Dev Call Oct 16, 2023

CraigElder · October 16, 2023, 10:37pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

GCS_MAVLink: Fix for the Gopro/Solo Gimbal issue

ArduPilot:master ← mtbsteve:master

opened 08:27AM - 23 May 23 UTC

mtbsteve

+20 -1

@rmackay9 @davidbuzz @proficnc This PR replaces the PR https://github.com/ArduPi…lot/ardupilot/pull/22692 which I accidentally closed last week. It should work for CubeSolo, CubeGreen and fmuv3 boards when HAL_SOLO_GIMBAL_ENABLED is met and when a Gopro heartbeat is broadcasted. I tested it successfully with AC 4.4beta on a Solo with a CubeSolo board and a non-Solo copter with CubeBlack installed.

github.com/ArduPilot/ardupilot

Flter: notchfilter: remove unneeded value and pre-multiply for speed

ArduPilot:master ← IamPete1:filter_effiecnecy_inproments

opened 01:36AM - 08 Jul 23 UTC

IamPete1

+18 -8

I had spotted we could pre-multiply by a0 to same some runtime calculation and w…as looking at the betaflight filter code and they also have different handling of the "memory" elements that saves one value. https://github.com/betaflight/betaflight/blob/90d09e2e5bccc9e21101811618be79621286f56e/src/main/common/filter.c#L210-L224 I have run this in my MATLAB thingy (https://github.com/ArduPilot/ardupilot/pull/24249) result is the same to 10^-4. floating point math does mean the result comes out a tiny bit different. The difference is only due to the pre-multiplication of a0. The removal of `ntchsig` makes no difference to the result.

github.com/ArduPilot/ardupilot

AP_Baro: Check if origin alt is zero before using it as field elevation

ArduPilot:master ← rishabsingh3003:baro_field_elevation

opened 03:24AM - 27 Sep 23 UTC

rishabsingh3003

+3 -1

If origin is set with height 0, then field elevation keeps getting set at 1hz. T…his is easily reproducible in SITL by switching off the GPS (or any other pos source) and setting the origin (**without height**). ![Screenshot from 2023-09-26 23-19-26](https://github.com/ArduPilot/ardupilot/assets/36970042/2f200394-ea69-47ff-9ee3-77e9b6c94489) I am not sure if this is the correct solution though

github.com/ArduPilot/ardupilot

Plane: Allow a ICE start even if disable while disarmed is set

ArduPilot:master ← WickedShell:wickedshell/engine-disarmed-start

opened 06:54PM - 28 Sep 23 UTC

WickedShell

+25 -9

This allows you to bypass the disable starting while disarmed option in #25053 o…nce. The workflow this enables is as follows: 1. Start with a disarmed/safety enabled aircraft 2. Disable the safety switch (physically or with software) 3. Preform inspections of the fixed wing flight control surfaces/motor test as desired 4. Send the MAVLink command (or jump via the mission) to allow starting while disarmed 5. Start the engine, preform engine checks 6. Arm the aircraft and start the flight. The main target here is the minimization of risk as we move through the system. When inspecting the fixed wing surfaces we don't want to risk starting the ICE engine, but when we get to starting it we'd actually like to be disarmed, as that stops us from risking taking off by accident or flying the mission. This had been tested before, but it has since been cherry-picked and rebased, so I need to actually retest this with hardware. This needs an accompanying MAVLink commit to define the usage of param4. (I'm planning to use it as an options bit mask). Accompanying MAVLink PR is https://github.com/ArduPilot/mavlink/pull/331

github.com/ArduPilot/ardupilot

Copter: encapsulate auto takeoff into an ojbect

ArduPilot:master ← peterbarker:pr/encapsulate-auto-takeoff

opened 01:04PM - 03 Oct 23 UTC

peterbarker

+73 -59

similar to the encapsulation of "user takeoff" into an object ``` Board … AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * -88 -80 * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * -72 -72 * * * MatekF405 * * -64 -64 * * * Pixhawk1-1M-bdshot * -104 -104 * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * -88 -88 * * * skyviper-v2450 -64 ```

github.com/ArduPilot/ardupilot

AP_Scripting: add missing defines to build on Periph

ArduPilot:master ← IamPete1:periph_scripting

opened 05:36PM - 04 Oct 23 UTC

IamPete1

+129 -16

This work is sponsored by Spektreworks. This adds defines such that scripting… can run on periph with most everything else disabled, obviously we already run on vehicles with everything else enabled, I have not tested all possible combinations in between. With everything else turned off the flash cost is around 100k but as you add back in more library's the extra bindings means the over head increases. Its only really practical with 512kB flash or more. To use you would have to enable romfs and embed the script into the firmware. I have tested a "hello world" script on a CubeBlack periph heavy build.

github.com/ArduPilot/ardupilot

AP_ServoRelayEvents: allow mavlink command of rcin scaled functions

ArduPilot:master ← tpwrules:mavlink-rc-scaled

opened 02:12AM - 12 Oct 23 UTC

tpwrules

+30 -10

Allow `MAV_CMD_DO_SET_SERVO` and `MAV_CMD_DO_REPEAT_SERVO` to be used on a serv…o output set to an RCINnScaled function (i.e. k_rcinN_mapped). Scaling is applied so that a commanded servo PWM of <=1000 maps to SERVOn_MIN, a PWM of 1500 maps to SERVOn_TRIM, and a PWM of >=2000 maps to SERVOn_MAX. Linear interpolation is performed between ranges. This allows control of servos/hardware with reasonable/safe scaling applied by firmware and allows more functionality from mission scripts. In our use case we have a variable aperture controlled by a hobby servo for releasing crop seeds. The scaling is controlled by the mechanical geometry and programmed in the autopilot firmware so that SERVOn_MIN is fully closed and SERVOn_MAX is fully open. By setting the servo function to an RC scaled value, we can have straightforward controls from both an RC controller programmed to send 1000-2000 on a knob and mission scripts with that same range without danger of going overrange and damaging the mechanism or servo. This concept should extend logically to many other types of actuators one may wish to attach which don't fall under e.g. camera or sprayer headings. Tested on SITL (on top of master) and on a real copter (on top of Copter-4.4.1).

github.com/ArduPilot/ardupilot

Copter, AP_Mission: Send progress for individual mission items

ArduPilot:master ← Winjeel:upstream/add-mission-item-progress

opened 03:14AM - 13 Oct 23 UTC

nexton-winjeel

+152 -8

A proposed change in MAVLink adds mission item progress to the `MISSION_CURRENT`… message: https://github.com/mavlink/mavlink/pull/2029 This PR: * adds the framework in `AP_Mission` for populating and transmitting the progress fields of `MISSION_CURRENT`; and * updates Copter to send this information for a variety of mission items. Associated QGroundControl PR (with images): https://github.com/mavlink/qgroundcontrol/pull/10828 **NOTE:** This PR won't build as-is, because it doesn't include the changes to the `MISSION_CURRENT` message definition.

github.com/ArduPilot/ardupilot

AP_BattMonitor: DroneCAN: always have consumed energy

ArduPilot:master ← IamPete1:BattMon_DroneCAN_consumed_energy

opened 12:03PM - 13 Oct 23 UTC

IamPete1

+2 -3

If we do not receive consumed energy directly it is already calculated from curr…ent draw. https://github.com/ArduPilot/ardupilot/blob/fcd4152b30aa1f50b110303e7cae1f9f35f5e645/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp#L129-L134 This just changes to report true for the "manually" calculated case.

github.com/ArduPilot/ardupilot

Plane:reset in landing seq on mode change while disarmed

ArduPilot:master ← Hwurzburg:landing_sequence_prearm

opened 12:52AM - 14 Oct 23 UTC

Hwurzburg

+6 -0

if you lose rc or accidentally change mode to rtl while disarmed on the ground w…ith a DO_LAND_START setup you will prevented from arming when rc is restored or mode changed,if you dont have a gcs to reset the mission ...unless you power cycle this will reset the mission to allow arming on non-autothrottle mode entry IF.....in landing sequence, disarmed, and not flying tested in SITL

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) - [x] https://github.com/ArduPilot/ardupilot/issues/25157 - [ ] can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height - [ ] pitch stick mixing can stall aircraft - [ ] 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

Remote ID
Release Release v1.14 · ArduPilot/ArduRemoteID · GitHub

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: - [ ] 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)) - [ ] TKOFF_THR_MAX not actually included in release ([discussion](https://discuss.ardupilot.org/t/copter-4-4-1-released/107005/3)) - [ ] RCIn scaled not working? ([discussion](https://discuss.ardupilot.org/t/release-rover-4-4-as-stable-ok/106080/6)) - [ ] 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)) - [ ] 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)) Confirmed issues: - [ ] 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 - [ ] 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)) - [ ] 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. - [ ] 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: - [ ] 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] 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 · October 17, 2023, 1:50pm

Attendee count (max): 18

UTC2300 - GCS_MAVLink: Fix for the Gopro/Solo Gimbal issue by mtbsteve · Pull Request #23861 · ArduPilot/ardupilot · GitHub

Fix gopro/solo gimbal
Merged!

UTC2303 - Filter: notch filter: remove unneeded value and pre-multiply for speed by IamPete1 · Pull Request #24250 · ArduPilot/ardupilot · GitHub

Save some maths
Remove unneeded value
Merged!

UTC2303 - Plane: Allow a ICE start even if disable while disarmed is set by WickedShell · Pull Request #25138 · ArduPilot/ardupilot · GitHub

Allow ICE to start even if disable while disarmed is set
Needs to compile….
Wants it possible that you can deny engine start until a message from GCS is given
Ordinarily you can start the engine while disarmed, we now have an option to stop that.
MdB wants to be able to send a command to allow it in the face of that option bit being unset

UTC2311 - AP_Periph: Rate limit EFI driver updates by WickedShell · Pull Request #25173 · ArduPilot/ardupilot · GitHub

Rate-limit the EFI driver updates on AP_Periph
Merged!

UTC2314 - AC_PID: If PD max limiting isn't active clear the flag by WickedShell · Pull Request #25238 · ArduPilot/ardupilot · GitHub

Fix PD-max-limitting-logging
Merged!

UTC2314 - Copter: encapsulate auto takeoff into an ojbect by peterbarker · Pull Request #25171 · ArduPilot/ardupilot · GitHub

Encapsulate autotakeoff into a class
Can be merged once the unused variable is removed

UTC2320 - AP_Scripting: add missing defines to build on Periph by IamPete1 · Pull Request #25183 · ArduPilot/ardupilot · GitHub

Allow scripting to work on periph
Adds many missing defines
Merged!

UTC2323 - Plane: accept LOITER_UNLIM and RETURN_TO_LAUNCH as command_int by peterbarker · Pull Request #25232 · ArduPilot/ardupilot · GitHub

Accept loiter-unlim and return-to-launch as both long and int
Merged!

UTC2325 - GCS_MAVLink: handle MAV_CMD_DEBUG_TRAP as both long and int by peterbarker · Pull Request #25235 · ArduPilot/ardupilot · GitHub

Debug_trap as command_int and well as command_long
Merged!

UTC2326 - AP_ServoRelayEvents: allow mavlink command of rcin scaled functions by tpwrules · Pull Request #25241 · ArduPilot/ardupilot · GitHub

Allow mavlink command of rcin scaled functions
Merged!

UTC2332 - AP_Baro: Check if origin alt is zero before using it as field elevation by rishabsingh3003 · Pull Request #25114 · ArduPilot/ardupilot · GitHub

Check if origin alt it zero before using it
Perhaps use nan instead?
Probably just move it from 0mm to 1mm on set
- Just to make it non-zero

UTC2337 - GCS_MAVLink: add build option for deprecated MISSION_REQUEST by peterbarker · Pull Request #25242 · ArduPilot/ardupilot · GitHub

Build option for MISSION_REQUEST
Deprecated message which shouldn’t be used.
Save bytes if you really need them

UTC2341 - GCS_MAVLink: allow setting modes via COMMAND_INT and DO_SET_MODE by peterbarker · Pull Request #25244 · ArduPilot/ardupilot · GitHub

Change modes via command_int
Merged!

UTC2341 - Copter, AP_Mission: Send progress for individual mission items by nexton-winjeel · Pull Request #25249 · ArduPilot/ardupilot · GitHub

Send progress for individual mission items
Want float16 so we can handle larger distances
- 64km is pretty stingy
- Either a new unit for kilometres or just use uint32_t
If we are going to have this more detailed distance/time estimates we really should have it work in things other than auto mode
[10:48 AM]JamesPattison: I don’t think we really discussed message size on this in the mavlink call - shouldn’t be an issue bumping up the ints
New message?
- Requested message not streamed by default?
- Floats for distance
- Waypoint field but it is optional
- MISSION_CURRENT seems not the wrong place as it is mission-specific
- NAV_CONTROLLER_OUTPUT?
  - Too many extensions?
- Won’t work in follow mode?
- Current suggestions is time or distance…. Should be time and distance!
Nick will go away and rework with nwe message

UTC0003 - Plane: send attitude target message implementation (for quadplanes) by miodine · Pull Request #25253 · ArduPilot/ardupilot · GitHub

send_attitude_target message implementation for quadplanes
Has to be requested
Some const-references should be used
Needs to be PR against master, not branch

UTC0006 - AP_BattMonitor: DroneCAN: always have consumed energy by IamPete1 · Pull Request #25256 · ArduPilot/ardupilot · GitHub

Always have consumed energy
Calculate from current draw
merged!

UTC0013 - Plane:reset in landing seq on mode change while disarmed by Hwurzburg · Pull Request #25260 · ArduPilot/ardupilot · GitHub

Reset in landing seq on mode change
Stuck in landing sequence requiring reboot…
This changes things so that changing mode will clear the in-landing-sequence flag
Plane:apply in landing seq check only to autothrottle modes by Hwurzburg · Pull Request #25263 · ArduPilot/ardupilot · GitHub
- Can’t merge this one, which relaxes the in-landing-sequence check as people’s workflows will break quadplanes with this removed
Flick to manual and you were in the landing sequence then it will reset mission….
Just needs a warning to the user that they need a reset

UTC0026 - Global: Replace with GCS_SEND_TEXT by muramura · Pull Request #25262 · ArduPilot/ardupilot · GitHub

gcs().send_text → GCS_SEND_TEXT across entire code base
Tridge doesn’t think we should apply it to vehicle directories
Some changes in here are nonsensical
So drop plane/copter/rover/blimp changes

UTC0034 - AP_RangeFinder: Add new driver for TOFSense F I2C by rishabsingh3003 · Pull Request #25268 · ArduPilot/ardupilot · GitHub

Add new driver for TOFSense i2c
On or off by default?
Can switch it to i2c mode via their configuration tool
Put it on >1024MB
- Or make it a custom build option?
  - Will ask vendor

UTC0043 - hwdef:fix bug in AtomRCF405NAVI,fix some bds that aren't building by Hwurzburg · Pull Request #25271 · ArduPilot/ardupilot · GitHub

Fix dshot on atomrc
Fixes builds for many boards
[11:45 AM]Josh Henderson: I approve all fpv focused it looks like
Peter will work with Henry to move this one forward

UTC0051 - Plane:force min transition timer to 2 sec by Hwurzburg · Pull Request #25274 · ArduPilot/ardupilot · GitHub

Force min transition timer to 2 seconds
Oscillating assists on quadplanes with short transition times
- Wind estimate problems
Tridge will put a longer description on it
Entering 40,000 will get you -8 seconds, and that is bad
Doesn’t really cost extra battery as the vtols will be on low throttle

UTC0101 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

4.4.x beta released
Need a pending flag or some other mechanism
Fix storage on rally points!
- Store the frame for the rally points!
- Conversion code could zero old rally total
ArduRemoteID release made
- If you are using CAN ESCs then the esp32 can clag, this fixes that by adding a filter
- 100% CPU decoding CAN packets

Dev Call Oct 16, 2023

Attendee count (max): 18

UTC2300 - GCS_MAVLink: Fix for the Gopro/Solo Gimbal issue by mtbsteve · Pull Request #23861 · ArduPilot/ardupilot · GitHub

UTC2303 - Filter: notch filter: remove unneeded value and pre-multiply for speed by IamPete1 · Pull Request #24250 · ArduPilot/ardupilot · GitHub

UTC2303 - Plane: Allow a ICE start even if disable while disarmed is set by WickedShell · Pull Request #25138 · ArduPilot/ardupilot · GitHub

UTC2311 - AP_Periph: Rate limit EFI driver updates by WickedShell · Pull Request #25173 · ArduPilot/ardupilot · GitHub

UTC2314 - AC_PID: If PD max limiting isn't active clear the flag by WickedShell · Pull Request #25238 · ArduPilot/ardupilot · GitHub

UTC2314 - Copter: encapsulate auto takeoff into an ojbect by peterbarker · Pull Request #25171 · ArduPilot/ardupilot · GitHub

UTC2320 - AP_Scripting: add missing defines to build on Periph by IamPete1 · Pull Request #25183 · ArduPilot/ardupilot · GitHub

UTC2323 - Plane: accept LOITER_UNLIM and RETURN_TO_LAUNCH as command_int by peterbarker · Pull Request #25232 · ArduPilot/ardupilot · GitHub

UTC2325 - GCS_MAVLink: handle MAV_CMD_DEBUG_TRAP as both long and int by peterbarker · Pull Request #25235 · ArduPilot/ardupilot · GitHub

UTC2326 - AP_ServoRelayEvents: allow mavlink command of rcin scaled functions by tpwrules · Pull Request #25241 · ArduPilot/ardupilot · GitHub

UTC2332 - AP_Baro: Check if origin alt is zero before using it as field elevation by rishabsingh3003 · Pull Request #25114 · ArduPilot/ardupilot · GitHub

UTC2337 - GCS_MAVLink: add build option for deprecated MISSION_REQUEST by peterbarker · Pull Request #25242 · ArduPilot/ardupilot · GitHub

UTC2341 - GCS_MAVLink: allow setting modes via COMMAND_INT and DO_SET_MODE by peterbarker · Pull Request #25244 · ArduPilot/ardupilot · GitHub

UTC2341 - Copter, AP_Mission: Send progress for individual mission items by nexton-winjeel · Pull Request #25249 · ArduPilot/ardupilot · GitHub

UTC0003 - Plane: send attitude target message implementation (for quadplanes) by miodine · Pull Request #25253 · ArduPilot/ardupilot · GitHub

UTC0006 - AP_BattMonitor: DroneCAN: always have consumed energy by IamPete1 · Pull Request #25256 · ArduPilot/ardupilot · GitHub

UTC0013 - Plane:reset in landing seq on mode change while disarmed by Hwurzburg · Pull Request #25260 · ArduPilot/ardupilot · GitHub

UTC0026 - Global: Replace with GCS_SEND_TEXT by muramura · Pull Request #25262 · ArduPilot/ardupilot · GitHub

UTC0034 - AP_RangeFinder: Add new driver for TOFSense F I2C by rishabsingh3003 · Pull Request #25268 · ArduPilot/ardupilot · GitHub

UTC0043 - hwdef:fix bug in AtomRCF405NAVI,fix some bds that aren't building by Hwurzburg · Pull Request #25271 · ArduPilot/ardupilot · GitHub

UTC0051 - Plane:force min transition timer to 2 sec by Hwurzburg · Pull Request #25274 · ArduPilot/ardupilot · GitHub

UTC0101 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0113 - Copter update

UTC0114 - WebTools

UTC0015 - close