Dev Call Oct 2, 2023

CraigElder · October 2, 2023, 10:53pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_Motors: Add a seprate spool down time, if it's 0 use spool up time

ArduPilot:master ← WickedShell:wickedshell/motors-spool-down

opened 11:13PM - 22 Mar 22 UTC

WickedShell

+35 -11

This relates to #20354 and allows you to have a separate spool down timer which …can be much shorter then spooling up. If it's set to 0 then we will use the spool up time. As usual with parameter names, I'm open to suggestions, there just wasn't quite enough space to get the name in there well. This was tested with a scope on the motor outputs, and parameter manipulation.

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

+14 -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

AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging

ArduPilot:master ← IamPete1:pre-post-raw-gyro

opened 09:10PM - 14 Jul 23 UTC

IamPete1

+44 -27

This expands the capability of raw sensor logging to allow post filter and pre-p…ost. If the board can keep up with it raw sensor is much nicer than batch logging. - logs as float, much less quantization noise - its continuous so you can change FFT window size after the fact, also much better for seeing how the frequency tracking is doing - Pre-post is of the same samples so a true comparison can be made in dynamic flight This re-uses the batch sampler options, which means we loose this functionality if batch sampler is compiled out. This will be a change in behavior if users have left over options from filter setup but now have disabled the batch mask. We could also add a new param for just raw sensor logging, this would allow us to add a new bits "primary IMU only" and "gyro only" that would reduce the logging rate.

github.com/ArduPilot/ardupilot

PID notches and D feed-foward

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

opened 02:01PM - 27 Jul 23 UTC

andyp1per

+1449 -27

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

github.com/ArduPilot/ardupilot

AP_Mount: improve Xacti picture taking reliability

ArduPilot:master ← rmackay9:xacti-takepic-reliably

opened 06:26AM - 23 Sep 23 UTC

rmackay9

+144 -66

This PR is built on top of https://github.com/ArduPilot/ardupilot/pull/25075 …This improves Xacti's picture taking reliability in two ways: 1. Set parameter commands are put in a queue before being sent to ensure that they are spaced at least 20ms apart from any other commands sent to the gimbal. 2. If the camera reports that the time is not set, the driver resends the time This has been tested on real hardware to ensure that existing features (take picture, record video, zoom, focus) all still work and that 100 pictures can reliably be taken. This was done with a short mission shown below. ![xacti-take100-pic-mission](https://github.com/ArduPilot/ardupilot/assets/1498098/814a17fe-0f87-4d8f-a04e-c4a4f7c1e256) Below are before vs after screen shots showing that before only 95 pics were taken and the date/time of the files was incorrect. After we see that 100 pics were taken and the date/time on the files is correct. ![xacti-pic-reliability-before-vs-after](https://github.com/ArduPilot/ardupilot/assets/1498098/fcb1411b-8028-4719-ab9b-8dca5564d358) Below is what is shown in the MP messages tab when the camera reports that (for whatever reason) the camera gimbal's time has not been sets. I actually don't know why sometimes the time needs to be set twice but in any case this resolves the problem. ![xacti-time-set-again](https://github.com/ArduPilot/ardupilot/assets/1498098/ba8d732e-32ca-49d3-8b3a-5b15e46d64d1)

github.com/ArduPilot/ardupilot

AC_PID: Simplify update_error method by calling update_all

ArduPilot:master ← IamPete1:AC_PID_simplify_update_al

opened 05:50PM - 23 Sep 23 UTC

IamPete1

+9 -47

This is a simplification to try and keep all the complexity of the PIDs in one s…pot. This should result in identical outputs. The remaining callers are tracker, one in blimp and one in plane. These can't simply be removed as there all acting on target headings, so the error must be wrapped. This will simplify https://github.com/ArduPilot/ardupilot/pull/24567 and https://github.com/ArduPilot/ardupilot/pull/24411 but I don't mind which goes in first.

github.com/ArduPilot/ardupilot

AP_Relay: Refactor to support RELAYx_FUNCTION

ArduPilot:master ← WickedShell:wickedshell/relay_function

opened 10:29PM - 26 Sep 23 UTC

WickedShell

+204 -77

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

github.com/ArduPilot/ardupilot

AP_RCProtocol: disable raw logging if no RC_Channel

ArduPilot:master ← peterbarker:pr/rc-channel-define-rcprotocol

opened 10:53PM - 27 Sep 23 UTC

peterbarker

+3 -2

We're asking the singleton here for information on whether we should do raw logg…ing. We may not actually be compiling the RC_Channel library in. Solves the compilation problem. We can probably do better here by creating a new define, but there's even better things that could be done to remove this method and its callers to save bytes....

github.com/ArduPilot/ardupilot

Xacti: support optical zoom

ArduPilot:master ← rmackay9:xacti-optical-zoom

opened 07:10AM - 28 Sep 23 UTC

rmackay9

+269 -62

This PR is built upon https://github.com/ArduPilot/ardupilot/pull/25082 This …PR adds optical zoom support for the Xacti cameras that support it (e.g. the [CX-GB400](https://ardupilot.org/copter/docs/common-xacti-gimbal.html)) We cannot currently retrieve the model directly from the Xacti cameras so instead the driver determines if the camera supports optical zoom by attempting to change the optical zoom parameter value to 100 (1x zoom) soon after startup. If this succeeds we assume the camera supports optical zoom, if there is no reply then it doesn't. The driver's existing zoom rate and zoom percentage controls have been updated so that optical zoom is used for the 1x to 2.5x range and digital zoom is used beyond this (e.g. 2.5x to 25x). There's a small drive-by change to how zoom percentages are interpreted on digital-zoom-only cameras. These changes should be tested on real hardware before it can be merged. Tests include: - [x] Are cameras with and without optical zoom detected properly? Look for, "Xacti: optical zoom supported" and "Xacti: optical zoom NOT supported" in MP's messages tab. - [x] When the pilot is using zoom rate control, is the zoom speed acceptable? The camera zoom from 1x to 2.5x in about 4 seconds. It zooms from 2.5x to 25x (using digital zoom) in another 4.5 seconds. - [x] Is using zoom percentage control working correctly in the 1x ~ 2.5 and 2.5 ~ 25x ranges? This can only be tested using Auto mode's SET_CAMERA_ZOOM mission command. - [x] Cameras without optical zoom should be unaffected by this change This has been fairly extensively tested on two Xacti cameras (one with optical zoom support and one without) including testing both zoom rate and zoom percentage as outlined on [this wiki page.](https://ardupilot.org/dev/docs/mavlink-camera.html#mav-cmd-set-camera-zoom-to-control-the-camera-zoom) ![xacti-optzoom-testing-pic2](https://github.com/ArduPilot/ardupilot/assets/1498098/0dadf3a6-23d8-4770-b540-c0196d801931)

github.com/ArduPilot/ardupilot

AP_TempratureSensor: add support for analog sensor with polynomial

ArduPilot:master ← IamPete1:analog_temp

opened 11:39AM - 30 Sep 23 UTC

IamPete1

+205 -1

This work is sponsored by Spektreworks. This adds support for a analog voltag…e temperature sensor. It uses a 4th order polynomial to go from voltage to temperature for use with thermistors. Because of the 5 polynomial terms and the pin this adds a var pointer param table to AP_TempratureSensor like those in battery and rangefinder.

github.com/ArduPilot/ardupilot

AP_Winch: Daiwa driver gets stuck protection

ArduPilot:master ← rmackay9:winch-stuck-check

opened 06:52AM - 02 Oct 23 UTC

rmackay9

+99 -5

The [Daiwa winch](https://ardupilot.org/copter/docs/common-daiwa-winch.html) wil…l stop raising or lowering the package if the tension on the line falls below a (supposedly configurable) weight. The reason for this "failsafe" behaviour is to protect the winch line from getting tangled but it can also be falsely triggered during a real delivery if the vehicle hits turbulence. The result being that the package is not lowered or the empty hook is not raised without manual intervention. This PR adds an optional "stuck protection" feature that checks if the winch has stopped unexpectedly and if it does it momentarily (for 1 sec) returns the desired rate to zero which normally clears the issue. This has been fairly extensively tested on real hardware and below is a screenshot of some output from the following test: - I command the winch to retract an empty hook - As the hook was being retracted, I lifted the hook manually so as to reduce the tension on the winch to zero - The winch stopped retracting (which is OK) and most importantly it started retracting again when I let go of the hook ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/b849379d-a9eb-4076-b703-86c2dd289178)

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) - [ ] https://github.com/ArduPilot/ardupilot/issues/25157 - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] add frame to fly to in mavproxy - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [x] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [ ] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [ ] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] 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 3, 2023, 1:30am

Attendee count (max): 13

Pre-Agenda:

Discussion of opendroneid in build_options.py

UTC2300 - AP_Motors: Add a seprate spool down time, if it's 0 use spool up time by WickedShell · Pull Request #20356 · ArduPilot/ardupilot · GitHub

Add separate spool-down times for motors library
- Start-up-reliably requires slow ramp time
- But don’t want them to stay on long at shut-down-time
Clean-up request from a year ago
- Other things popped up
merged!

UTC2303 - Tools: add OpenDroneID to build_option.py by magicrub · Pull Request #25162 · ArduPilot/ardupilot · GitHub

Add OpenDroneID to build_option.py
- But no lockdown stuff
  - This might be a problem because you need to do more to do more
  - UI thing where the user will be told they don’t have this
    - Is this a problem?
- People have been asking for this?
- Couldn’t use it in a regulated environment
Tridge wants to build OpenDroneID into our default builds
- If a device is seen then it uses it and latches it
  - To make the FAA happy
  - To be compliant you would need to compliant with the ASTM
    - Need to perform range tests and configuration
      - Performing the range tests would be outside the scope
      - Not our responsibility
We’ve made it clear in our documentation you need to do a lot of stuff to be compliant
Customer that receives vehicle - harder to update to most recent firmware
- Have to wait for vendor to build it for them
- Impediment to update
- Standard firmwares on subset of flight controllers to be remote-id enabled
- Requires additional work to be remote ID compliant
Propose if Auto-detect Remote ID module on bus and if one is found then assume you want to use it
Detecting regulatory domains?
- Different rules in Japan vs Europe vs FAA?
- Have the device to specify the regulatory domain?
Current situation makes it difficult to update to the most recent release as vendor must be involved?
Discussion that a user might get a false impression that just checking this box makes this firmware compliant

UTC2317 - GCS_MAVLink: Fix for the Gopro/Solo Gimbal issue by mtbsteve · Pull Request #23861 · ArduPilot/ardupilot · GitHub

Fix for GoPro/Solo gimbal
Will need to come back to this

UTC2318 - AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging by IamPete1 · Pull Request #24311 · ArduPilot/ardupilot · GitHub

New parameter INS_RAW_LOG_OPT
- Allows one to specify what sort of logging you want on raw gyros
merged

UTC2319 - PID notches and D feed-foward by andyp1per · Pull Request #24411 · ArduPilot/ardupilot · GitHub

PID notches and D feed-forward
“Bandwidth” vs “Q”
- Leonard is regretting going with “bandwidth”
- Andy’s PR here shows that Q would be better
- Tridge suggests 1/Q is approximately equal to bandwidth ratio-wise
- If we had gone with Q (Leonard’s initial impulse) we wouldn’t need to change things
- Solving problem of people setting one but not the other
- Lots of tools around which are currently using bandwidth
- “Bandwidth” is an approximation which attempts to approximate 3dB bandwidth
  - Makes it harder for people that want to use the filter for tuning problems
- More parameters in PID?
  - Still should be specifying the notch filter by ID….
  - custom compasses are an example of where we use it
  - Leonard would actually be happy to go with this if it was ready to go
  - Room for growth
- 4 or 5 filters by default
- Index is enabled?
- A/B testing by switching between different filters!
- Useful outside just attitude control
- Prearm checks to make sure people aren’t screwing up
  - And you might want a frame resonance filter applied to all axes
- [10:42 AM]Bill Geyer: My only comment on the idea of using Q instead of bandwidth is that we are consistent across the code
Tridge will do a PR up with “FILT_TYPE”
Filters need to be first-class citizens as they’re so important
- We’ve really not had this in mind in the past

UTC2351 - https://github.com/ArduPilot/ardupilot/pull/25080

Add airspeed estimate status logging
Problems when we return false for returning an airspeed estimate
No external ahrs airspeed estimate is very bad!

UTC0007 - AP_Scripting: change some _INFO msgs to _CRITICAL by magicrub · Pull Request #25081 · ArduPilot/ardupilot · GitHub

Increase priorities of warnings
Some comments added to adjust priorities further
Maybe we should have a “number of expected scripts” method?
- How does “scripting restart” work?
  - Already playing with fire there!

UTC0018 - AP_Mount: improve Xacti picture taking reliability by rmackay9 · Pull Request #25082 · ArduPilot/ardupilot · GitHub

Xacti picture reliability fixes
20ms minimum interval on DroneCAN messages
- Super-annoying
  - Requests to take pictures can come in from anywhere
- Parameter sets have to go into a little buffer which can then be streamed out
- Losing 5 to 10% of pictures
- Now all pictures are taken
  - … mostly
- Take picture by setting a parameter
Shimming to some other webcam interface
merged!

UTC0021 - AC_PID: Simplify update_error method by calling update_all by IamPete1 · Pull Request #25084 · ArduPilot/ardupilot · GitHub

Simplify update_error method by calling update_all
Angle-wrap problems means getting rid of it
Merged

UTC0027 - Plane: fix guided heading control anti windup by IamPete1 · Pull Request #25085 · ArduPilot/ardupilot · GitHub

Fix guided heading control anti-windup
Merged!

UTC0028 - AP_EFI: Rate limit the megasquirt driver by WickedShell · Pull Request #25095 · ArduPilot/ardupilot · GitHub

Rate-limit the megasquirt driver
Filled up the serial line with requests
- Aborts previous request and sends again
- You will end up with no data
Merged!

UTC0032 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

Refactor AP_Relay
Check in that things are still going along nicely
Separate parameters
Function rather than name
Type parameter into the future

UTC0038 - AP_RCProtocol: disable raw logging if no RC_Channel by peterbarker · Pull Request #25124 · ArduPilot/ardupilot · GitHub

Disable raw logging if no RC channel
Merged!

UTC0046 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
TECS bugs found and fixed
Rally-point bug found and needs fixing
Not using min-climb
- Peter and tridge will spend some time on it
Crash where channels 1 to 4 went to miunimum SBUS value of 875
- Ripped plane to pieces as all surfaces went to max deflection
- Need sanity checks on S.BUS
  - “In RC failsafe” didn’t set the bit?
  - Or corrupted serial and that bit wasn’t set?
Some sort of out-of-range check for this specific to S.BUS
Rover?
- May only have two channels, steering and throttle?
Looking forward to a new stable release after the current one

UTC0053 - Copter update

Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub
Some documentation issues
External nav will use gps noise values which is bad

UTC0056 - Sub: accept MISSION_START as both long and int by peterbarker · Pull Request #25126 · ArduPilot/ardupilot · GitHub

Accept MISSION_START as both long and int
OK to merge once periph patch removed

UTC0059 - Plane: accept MAV_CMD_DO_MISSION_START as both long and int by peterbarker · Pull Request #25127 · ArduPilot/ardupilot · GitHub

Needs tridge to review and merge

UTC0100 - Xacti: support optical zoom by rmackay9 · Pull Request #25134 · ArduPilot/ardupilot · GitHub

Xacti support optical zoom
Merged!

UTC0108 - Handle message-rate commands as both long and int by peterbarker · Pull Request #25135 · ArduPilot/ardupilot · GitHub

And message rate stuff as both command_long and command_int
Merged!

UTC0112 - AP_Scripting: Move winch-test script to applets directory (and rename to winch-control) by rmackay9 · Pull Request #25136 · ArduPilot/ardupilot · GitHub

Move winch test script to be an applet
Merged!

UTC0113 - bootloaders: update CubeOrange bootloader to include flash-from-sd su… by peterbarker · Pull Request #25143 · ArduPilot/ardupilot · GitHub

Needs Tridge or Sid to approve and/or merged
Just freshens the CubeOrange bootloaders

UTC0114 - AP_TempratureSensor: add support for analog sensor with polynomial by IamPete1 · Pull Request #25152 · ArduPilot/ardupilot · GitHub

Add support for analogue sensor with polynomial on temperature sensor
A few small things. Peter’s happy yo merge it once they’re done
Would be nice to get Tom’s input

UTC0121 - AP_Winch: Daiwa driver gets stuck protection by rmackay9 · Pull Request #25160 · ArduPilot/ardupilot · GitHub

Work around Daiwa stuck protection
Merged!

UTC0127 - LD06 Proximity Sensor Integration by Adithya-Patil · Pull Request #20138 · ArduPilot/ardupilot · GitHub

Want Rishabh to look at

UTC0127 - Randy presence spotty

Lots of things happening making availability spotty
OK to merge stuff for Copter if proper testing and consensus

Attendee count (max): 13

Pre-Agenda:

UTC2300 - AP_Motors: Add a seprate spool down time, if it's 0 use spool up time by WickedShell · Pull Request #20356 · ArduPilot/ardupilot · GitHub

UTC2303 - Tools: add OpenDroneID to build_option.py by magicrub · Pull Request #25162 · ArduPilot/ardupilot · GitHub

UTC2317 - GCS_MAVLink: Fix for the Gopro/Solo Gimbal issue by mtbsteve · Pull Request #23861 · ArduPilot/ardupilot · GitHub

UTC2318 - AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging by IamPete1 · Pull Request #24311 · ArduPilot/ardupilot · GitHub

UTC2319 - PID notches and D feed-foward by andyp1per · Pull Request #24411 · ArduPilot/ardupilot · GitHub

UTC2351 - https://github.com/ArduPilot/ardupilot/pull/25080

UTC0007 - AP_Scripting: change some _INFO msgs to _CRITICAL by magicrub · Pull Request #25081 · ArduPilot/ardupilot · GitHub

UTC0018 - AP_Mount: improve Xacti picture taking reliability by rmackay9 · Pull Request #25082 · ArduPilot/ardupilot · GitHub

UTC0021 - AC_PID: Simplify update_error method by calling update_all by IamPete1 · Pull Request #25084 · ArduPilot/ardupilot · GitHub

UTC0027 - Plane: fix guided heading control anti windup by IamPete1 · Pull Request #25085 · ArduPilot/ardupilot · GitHub

UTC0028 - AP_EFI: Rate limit the megasquirt driver by WickedShell · Pull Request #25095 · ArduPilot/ardupilot · GitHub

UTC0032 - AP_Relay: Refactor to support RELAYx_FUNCTION by WickedShell · Pull Request #25108 · ArduPilot/ardupilot · GitHub

UTC0038 - AP_RCProtocol: disable raw logging if no RC_Channel by peterbarker · Pull Request #25124 · ArduPilot/ardupilot · GitHub

UTC0046 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0053 - Copter update

UTC0056 - Sub: accept MISSION_START as both long and int by peterbarker · Pull Request #25126 · ArduPilot/ardupilot · GitHub

UTC0059 - Plane: accept MAV_CMD_DO_MISSION_START as both long and int by peterbarker · Pull Request #25127 · ArduPilot/ardupilot · GitHub

UTC0100 - Xacti: support optical zoom by rmackay9 · Pull Request #25134 · ArduPilot/ardupilot · GitHub

UTC0108 - Handle message-rate commands as both long and int by peterbarker · Pull Request #25135 · ArduPilot/ardupilot · GitHub

UTC0112 - AP_Scripting: Move winch-test script to applets directory (and rename to winch-control) by rmackay9 · Pull Request #25136 · ArduPilot/ardupilot · GitHub

UTC0113 - bootloaders: update CubeOrange bootloader to include flash-from-sd su… by peterbarker · Pull Request #25143 · ArduPilot/ardupilot · GitHub

UTC0114 - AP_TempratureSensor: add support for analog sensor with polynomial by IamPete1 · Pull Request #25152 · ArduPilot/ardupilot · GitHub

UTC0121 - AP_Winch: Daiwa driver gets stuck protection by rmackay9 · Pull Request #25160 · ArduPilot/ardupilot · GitHub

UTC0127 - LD06 Proximity Sensor Integration by Adithya-Patil · Pull Request #20138 · ArduPilot/ardupilot · GitHub

UTC0127 - Randy presence spotty

UTC0129 - close