EAHRS - [ ] https://github.com/ArduPilot/pymavlink/issues/961 - [ ] https://github.com/ArduPilot/ardupilot/issues/11650 - [x] need to support rng fnd orient 25 DOWN for quadplane tailsitter - [ ] add FENCE_ALT_TYPE maybe separate for max/min? - [ ] should not apply KFF_RDDRMIX to ground steering, so aileron doesn't impact nose wheel - [ ] option to not battery failsafe in Q mode with some radius of home Resolved - [x] https://github.com/ArduPilot/ardupilot/pull/26133 Longer term - [x] https://github.com/ArduPilot/ardupilot/pull/25442 - [ ] rebuild newlib and remove all possible abort() calls

Copter & Rover

github.com/ArduPilot/ardupilot

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.5 testing. The [is…sues list for Copter/Rover-4.4 is here](https://github.com/ArduPilot/ardupilot/issues/23192). [Backport PRs](https://github.com/orgs/ArduPilot/projects/8/views/1). Reports requiring investigation: - [ ] EKF3 fallback to baro not working? ([discussion](https://discuss.ardupilot.org/t/no-fallback-to-baro-during-dead-reckoning/125671)) - [ ] Septentrio HDOP issue? ([discussion](https://discuss.ardupilot.org/t/coper-4-5-7-beta1-available-for-testing/124355/3)) - [ ] EKF3 control scaling causes drift away in high winds ([issue](https://github.com/ArduPilot/ardupilot/issues/28242), [discussion](https://discuss.ardupilot.org/t/what-is-limiting-the-maximum-lean-angle-for-position-controller-in-non-gps-modes/123329)) - [ ] Visual Odometry arming check should check latest quality from camera ([issue](https://github.com/ArduPilot/ardupilot/issues/28214)) - [ ] EKF3 altitude slow correction with GPS broken? ([discussion](https://discuss.ardupilot.org/t/ekf3-use-barometer-and-gps-for-altitude-posz/119540), [related PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [ ] Lua scripting binding for "play_tune" not working (reported by muramura in general channel) - [ ] OmnibusF4 lost External Baro support? ([issue](https://github.com/ArduPilot/ardupilot/issues/27315)) - [ ] MR72 CAN rangefinder not adding distances to OA database ([issue](https://github.com/ArduPilot/ardupilot/issues/27216)) - [ ] Alexmos not working ([Plane forum discussion](https://discuss.ardupilot.org/t/plane-4-5-release/115620/19)) - [ ] Auto mode using rangefinder should trigger failsafe if user disables rangefinder (reported by Harris Aerial) - [ ] Custom build server of MatekH743 + flowhold ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/55)) - [ ] DShot 600 jerky movement without being armed ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/21)) -- configuration error (MOT_PWM_TYPE = 0 but SERVO_BLH_MASK non-zero) -- AndyP - [ ] Lua mount:set-angle-target binding doesn't work on Matek H743 mini V3 ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/3)) -- Randy - [ ] CAM messages with Img field "0" appearing in logs without pictures being taken (reported by Randy) -- Randy Confirmed issues: - [ ] SCurves internal error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-3-beta1-is-available-for-beta-testing/117962/10)) - [ ] LD06 proximity sensor buffer overflow (reported in Discord Rover channel, [PR](https://github.com/ArduPilot/ardupilot/pull/27059)) - [ ] Rover watchdog on 4.5.1 ([discussion](https://discuss.ardupilot.org/t/rover-4-5-2-beta1-available-for-beta-testing/117186/7)) - [ ] RPLidarS1 erratic distances on Rover ([discussion](https://discuss.ardupilot.org/t/rplidar-s1-erratic-distances/115561), [possible fix](https://github.com/rmackay9/rmackay9-ardupilot/commits/rover-rplidar-update-rate/), [PR](https://github.com/ArduPilot/ardupilot/pull/26835)) -- Randy, Mirkix - [ ] SmartRTL flow of control error ([pre-existing issue](https://github.com/ArduPilot/ardupilot/issues/17416)) -- Randy, PeterB - [ ] APM_Config can't be used to include/exclude features ([issue](https://github.com/ArduPilot/ardupilot/issues/26654)) Enhancements or Issues that may not be resolved before the stable release: - [ ] ESC Telemetry on OSD for Servo9 ([issue](https://github.com/ArduPilot/ardupilot/issues/27064)) -- andy1piper says this is caused by a bug fix and so an enhancement request is required - [ ] DJI RS2 lock/follow not working? ([discussion](https://discuss.ardupilot.org/t/ap-support-for-dji-rs2-rsc2-rs3-gimbals-maybe/91830/39), [issue](https://github.com/ArduPilot/ardupilot/issues/27016)) -- existing issue - [ ] CAM2 using CAM1 servo output ([discussion](https://discuss.ardupilot.org/t/separate-cam1-and-cam2-triggering/117468), [issue](https://github.com/ArduPilot/ardupilot/issues/27015)) - [ ] https://github.com/ArduPilot/ardupilot/issues/26892 - [ ] Rover multiple inclusion fence support ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690/8), [WIP PR](https://github.com/ArduPilot/ardupilot/pull/15550)) - [ ] GPS consistency checks Alt when GPS can't provide alt ([discussion](https://discuss.ardupilot.org/t/incorrect-calculation-of-gps-positions-diffs-during-arming-checks/116033), [issue](https://github.com/ArduPilot/ardupilot/issues/26749)) - [x] Custom Build server support for CUAV Pixhack v3x with 3 IMUs ([discussion](https://discuss.ardupilot.org/t/ardupilot-custom-firmware-builder-fmuv3-missing-necessary-for-cuav-pixhack-v3x/115823), [product page](https://www.cuav.net/en/pixhack-v3-autopilot/)) - [ ] AP_OSD: Add CRSF link stats display fields ([PR](https://github.com/ArduPilot/ardupilot/pull/25844)) - [ ] Network params not visible for Pixhawk5x ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/13), [issue](https://github.com/ArduPilot/ardupilot/issues/26397)) - [ ] ViewPro does not track GPS location well ([discussion](https://discuss.ardupilot.org/t/viewpro-gimbal-point-camera-here-function/98279/33), known limitation of ViewPro API) Wiki issues/enhancement requests: - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/5916 - [x] Dynamic Notch filter instructions need consolidation ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5878)) - [x] Auto mode LOITER_TURNS does not support CCW? ([discussion](https://discuss.ardupilot.org/t/ccw-loiter-turns/114282)) - [ ] Add vertical position controller tuning instructions ([discussion](https://discuss.ardupilot.org/t/z-oscillation-in-position-hold/113149/4)) - [x] Add warning for AutoTune ESC desync ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5760)) Mission planner issues/enhancement requests: - [ ] add DO_FENCE_ENABLE to Rover (and Copter?) mission command list ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690)) - [ ] fixup camera gimbal page ([discussion](https://discuss.ardupilot.org/t/question-about-camera-gimbal/101063/7)) - [ ] Loiter turns radius incorrect ([issue](https://github.com/ArduPilot/MissionPlanner/issues/3305)) QGC issues/enhancement requests: - [x] QGC sending invalid roll, pitch, yaw angles ([discussion](https://discuss.ardupilot.org/t/mount-invalid-angle-targets-problem/113885), [QGC issue](https://github.com/mavlink/qgroundcontrol/issues/11215)) Resolved issues: - [x] 4.5.6 crash dump on startup (reported by lthall) -- DroneCAN locking issue -- fixed in 4.5.7-beta1 - [x] Windows Cygwin build broken ([issue](https://github.com/ArduPilot/ardupilot/issues/27867), [PR](https://github.com/ArduPilot/ardupilot/pull/27987)) -- fixed and will be included in Copter-4.6.0 - [x] **EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650), [PR](https://github.com/ArduPilot/ardupilot/pull/27636))** -- fixed for 4.5.6-rc1 - [x] Guided mode yaw when WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/27317), [PR](https://github.com/ArduPilot/ardupilot/pull/27318)) -- fixed ahead of 4.5.5 - [x] https://github.com/ArduPilot/ardupilot/issues/27171 -- resolved ahead of 4.5.4-rc1 - [x] EKF3 endless climb with EK3_OGN_HGT_MASK ([PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [x] Kakute buzzer scream ([issue](https://github.com/ArduPilot/ardupilot/issues/27120)) -- custom developmen issue - [x] https://github.com/ArduPilot/ardupilot/issues/27017 ([PR](https://github.com/ArduPilot/ardupilot/pull/27099)) - [x] CubeOrange with Siyi A8 failing to boot 1 in 20 times ([issue](https://github.com/ArduPilot/ardupilot/issues/26852)) -- fixed with Siyi firmware 0.3.7 - [x] Lua rangefinder broken ([discussion](https://discuss.ardupilot.org/t/send-sensor-distance-by-using-serial-in-script/116238), [PR](https://github.com/ArduPilot/ardupilot/pull/26829)) -- resolved for 4.5.3-beta1 - [x] NoopLoop TOFSense-P noise ([discussion](https://discuss.ardupilot.org/t/rangefiner-on-fast-speed-low-altitude-quadcopter/116591/14)) -- not 4.5.0, cannot reproduce (Rishabh) - [x] Jump message missing from telementry? ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/25), [issue](https://github.com/ArduPilot/ardupilot/issues/26802), [PR](https://github.com/ArduPilot/ardupilot/pull/27003)) -- PeterB -- resolved for 4.5.3-beta1 - [x] RC SBus input on Navio2 ([discussion](https://discuss.ardupilot.org/t/rc-channels-stuck-and-not-following-sys-kernel-rcio-rcin-ch/117191)) -- QGC issue - [x] Avoidance backup for Z-axis is unconstrained ([PR](https://github.com/ArduPilot/ardupilot/pull/26858)) -- fixed for 4.5.3-beta1 - [x] Pixhawk 6C SBUS out not working with Tarot gimbal ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/12), [issue1](https://github.com/ArduPilot/ardupilot/issues/26815), [PR](https://github.com/ArduPilot/ardupilot/pull/26825), [issue 2](https://github.com/ArduPilot/ardupilot/issues/26851), [PR](https://github.com/ArduPilot/ardupilot/pull/26898)) -- fixed in 4.5.2-beta1 - [x] Pixhawk6C mini compass disappearing in flight issue ([4.4 issue](https://github.com/ArduPilot/ardupilot/issues/25946), [4.5 discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/3), [PR](https://github.com/ArduPilot/ardupilot/pull/26929)) -- hardware issue, work around ready for 4.5.3-beta1 - [x] Neopixels broken ([discussion](https://discuss.ardupilot.org/t/multiple-neopixels-dont-flash-in-sync/113620), [issue](https://github.com/ArduPilot/ardupilot/issues/26295), [PR-to-blame](https://github.com/ArduPilot/ardupilot/pull/23974), [PR with fix](https://github.com/ArduPilot/ardupilot/pull/26899)) -- fixed for 4.5.3-beta1 - [x] Stabilize mode Internal Error in Land Detector ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/75), [issue](https://github.com/ArduPilot/ardupilot/issues/26864), [code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/land_detector.cpp#L59), [PR](https://github.com/ArduPilot/ardupilot/pull/26873)) -- fixed for 4.5.3-beta1 - [x] Copter-4.6 filter issue ([discussion](https://discuss.ardupilot.org/t/notch-filters-turn-on-with-a-delay/116276/14)) -- not present in 4.5 - [x] 3 of 12 Pixhawk6X display IOMCU error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/3)) -- AndyP, CUAV -- wrong IOMCU bootloader installed on the board (at factor?) - [x] Gremsy can't be used as 2nd mount ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-does-not-work-if-set-to-mount-2/116127)) -- Randy can't reproduce, assumed ZIO issue, [added warning to wiki](https://github.com/ArduPilot/ardupilot_wiki/pull/5897) - [x] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) -- motor desync probably - [x] EKF loses attitude estimate if COMPASS_LEARN set to 3 (inflight) and GPS-for-yaw used ([PR](https://github.com/ArduPilot/ardupilot/pull/26762)) -- Tridge / PaulR -- resolved for 4.5.2-beta1 - [x] Guide mode using thrust causes internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/26865), [PR](https://github.com/ArduPilot/ardupilot/pull/26866)) -- resolved for 4.5.2-beta1 - [x] [MTF-01 Optical flow sensor](https://robofusion.net/products/mtf-01-integrated-laser-rangefinder-optical-flow-module-for-unmanned-aerial-vehicles-uavs?variant=47234517664063) not working ([discussion](https://discuss.ardupilot.org/t/4-5-0-has-issue-with-connection-to-mtf-01-optical-flow-sensor/116470)) -- set config on sensor to different component id. -- resolved for 4.5.2-beta1 - [x] DAL bug affecting VisualOdometry delay ([issue](https://github.com/ArduPilot/ardupilot/issues/26800), [PR](https://github.com/ArduPilot/ardupilot/pull/26813)) -- resolved for 4.5.2-beta1 - [x] Hereflow requires BRD_BOOTDELAY ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/47), [PR](https://github.com/ArduPilot/ardupilot/pull/26753)) -- resolved for 4.5.2-beta1 - [x] RTL engaged below Home alt and using Terrain alt returning too high? (reported by Tridge and PeterB) -- RTL seems to be acting as expected. It was engaged at 121m above terrain and so that's the altitude it maintained until it returned home. - [x] AP_Mount's default mode being overwritten by RC input ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/69), [PR](https://github.com/ArduPilot/ardupilot/pull/26738)) -- resolved for 4.5.2-beta1 - [x] T265 not working ([discussion](https://discuss.ardupilot.org/t/vision-positioning-using-t265-does-not-work/115679), [related PR](https://github.com/ArduPilot/ardupilot/pull/23240)) -- user was using same sysid/compid as autopilot - [x] Developer issues integrating CAN RangeFinder ([discussion1](https://discuss.ardupilot.org/t/issues-with-interegrating-can-sensor-using-lua/115585/5), [discussion2](https://discuss.ardupilot.org/t/help-related-to-dronecan/115874), [issue](https://github.com/ArduPilot/ardupilot/issues/26704)) -- worked at 1Mbps - [x] GPS_TYPE parameter descriptions in MP using 4.4 ([issue](https://github.com/ArduPilot/ardupilot/issues/26681#issuecomment-2034416514), [PR](https://github.com/ArduPilot/ardupilot/pull/26740)) -- resolved for 4.5.2-beta1 - [x] #26811 - [x] Near Fly-away with 4.4.4 (EKF failsafe was disabled, [discussion](https://discuss.ardupilot.org/t/internal-errors-0x400-l-856-cnstring-nan-uncontrollable-behavior-in-rtl-and-loiter/115598)) -- no further communication, likely bad compass cal - [x] KakuteH7 fails to initialise ([discussion](https://discuss.ardupilot.org/t/kakute-h7-gps-and-radio-problem/115931)) -- also failed on 4.4.4 so Randy has concluded that it is a hardware issue - [x] Siyi mount stalls occasionally and bouncing near pitch and yaw limits ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta4-available-for-beta-testing/115149/11)) -- Siyi firmware / hardware mismatch - [x] do-condition-yaw bug (also in 4.4, [PR](https://github.com/ArduPilot/ardupilot/pull/24719)) -- resolved for beta5 (assuming there is a beta5) - [x] Copters turns North in Guided_NoGPS ([issue](https://github.com/ArduPilot/ardupilot/issues/26357), [discussion](https://discuss.ardupilot.org/t/set-attitude-target-with-guided-no-gps-lack-of-documentation/111845/24), [PR](https://github.com/ArduPilot/ardupilot/pull/26407)) -- fixed for beta5 (assuming there is a -beta5) - [x] ViewPro not holding level during hard maneuvers ([PR](https://github.com/ArduPilot/ardupilot/pull/26556)) -- resolved in beta4 (although no confirmation from user) -- fixed for beta5 (assuming there is a -beta5) - [x] altitude jump when GPS/Non-GPS transitions switching altitude source of ExtNav to Baro (reported by Randy) -- should jump when moving from camera->baro, cannot reproduce otherwise. - [x] MP's MAVFtp can't download SYS files ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3309)) -- SITL only issue - [x] Logging removed on some boards? ([issue](https://github.com/ArduPilot/CustomBuild/issues/70), [PR](https://github.com/ArduPilot/ardupilot/pull/26421)) -- needs backport? - [x] Sending unknown message ([issue](https://github.com/ArduPilot/ardupilot/issues/26358), [PR](https://github.com/ArduPilot/ardupilot/pull/26361)) -- resolved for -beta3 - [x] increasing k_format_version does not reset parameters (dev question, [issue](https://github.com/ArduPilot/ardupilot/issues/26336)) -- cannot reproduce, responses stopped - [x] MAV_CMD_DO_SEND_SCRIPT_MESSAGE not working? ([discussion](https://discuss.ardupilot.org/t/is-mav-cmd-do-send-script-message-unsupported-on-copter-4-5/113787)) -- only supported as Mission command - [x] TKOFF_RPM_MIN working? ([4.3.x discussion](https://discuss.ardupilot.org/t/takeoff-blocked-waiting-for-esc-rpm/113256)) -- fixed in 4.4 - [x] Record video while armed broken ([PR](https://github.com/ArduPilot/ardupilot/pull/26217)) -- resolved for -beta3 - [x] Parachute conversion issue ([issue](https://github.com/ArduPilot/ardupilot/issues/26132), [PR](https://github.com/ArduPilot/ardupilot/pull/26151)) -- resolved for beta2 - [x] Siyi running old camera fw message ([discussion](https://discuss.ardupilot.org/t/siyi-a8-camera-fw-version-reporting-issue/112870), [original discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/673), [PR](https://github.com/ArduPilot/ardupilot/pull/26168)) -- resolved for beta2 - [x] Matek H743 watchdog ([discussion](https://discuss.ardupilot.org/t/locally-compiled-arducopter-4-5-0-beta1-fails-on-matekh743-due-to-watchdog/113029)) -- development environment issue - [x] Stuck thread ([discussion](https://discuss.ardupilot.org/t/stuck-thread-and-failed-data-logging-error/112711/2)) -- exists in 4.4.4 as well, two devs say it's fine so concluded it is a hardware failure on the user's autopilot. - [x] AutoTune crash -- ESC de-sync ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta1-available-for-beta-testing/112504/11)) - [x] Here4 does not support GPS-for-yaw (aka Moving baseline) ([discussion](https://discuss.ardupilot.org/t/gps-yaw-moving-baseline-with-dual-dronecan-here4/112357)) -

CraigElder · November 5, 2024, 3:01am

Attendee count (max): 17

UTC2301 - ardupilotmega: add GUIDED HEADING_TYPE_DEFAULT by timtuxworth · Pull Request #372 · ArduPilot/mavlink · GitHub

Merge on CI Pass

UTC 2305 SkySakura H743 fc Support by BloodSakura3774 · Pull Request #28094 · ArduPilot/ardupilot · GitHub

Merged

UTC 2308 hwdef:add MUPilot autopilot by Hwurzburg · Pull Request #28222 · ArduPilot/ardupilot · GitHub

Merged

UTC 2315 AP_DDS: Parameters service by PQuill33 · Pull Request #28298 · ArduPilot/ardupilot · GitHub

Needs rework

UTC 2330 AP_NavEKF3: Add EK3_OPTIONS bit to enable EKF3 init w/out gps for planes by paulerikf · Pull Request #28396 · ArduPilot/ardupilot · GitHub

Wait for Peter B to merge
Discussion about how to handle this situation

UTC 2335 AP_HAL_ChibiOS: exclude chprintf from fastramfunc by peterbarker · Pull Request #28421 · ArduPilot/ardupilot · GitHub

Merged

UTC 2338 AP_Math: move zeroing to header, use memset, reuse in identity by peterbarker · Pull Request #28423 · ArduPilot/ardupilot · GitHub

Merged

UTC 2340 AP_DDS: External Control enable by tizianofiorenzani · Pull Request #28429 · ArduPilot/ardupilot · GitHub

Discussion and Changes requested

UTC 0000 Add enumeration to document EKF SolutionStatus by peterbarker · Pull Request #28436 · ArduPilot/ardupilot · GitHub

Merged

UTC 0003 Correct logger message documentation parsing, add to CI by peterbarker · Pull Request #28438 · ArduPilot/ardupilot · GitHub

Merged

UTC 0004 Plane: Adjust the grouping of functions to match the style by muramura · Pull Request #28447 · ArduPilot/ardupilot · GitHub

Merged

UTC 0005 AP_DDS: Rally Get and Set by tizianofiorenzani · Pull Request #28449 · ArduPilot/ardupilot · GitHub

Discussion and Changes requested

UTC 0009 DroneCAN: added FlexDebug support by tridge · Pull Request #28450 · ArduPilot/ardupilot · GitHub

Discussion and Changes requested

UTC 0024 Param Metadata - Mark more compass values as calibration and make the loop rate a range by amilcarlucas · Pull Request #28470 · ArduPilot/ardupilot · GitHub

Merged

UTC 0027 AP_ICEngine: If surfaces are disabled do not allow a disarmed start by WickedShell · Pull Request #28464 · ArduPilot/ardupilot · GitHub

Discussion and Changes requested

UTC 0032 AP_Mission: exclude more code based on defines by peterbarker · Pull Request #28473 · ArduPilot/ardupilot · GitHub

Discussion and Changes requested

UTC 0035 AP_Bootloader: correct compilation when signing enabled by peterbarker · Pull Request #28477 · ArduPilot/ardupilot · GitHub

Merged

UTC 0036 AP_RCTelemetry: Fix Baro and Vario values by Frank0587 · Pull Request #28478 · ArduPilot/ardupilot · GitHub

Merged

UTC 0038 Plane Guided Alt Command: Use frame instead of bools for setting alt frame by Ryanf55 · Pull Request #28479 · ArduPilot/ardupilot · GitHub

Merged

UTC 0043 Tools: autotest: Test guided altitude commands in Plane by Ryanf55 · Pull Request #28487 · ArduPilot/ardupilot · GitHub

Discussion and changes requested

UTC 0052 Bootloader: Add Reading of Git SHA to bootloader by joshanne · Pull Request #28492 · ArduPilot/ardupilot · GitHub

Discussion and changes requested

UTC 0101 GCS_MAVLink: add warning if guided-mode-mission-requests are used by peterbarker · Pull Request #28494 · ArduPilot/ardupilot · GitHub

Discussion

UTC 0104 Fix Documentation Generating Parameters Incorrectly by joshanne · Pull Request #28506 · ArduPilot/ardupilot · GitHub

Merged

UTC 0106 [Backport] AP_HAL: add BMP390 option for navigator by Williangalvani · Pull Request #28522 · ArduPilot/ardupilot · GitHub

Merged

UTC 0110 4.6 is coming!

UTC 0112 Sending Gazebo sensor data to ArduPilot using DroneCAN Sending Gazebo sensor data to ArduPilot using DroneCAN