Dev Call Oct 30, 2023

CraigElder · October 30, 2023, 10:49pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_Compass: avoid saving device IDs if not calibrated

ArduPilot:master ← tridge:pr-magorder-not-calibrated

opened 11:04PM - 20 Sep 23 UTC

tridge

+155 -97

this fixes an issue with the following sequence: - new board (or board w…ith FORMAT_VERSION reset) starts up with only internal compasses - internal compasses are detected and devids saved - an external compass is added and the board is rebooted - the external compass will not be the first compass - user then calibrates and flies, but has internal as primary this can lead to a very bad experience for new users. At least one vehicle has crashed due to this sequence. The fix is to not save device IDs during the Compass::init() if we have never been calibrated. This means that when an external compass is added it will come up as the first compass. @peterbarker I'd like to discuss how we could add a CI test for this. I think we would need to use AP_Param/tools/eedump_apparam to look for saved IDs for key 147 (compass) edit: updated to move DroneCAN probing for compasses earlier in the detection list

github.com/ArduPilot/ardupilot

Improve VTOL to FW transition behaviour for tilt rotor airframes

ArduPilot:master ← priseborough:pr-QuadPlaneTiltRotor

opened 06:26AM - 03 Oct 23 UTC

priseborough

+100 -21

During this development a bug that resulted in the forward pitch limit specified… by Q_FWD_PIT_LIM not being applied to the tilt rotor airframe pitch was discovered and fixed - see https://github.com/ArduPilot/ardupilot/commit/e0bc77bdfbbd7990d72550944ebec48f9a9f9f28. This bug was introduced when https://github.com/ArduPilot/ardupilot/pull/13760/commits/bea29c2929045b5cea9f4f72261665c7d552e524 was merged. The remaining changes are limited in scope to the scheduling of rotor tilt during transition from VTOL to FW flight. During transition from VTOL to FW flight a tilt rotor quadplane would tilt rotors forward to the value set by Q_TILT_MAX and not allowed to tilt further until airspeed criteria had been met. However, depending on the combination of wing lift and pitching moment during transition, the tilting rotors could be throttled down, resulting in a slow acceleration and possibly a failure to achieve the required airspeed before time out occurred. Increasing Q_TILT_MAX can prevent this, but can also result in temporary loss of pitch control until airspeed has increased sufficiently for elevator to become effective. The change in this PR results in the rotors being tilted to Q_TILT_MAX as per previous behaviour, but then continuing to tilt at the rate set by Q_TILT_FWD until throttle demand for any of the tilting rotors starts to saturate as the pitch controller increases the throttle of the titling motors to compensate for the reduction in vertical force. The rotors are then tilted back until the throttle saturation condition is removed and then tilted forward. This enables the pitch control requirements to be met with the maximum amount of forward thrust possible. This requires that the throttle for titling rotors can be monitored - https://github.com/ArduPilot/ardupilot/commit/f68aed5c65c2c67bd147cc6b367b154608d8a9ac The logic for the rotor tilt control during transition is implemented by https://github.com/ArduPilot/ardupilot/commit/f68aed5c65c2c67bd147cc6b367b154608d8a9ac This has been tested on an Arace Griffin Pro. the following figure is from one transition test and shows how the forward rotors continue to tilt forward until the throttle clips. the rotors tilt back slightly, throttle un-saturates and the transition completion airspeed of 14 m/s is met shortly thereafter. <img width="1050" alt="Screenshot 2023-10-03 at 5 06 45 pm" src="https://github.com/ArduPilot/ardupilot/assets/3596952/ab4160c6-1693-4afd-95e2-f65a25f0eab7"> Altitude is not lost during transition <img width="1076" alt="Screenshot 2023-10-03 at 5 13 41 pm" src="https://github.com/ArduPilot/ardupilot/assets/3596952/7c5d62a0-48a7-4b8b-9429-6b3adca5b6f7"> Here's an example of a transition for the same vehicle before the updates. Note how the rotors spend a significant time at Q_TILT_MAX with the front (tilting) rotor ESC demands below 1500 while the vehicle acceleration slows before the airspeed requirement is met. <img width="1034" alt="Screenshot 2023-10-04 at 9 38 49 pm" src="https://github.com/ArduPilot/ardupilot/assets/3596952/dcd90845-7e52-4d6a-8af5-591e885076cd"> <img width="1084" alt="Screenshot 2023-10-04 at 9 33 21 pm" src="https://github.com/ArduPilot/ardupilot/assets/3596952/d9d94259-b6ca-442b-9e59-f0c8e2271891">

github.com/ArduPilot/ardupilot

AP_Winch fix verbose user output when using pos control

ArduPilot:master ← rmackay9:winch-output-fix

opened 01:49AM - 09 Oct 23 UTC

rmackay9

+7 -7

This fixes a send-text message sent to the user when the winch is being retracte…d. Previously it would always say "lowering" but then provide a negative length. With this change it instead says "lowering" or "raising" and always displays an absolute length. Below is a SITL test showing the fix. ![winch-bad-message-before-vs-after](https://github.com/ArduPilot/ardupilot/assets/1498098/e8d89554-53ff-43e5-b3e1-f81f43b2ff61) I've also done a couple of drive-by spelling corrections discovered while working on this PR.

github.com/ArduPilot/ardupilot

AP_AHRS: ensure we check health of the sensor we are using.

ArduPilot:master ← IamPete1:AHRS_Airspeed_fix

opened 07:44PM - 15 Oct 23 UTC

IamPete1

+45 -24

The `airspeed_sensor_enabled()` function checks the primary sensor, however, we …may not be using the primary sensor thanks to affinity. The problem is whenever affinity tries to use a sensor other than primary. It checks health, but not use. https://github.com/ArduPilot/ardupilot/blob/e0a012919c5ab11a964a70890237960d96b01a03/libraries/AP_AHRS/AP_AHRS.cpp#L3080-L3085 I should add that I have not checked if affinity could actually try and use a sensor which is not set to use. So this may or may-not be possible to hit this issue.

github.com/ArduPilot/ardupilot

Mount: servo backend attitude reporting fix

ArduPilot:master ← rmackay9:mount-servo-att-report-fix

opened 06:43AM - 19 Oct 23 UTC

rmackay9

+9 -2

This fixes a bug in the AP_Mount_Servo backend's attitude reporting to the GCS s…ent via the [GIMBAL_DEVICE_ATTITUDE_STATUS](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L6042). The current implementation uses the target output angles sent to the gimbal which is OK for BrushlessPWM but incorrect for regular Servo gimbals. This PR changes the attitude reporting so that the target angle sent to the backend is used. This is the best we can do for these gimbals because they do not typically have a way to return their actual angles. By the way, the AP_Mount_Servo backend is actually used for two slightly different mount types - MNT1_TYPE = 1 ([Servo](https://ardupilot.org/copter/docs/common-camera-gimbal.html)) is for gimbals implemented with actual servos - MNT1_TYPE = 7 ([BrushlessPWM](https://ardupilot.org/copter/docs/common-brushless-pwm-gimbal.html)) is for brushless gimbals that accept a PWM input for the angle target but implement their own attitude control This has been tested in SITL and below are some screen shots before-vs-after for the Servo backends (e.g. MNT1_TYPE = 1). There's no change in behvaiour for MNT1_TYPE = 7 (BrushlessPWM). In this test MP's Payload screen was used to point the gimbal downwards and the vehicle was flown around a course. Some debug was added to display the output in Euler angles. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/1fc6ff00-2ed2-44fe-bb40-9d5b720124e3) Afterwards we see the correct actual angle is reported ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/a14b1ffd-958e-4aa5-8c6c-bc1b736da62d) @peterbarker, I've also correct a mistake in the Mount autotest that actually relied on the bug. The test was checking that the reported pitch angle from the mount was the opposite of the vehicle's pitch angle. .. but of course with a properly stabilized gimbal the reported pitch angle will not change as the vehicle's attitude changes.

github.com/ArduPilot/ardupilot

AP_HAL: Improve speed param download in network links (sitl/linux)

ArduPilot:master ← Williangalvani:fix_params_speed

opened 09:30PM - 24 Oct 23 UTC

Williangalvani

+17 -0

This improves parameter loading speed with SITL and Linux. After the linked patc…h, parameter loading speed (not using mavftp) got ~10x slower. There is no reason for assuming that these are limited to 57600 baud. In my tests: param fetch in master with QGC takes ~30 seconds with this patch (thanks @magicrub), it takes ~2s Linux shows similar results ~Apparently it was a typo in here:~ https://github.com/ArduPilot/ardupilot/commit/866db281a6de3fce07a5e2214e9893c9aabc8e72#diff-da049e0cf2dd85cd33145ab82688554b96b56444b22e5475a1d961e259aa69d9L136

github.com/ArduPilot/ardupilot

Plane: rework set_servos_controlled function

ArduPilot:master ← IamPete1:plane_set_servos_controlled_rework

opened 11:30PM - 25 Oct 23 UTC

IamPete1

+23 -18

A relatively small rework to pave the way for future clean ups. - reworks th…e `flight_stage_determines_max_throttle` calculation. Result is the same but method is less confusing. - always outputs 0 scaled throttle is `!is_armed_and_safety_off()`, this prevents a miss match between the scaled value and the output PWM value that can cause slew limits and other functions that use the scaled value to get confused. - moves the unrelated `set_takeoff_expected` functionality to its own function.

github.com/ArduPilot/ardupilot

AP_Rally: support altitude frames

ArduPilot:master ← IamPete1:rally_alt_frame

opened 10:18PM - 26 Oct 23 UTC

IamPete1

+100 -16

This work is sponsored by Spektreworks. This adds support for alt frames in r…ally points. There were some free bits in "flags" that we can use. This assumes that those unused bits are zero. It is possible that they are none zero in storage if uploaded with the old `RALLY_POINT` MAVLink message. Tested conversion from old format, all alt frames manually on plane and added new method to the existing `TerrainRally` plane test.

github.com/ArduPilot/ardupilot

AP_Camera/AP_Mount: support sending CAMERA_FOV_STATUS

ArduPilot:master ← rmackay9:asif-mount-poi

opened 12:20PM - 28 Oct 23 UTC

rmackay9

+282 -0

This PR adds support for sending the [CAMERA_FOV_STATUS](https://github.com/Ardu…Pilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L5926) messages to the GCS so that it knows the Lat, Lon, Alt of what the camera gimbal is pointing at. This replaces PR https://github.com/ArduPilot/ardupilot/pull/24657 but also includes these improvements: - The Location is only calculated if the message is to be sent to the GCS (e.g. the GCS has requested the message using message interval) - Fix to support the edge case where the Location's alt is below 0 AMSL (this is only possible in a few places but there's no need to have this restriction) This (and the previous PR) have been well tested in SITL. Below is a screenshot of some testing I did to confirm that the Location returned in CAMERA_FOV_STATUS matched the Location from a do-set-ROI mission command. ![randy-mnt-poi-test](https://github.com/ArduPilot/ardupilot/assets/1498098/57cdc588-d4e4-4fe4-b60e-98b517c033f3)

github.com/ArduPilot/ardupilot

Allow reading of default parameters from @ROMFS/defaults.parm

ArduPilot:master ← peterbarker:pr/defaults-from-romfs

opened 04:29AM - 30 Oct 23 UTC

peterbarker

+36 -18

This does work - defaults can come from the ROMFS file. I've tested that on har…dware. Embedding defaults like this means you won't run out of space for parameters until you run out of flash, and saves the wasted space the "parameter space" typically represents (1k on small boards, 8kB on large boards). Also applies to AP_Periph builds, which often cut down the available space but still waste that space. I'm just not sure what to do about backwards compatibility. If we merge this then you can no longer take a `.apj` and "tack on" default parameters using `apj_tool`.

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 - [ ] scaling of baro gate with height: https://github.com/ArduPilot/ardupilot/issues/25337 - [ ] pitch stick mixing can stall aircraft - [ ] https://github.com/ArduPilot/ardupilot/issues/25283 - [ ] support new DroneCAN ESC status msg - [ ] slow down EFI update in periph - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] add frame to fly to in mavproxy - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [x] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [ ] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [ ] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] MAVFTP (using MP) of terrain data to SD card takes 25min ([discussion](https://discuss.ardupilot.org/t/terrain-data-loading-on-sd-card-via-mavftp-is-slow/107750)) - [ ] 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 31, 2023, 2:41pm

Attendee count (max): 17

UTC2300 - AP_Compass: avoid saving device IDs if not calibrated by tridge · Pull Request #25058 · ArduPilot/ardupilot · GitHub

Avoid saving device IDs if not calibrated
Fresh board
- DroneCAN first
- Then external i2c
- Then internal
Should be no change for existing users
Would be nice to get rid of initial 5 second delay
- Need to run-time detect devices
Companies which have shipped ArduPilot on devices and booted them before shipping may be locking in the internal compasses as primary, which is bad
Workaround for pre-4.5 is to use compass-reordering interface to get correct compass first
Past this PR your compass order is locked in only when first calibration is done

UTC2312 - https://github.com/ArduPilot/ardupilot/pull/25164

Improve VTOL to FW transition behaviour for tilt-rotors
Insufficient thrust when also trying very hard to achieve desired pitch
During transition you can go past q-tilt-lim so long as motors aren’t saturated
- Maximise forward thrust from tilting rotors during transition
Highlights underling issue where tilt is handled separately
- Should be part of the motors library
- Kind of like Sub’s 6-dof stuff
PH wants more tilt-rotor logging
Needs to be flown in SITL
Tridge will fly on his Griffin Pro
Need a 0 to disable new behaviour
- Currently won’t work well
Have the algorithm always in use, perhaps, but default to existing rate
- Disable back-off stuff
- Tridge wants it on by default
- 0 to mean existing behaviour
- Q_TILT_OPTIONS bit to disable backoff behaviour

UTC2335 - AP_Winch fix verbose user output when using pos control by rmackay9 · Pull Request #25212 · ArduPilot/ardupilot · GitHub

Winch debug text fix
Merged

UTC2336 - AP_AHRS: ensure we check health of the sensor we are using. by IamPete1 · Pull Request #25272 · ArduPilot/ardupilot · GitHub

Ensure we check health of the airspeed sensor we are using
Merged!

UTC2339 - using the lua script with SITL by vzarkar · Pull Request #25342 · ArduPilot/ardupilot · GitHub

Using lua script with SITL
Comment fix
Merged!

UTC2340 - hwdef: support Holybro 6X revision 6 by tridge · Pull Request #25349 · ArduPilot/ardupilot · GitHub

Support Holybro 6X revision 6
ADIS as first sensor
Merged!

UTC2342 - AP_InertialSensor: init all notch center frequencies by IamPete1 · Pull Request #25355 · ArduPilot/ardupilot · GitHub

Init all notch centre frequencies
Tridge thinks longer conversation needed
- If you have a forward motor on a quadplane and you have zero RPM we shouldn’t be running a notch for it
- Make it such that if the reported frequencies was < half the min freq then we stop the notch completely
  - Abruptly?
  - Ramp the attenuation? To zero at half the frequency starting at minimum frequency
- Helicopters need current behaviour
  - Use in hntch freq
Different harmonics need to keep going
- Second harmonic often the strongest
Coming back to DevCallEU
Tridge will rework a little
Wants to discuss with Leonard

UTC2354 - AP_HAL: Improve speed param download in network links (sitl/linux) by Williangalvani · Pull Request #25357 · ArduPilot/ardupilot · GitHub

Fix mavlink data transfer rates on Linux
- If you have an IP address then go really fast
Merged!

UTC0001 - AP_BattMonitor: added option allowing split InfoAux by tridge · Pull Request #25358 · ArduPilot/ardupilot · GitHub

Allow option allowing splitinfoaux
- CAN node doing per-cell battery information
- Another node doing overall current voltage
- Packets are matched by serial number
merged!

UTC0009 - AP_Scripting: fix easy lua check issues in examples by IamPete1 · Pull Request #25367 · ArduPilot/ardupilot · GitHub

Fix easy lua check issues in examples
Merged!

UTC0010 - Plane: rework set_servos_controlled function by IamPete1 · Pull Request #25371 · ArduPilot/ardupilot · GitHub

Rework set_servos_controlled
Tidy for future work
Merged!

UTC0018 - Plane: rework set_servos_controlled function by IamPete1 · Pull Request #25371 · ArduPilot/ardupilot · GitHub

Handle rx-pair as both int and long
Merged!

UTC0019 - AP_Rally: support altitude frames by IamPete1 · Pull Request #25380 · ArduPilot/ardupilot · GitHub

Support altitude frames in rally points
merged!

UTC0031 - GCS_MAVLink: handle FLASH_BOOTLOADER as command-long and command-int by peterbarker · Pull Request #25385 · ArduPilot/ardupilot · GitHub

Flash_bootloader as both long and int
Merged!

UTC0032 - AP_Scripting:add README file to examples directory by Hwurzburg · Pull Request #25386 · ArduPilot/ardupilot · GitHub

Add README file to scripting examples directory
merged!

UTC0033 - Copter: correct defines around using payload place functionality by peterbarker · Pull Request #25388 · ArduPilot/ardupilot · GitHub

Correct defines around using payload place
Merged

UTC0034 - hwdef:add NMEA GPS into min configs by Hwurzburg · Pull Request #25389 · ArduPilot/ardupilot · GitHub

Add NMEA GPS into min configs
Could be quite bad because no vertical velocity
hold while we check the flash cost
Should we just say “use custom build server”?

UTC0035 - APM_Control: Allow autotune level 0 to actually reach the lowest entries of the autotune level table by WickedShell · Pull Request #25392 · ArduPilot/ardupilot · GitHub

Allow autotune level 0 to actually reach lowest level
Merged!

UTC0042 - Allow reading of default parameters from @ROMFS/defaults.parm by peterbarker · Pull Request #25403 · ArduPilot/ardupilot · GitHub

ROMFS for defaults.parm
should log into .BIN logs
Tempting in 4.5 to move away from apj tool
We process things a little differently in AP_Parm defaults vs file?
Example board using both is cuav v6
ROMFS
CPU cost and memory cost

UTC0057 - Enforce pre-commit in ArduPilot by Ryanf55 · Pull Request #24683 · ArduPilot/ardupilot · GitHub

Enforce pre-commit in ArduPilot
Need to know that errors that CI raises are human-readable
Should add a vscode file to add line endings if they’re not there

UTC0104 - AP_Camera/AP_Mount: support sending CAMERA_FOV_STATUS by rmackay9 · Pull Request #25390 · ArduPilot/ardupilot · GitHub

Support sending CAMERA_FOV_STATUS
Should add the parameters as we’ll need them anyway
DevCallEU time!

UTC0111 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
4.4.2 is out
Waiting to do a new beta
- SPI change from Sid to cope with floating SPI clock
- Filter frequency sanity check
- New beta in next few days

UTC0112 - Copter update

With PH
- Either no new bugs or nobody’s tried the .2 release…

UTC0113 - off the floor

ROS stuff
Interesting paper on routing
Will need Plane support for external control
- Trajectory control needed
  - Vector ro closest tangent point and curvature at that point
  - Rrt algorithm

Attendee count (max): 17

UTC2300 - AP_Compass: avoid saving device IDs if not calibrated by tridge · Pull Request #25058 · ArduPilot/ardupilot · GitHub

UTC2312 - https://github.com/ArduPilot/ardupilot/pull/25164

UTC2335 - AP_Winch fix verbose user output when using pos control by rmackay9 · Pull Request #25212 · ArduPilot/ardupilot · GitHub

UTC2336 - AP_AHRS: ensure we check health of the sensor we are using. by IamPete1 · Pull Request #25272 · ArduPilot/ardupilot · GitHub

UTC2339 - using the lua script with SITL by vzarkar · Pull Request #25342 · ArduPilot/ardupilot · GitHub

UTC2340 - hwdef: support Holybro 6X revision 6 by tridge · Pull Request #25349 · ArduPilot/ardupilot · GitHub

UTC2342 - AP_InertialSensor: init all notch center frequencies by IamPete1 · Pull Request #25355 · ArduPilot/ardupilot · GitHub

UTC2354 - AP_HAL: Improve speed param download in network links (sitl/linux) by Williangalvani · Pull Request #25357 · ArduPilot/ardupilot · GitHub

UTC0001 - AP_BattMonitor: added option allowing split InfoAux by tridge · Pull Request #25358 · ArduPilot/ardupilot · GitHub

UTC0009 - AP_Scripting: fix easy lua check issues in examples by IamPete1 · Pull Request #25367 · ArduPilot/ardupilot · GitHub

UTC0010 - Plane: rework set_servos_controlled function by IamPete1 · Pull Request #25371 · ArduPilot/ardupilot · GitHub

UTC0018 - Plane: rework set_servos_controlled function by IamPete1 · Pull Request #25371 · ArduPilot/ardupilot · GitHub

UTC0019 - AP_Rally: support altitude frames by IamPete1 · Pull Request #25380 · ArduPilot/ardupilot · GitHub

UTC0031 - GCS_MAVLink: handle FLASH_BOOTLOADER as command-long and command-int by peterbarker · Pull Request #25385 · ArduPilot/ardupilot · GitHub

UTC0032 - AP_Scripting:add README file to examples directory by Hwurzburg · Pull Request #25386 · ArduPilot/ardupilot · GitHub

UTC0033 - Copter: correct defines around using payload place functionality by peterbarker · Pull Request #25388 · ArduPilot/ardupilot · GitHub

UTC0034 - hwdef:add NMEA GPS into min configs by Hwurzburg · Pull Request #25389 · ArduPilot/ardupilot · GitHub

UTC0035 - APM_Control: Allow autotune level 0 to actually reach the lowest entries of the autotune level table by WickedShell · Pull Request #25392 · ArduPilot/ardupilot · GitHub

UTC0042 - Allow reading of default parameters from @ROMFS/defaults.parm by peterbarker · Pull Request #25403 · ArduPilot/ardupilot · GitHub

UTC0057 - Enforce pre-commit in ArduPilot by Ryanf55 · Pull Request #24683 · ArduPilot/ardupilot · GitHub

UTC0104 - AP_Camera/AP_Mount: support sending CAMERA_FOV_STATUS by rmackay9 · Pull Request #25390 · ArduPilot/ardupilot · GitHub

UTC0111 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0112 - Copter update

UTC0113 - off the floor

UTC0116 - close