Dev call Oct 7, 2024

CraigElder · October 7, 2024, 10:51pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame

ArduPilot:master ← Winjeel:upstream/copter-autoyaw-mount_control-yaw-is-body-frame

opened 02:37AM - 16 May 24 UTC

nexton-winjeel

+73 -7

The demanded yaw angles in the `MOUNT_CONTROL` and `DO_MOUNT_CONTROL` commands a…re in body frame (and are handled this way in `AP_Mount`). This fixes the Copter handlers where they were being treated as earth frame. It also rejects these messages if an invalid mode is provided, as the yaw control is only applicable when the mode is `MAV_MOUNT_MODE_MAVLINK_TARGETING`. FYI: @rmackay9

github.com/ArduPilot/ardupilot

Tools: Expose arbitrary waf configure and build args

ArduPilot:master ← Ryanf55:expose-waf-configure-build-args

opened 02:57AM - 17 Sep 24 UTC

Ryanf55

+5 -1

# Purpose * This allows someone using colcon full control over the `waf` buil…d without having to re-learn all of the ardupilot_sitl arguments. # Demo ```bash colcon build --packages-select ardupilot_sitl --cmake-args -DARDUPILOT_WAF_CONFIGURE_ARGS="--disable-CRSF" --event-handlers=console_cohesion+ ``` ```bash $ cat build/ardupilot_sitl/CMakeCache.txt | grep ARDUPILOT_WAF_CONFIGURE_ARGS ARDUPILOT_WAF_CONFIGURE_ARGS:STRING=--disable-CRSF ``` # Issue * Solves https://github.com/ArduPilot/ardupilot/issues/27714

github.com/ArduPilot/ardupilot

AP_DDS: Wrap all topics in ifdefs

ArduPilot:master ← Ryanf55:dds-wrap-all-topics-in-ifdefs

opened 04:32AM - 21 Sep 24 UTC

Ryanf55

+301 -69

# purpose * Give ability to enable/disable any topic in DDS through compile o…ptions * Follow up of https://github.com/ArduPilot/ardupilot/pull/28098 but for the remaining topics # Details In the header file, I grouped together related data, which made some functions private that were public. This reduces the amount of ifdefs. For the topics that share the same datatype, I added an `AP_DDS_NEEDS*` to signify whether we need to include that file.

github.com/ArduPilot/ardupilot

Copter: Keep FIXED mode when WP_YAW_BEHAVIOR is NONE

ArduPilot:master ← tatsuy:pr-auto-yaw-adjust

opened 05:52AM - 26 Sep 24 UTC

tatsuy

+2 -2

This PR improves the `CONDITION_YAW` behavior when `WP_YAW_BEHAVIOR` is set to N…ONE. Previously, Yaw Mode would switch to `HOLD` when reaching a waypoint. This meant that even if `CONDITION_YAW` was used, its effect would be reset upon reaching each WAYPOINT. As a result, the vehicle's yaw could potentially drift due to external factors like wind. With this change, when `WP_YAW_BEHAVIOR` is NONE and `CONDITION_YAW` has been used (resulting in FIXED mode), the yaw remains in `FIXED` mode even after reaching WAYPOINT, maintaining the desired heading as specified by `CONDITION_YAW`. Before ![image](https://github.com/user-attachments/assets/fcfe341d-0d35-4d29-a44c-309617f9e0fa) After ![image](https://github.com/user-attachments/assets/2d34d552-76ce-4523-9d30-04c5899678ba) Settings: - `WP_YAW_BEHAVIOR=0` (None) - Used `CONDITION_YAW` with `Deg = 10`, `Speed = 0`, `Dir = 0`, `Abs = 0`. Testing: SITL testing was performed to confirm the behavior. To create a challenging environment for yaw control and to introduce yaw error, the following parameters were used to simulate wind and turbulence. - `SIM_WIND_SPD = 10` - `SIM_WIND_TURB = 10` With these settings, the updated implementation successfully maintained the yaw as expected, with `FIXED` mode persisting throughout WAYPOINT without reverting to `HOLD`.

github.com/ArduPilot/ardupilot

AP_DDS: battery topic to report all the available batteries

ArduPilot:master ← tizianofiorenzani:wips/dds-battery-multiple-channels

opened 10:13PM - 02 Oct 24 UTC

tizianofiorenzani

+184 -5

# Issue https://github.com/ArduPilot/ardupilot/issues/28288 # What Changed… - Battery topic renamed to `/ap/battery` - All the detected batteries are reported to the same topic with different `frame_id` from `'0'` to `'<AP_BATT_MONITOR_MAX_INSTANCES>'` # Test ``` colcon test --packages-select ardupilot_dds_tests \ --event-handlers=console_cohesion+ --pytest-args -k test_battery_msg_received colcon test-result --all --verbose ```

github.com/ArduPilot/ardupilot

DroneCAN: RC link statistics

opened 12:23PM - 03 Oct 24 UTC

olliw42

DevCallTopic

DroneCAN supports RC receivers via the https://github.com/dronecan/DSDL/blob/mas…ter/dronecan/sensors/rc/1140.RCInput.uavcan message. However, sadly, it only has a "quality" field which by looking into the AP code is in fact RSSI in units of 0 ... 255. Today however most people in the FPV arena also want to get LQ, and possibly SNR, and especially want to put them on their OSD. There is no support yet for this. As much as I know support for extending DroneCAN messages definitions while retaining compatibility with existing implementations is not yet existing or in the making. So, extending the existing RCInput seems not a viable path. This leads to a pretty ugly situation and massively reduces the usefullness of DroneCAN RC (the situation is actually similarly sad as with the MAVLink receiver link stats not being there). To give a sense of it as I perceive it based on user responses: This makes folks wanting CRSF in addition ... just for the purpose of also getting the link stats. Obviously this is a bummer for using DroneCAN since the promise of simplified wiring cannot be kept and the advantages over normal serial largely evaporates. This therefore makes folks wanting CRSF via DroneCAN serial ... which appears to not work with AP, but if it would, doing such work arounds is hardly in the intention of DroneCAN, and also ugly as one then consumes two of the DroneCAN serial ports. I have no idea what the "best" path and approach would be to correct the situation, but I feel I should raise it as an issue. Few approaches would come to my mind: 1. Add a DroneCAN link statistics message. In view of the slow and difficult process with the similar MAVLink link statistics message this may not look as the best path. 2. Add a revised RCInput version 2 message, with few little more fields for the link stats. 3. Add flags to teh existing RCInput message so that the quality field could host different metrics (like RSSI, LQ, SNR), Thuis would at least allow to send the data round robin, i.e. packet #n send RSSI, #n+1 sends LQ, #n+2 send SNR, and so on. 4. Add support for extending DroneCAN messages definitions.

github.com/ArduPilot/ardupilot

AP_DroneCAN: properly convert timeout to deadline for aux frames

ArduPilot:master ← tpwrules:pr/can-aux-timeout

opened 07:41PM - 04 Oct 24 UTC

tpwrules

+2 -1

The timeout specified for auxiliary driver frames was passed to the driver where… a deadline was expected. The transmission was then started after its "deadline", thereby causing it to be canceled and the data lost if the frame could not be sent immediately. Fix by converting the timeout to a deadline before passing to the driver. The conversion is done in the Canard interface code as it already does other conversions from timeouts to deadlines. Tested that my setup used to get timeouts registered in `@SYS/can0_stats.txt` and doesn't anymore.

github.com/ArduPilot/ardupilot

AP_SerialManager: RegisteredPort, add bytes_per_second/baudrate methods, proper flow control for MAVLink via DroneCAN

ArduPilot:master ← olliw42:owpr-registeredport-baudrate

opened 09:13AM - 05 Oct 24 UTC

olliw42

+2 -0

The RegisteredPort class in AP_SerialManager derives from the "naked" AP_HAL::UA…RTDriver class, and therefore provides its bw_in_bytes_per_second() method. This method however returns a default bytes/seconds of 5760 (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL/UARTDriver.h#L151-L153). The registered port is used by e.g. the DroneCAN serial class, in order to do e.g. MAVlink via DroneCAN tunneling. The MAVLink flow control of the parameter stream and mavftp however relies on the value returned by bw_in_bytes_per_second() (https://github.com/ArduPilot/ardupilot/blob/master/libraries/GCS_MAVLink/GCS_Param.cpp#L56, https://github.com/ArduPilot/ardupilot/blob/master/libraries/GCS_MAVLink/GCS_FTP.cpp#L500). Therefore, currently it only works properly if the default of 5760 is in fact appropriate. There is no means to change this. This PR adds the missing bw_in_bytes_per_second() method to the RegisteredPort class (and in addition also adds the get_baudrate() method, to be consistent). This has the effect that the setting in the parameter CAN_D1_UC_Sx_BD results in respective return values for bw_in_bytes_per_second(), so that the parameter/mavftp flow control has an idea. OT note: The whole baudrate thing is actually pretty wild. Each AP_HAL::UARTDriver has it's own baudrate field, when there is a state.baud in the serial manager class, and in addition the DroneCAN serial class also maintains it's own baudrate field. I think what actually should be done is that the generic AP_HAL::UARTDriver class gets a baudrate field (pretty much like it also has a parity field https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL/UARTDriver.h#L222). This would allow defining proper default methods for bw_in_bytes_per_second() and get_baudrate(), and the higher classes would not have to always do the same thing over and over again. Also the baudrate mapping could be moved to the generic begin() and similar methods, so that its baudrate field would always hold the correct value. I think this would simplify the code in sevral places a good bit (maybe also saving flash). Unfortunately I don't have the oversight to know if such a change would not have side effects, hence I here propse the simple "work around". Tested on the bench using a MatekH743 flight controller with Plane firmware, and a Matek DroneCAN-ized mLRS receiver.

github.com/ArduPilot/ardupilot

AP_DDS: publish relative true airspeed to /ap/airspeed

ArduPilot:master ← tizianofiorenzani:wips/dds-airspeed-vector

opened 10:12PM - 05 Oct 24 UTC

tizianofiorenzani

+91 -0

- Publish the true airspeed as a 3D vector in body frame to the topic `/ap/airsp…eed` of type `geometry_msgs/msg/Vector3Stamped`. - Topic is published only if airspeed is available. - Code has been copied from `GCS_Mavlink`. Issue: https://github.com/ArduPilot/ardupilot/issues/28300 **Test** - `colcon build --packages-up-to ardupilot_sitl` - Launch the sitl with Plane and takeoff. - Echo the topic with `ros2 topic echo /ap/airspeed` ![image](https://github.com/user-attachments/assets/41d163bf-65da-4083-8580-71b9c776287f)

github.com/ArduPilot/ardupilot

AP_Bootloader: reject allocation of broadcast node ID

ArduPilot:master ← tpwrules:pr/boot-reject-bad-nodeid

opened 04:26AM - 07 Oct 24 UTC

tpwrules

+1 -1

It is technically legal to receive an "allocation" of the broadcast node ID. For…tunately, this was already ignored by `canardSetLocalNodeID`, though it would trigger an assertion failure if those were enabled. Fix by rejecting that ID. There is effectively no change in behavior but the code now correctly ignores that ID and retries the allocation as it did before. Similar to https://github.com/ArduPilot/ardupilot/pull/28045 . Tested on CubeOrange (with artificially limited DNA database size) and a pile of MatekL431 boards with updated bootloaders. Not sure the policy on bootloader rebuilds.

github.com/ArduPilot/ardupilot

Copter, Rover, Tracker, Plane-4.5.6 release

ArduPilot:Copter-4.5 ← rmackay9:copter-457

opened 08:39AM - 07 Oct 24 UTC

rmackay9

+38 -16

This is the Copter, Rover, Tracker, Plane-4.5.7 release. The contents of that r…elease can be found in the [4.5.7-beta1 column of this project](https://github.com/orgs/ArduPilot/projects/8/views/8?layout=board). This is the same as the 4.5.7-beta1 release but with PR https://github.com/ArduPilot/ardupilot/pull/27799 reverted. I have not actually determined if [the user report](https://discuss.ardupilot.org/t/coper-4-5-7-beta1-available-for-testing/124355) is correct but I think at this stage it is best to remove it and proceed with the release.

github.com/ArduPilot/ardupilot

Plane: stop using bit-packing for quadplane state

ArduPilot:master ← peterbarker:pr/plane-bitpacked-state

opened 10:18PM - 07 Oct 24 UTC

peterbarker

+3 -3

``` Board AP_Periph blimp bootloader copter heli iofirm…ware plane rover sub CubeOrange-periph-heavy * Durandal * * * * -240 * * Hitec-Airspeed * KakuteH7-bdshot * * * * -240 * * MatekF405 * * * * -216 * * Pixhawk1-1M-bdshot * * * -240 * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * -224 * * skyviper-v2450 * ```

Plane

github.com/ArduPilot/ardupilot

Plane 4.5.x issue tracking

opened 03:03AM - 13 Feb 24 UTC

tridge

Plane DevCallTopic ReleaseAdmin

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

Copter & Rover

github.com/ArduPilot/ardupilot

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

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

CraigElder · October 9, 2024, 9:42pm

Attendee count (max): 16

UTC2301 - Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame by nexton-winjeel · Pull Request #27071 · ArduPilot/ardupilot · GitHub

When handling a do-mount-control mavlink message
If your mount doesn’t have a yaw axis then the vehicle yaws
- But in the wrong frame!
  - Mount works in one frame, Copter works in a different frame!
Merged!

UTC2305 - Tools: stop requiring python-is-python3 package by peterbarker · Pull Request #28055 · ArduPilot/ardupilot · GitHub

Move away from requiring python in the path (as opposed to python3)
Need a waf change
- Merged!
Need to call python3 -m pip rather than pip
Can be merged after that change

UTC2310 - Tools: Expose arbitrary waf configure and build args by Ryanf55 · Pull Request #28124 · ArduPilot/ardupilot · GitHub

Expose arbitrary waf configure and build argos in ros2
MergeOnCIPass

UTC2311 - Copter: Keep FIXED mode when WP_YAW_BEHAVIOR is NONE by tatsuy · Pull Request #28235 · ArduPilot/ardupilot · GitHub

Keep fixed mode when wp-yaw-behaviour is None
- Vehicle turns slightly after every waypoint when told to not change yaw
- If you fly a grid pattern you will slightly adjust yaw just a few degrees
- Error accumulates
Hold is a rate of 0
- Interaction with roll and pitch at same time!
  - pitch-forward/roll-left, pitch-level/roll-level you will change heading
This is a bandaid solution until it is done properly

UTC2316 - AP_DDS: Wrap all topics in ifdefs by Ryanf55 · Pull Request #28177 · ArduPilot/ardupilot · GitHub

Wrap all tops in ifdefs
To reduce flash cost
Nothing in build_options.py yet
Merged!

UTC2318 - AP_DDS: battery topic to report all the available batteries by tizianofiorenzani · Pull Request #28291 · ArduPilot/ardupilot · GitHub

AP_DDS: battery topic to report all the available batteries
Can’t force-push this or rebase it as the box was unticked when the PR was created
Please don’t uncheck the “allow maintainers to push” checkbox!

UTC2322 - DroneCAN: RC link statistics · Issue #28295 · ArduPilot/ardupilot · GitHub

RC link statistics
OlliW would like to be able to transport link quality over DroneCAN
Tearing off 3 bits to indicate what the RSSI field actually represents works
Comment left

UTC2328 - AP_HAL_ESP32: ADC ported to new idf 5.x driver and debugged by arg7 · Pull Request #28305 · ArduPilot/ardupilot · GitHub

ADC ported to new idf 5.x driver
Merged!

UTC2328 - AP_RCProtocol: IBUS hack for FlySky IA6 receiver by arg7 · Pull Request #28306 · ArduPilot/ardupilot · GitHub

iBus hack for FlySky ia6 receiver
Needs significant rework
Test data?
- Capture with a hardware thing
- Or collect bytes using the rc-option-for-logging
- RCDA log message
  - And we have a tool to turn it into binary

UTC2333 - AP_DroneCAN: properly convert timeout to deadline for aux frames by tpwrules · Pull Request #28308 · ArduPilot/ardupilot · GitHub

Convert timeout to deadline for aux frames
- Deadline in the past?!
- Only if CAN hardware picks them up immediately otherwise they’d be discarded
CAN rangefinders on same bus as DroneCAN is most common
Would find lost packets unless immediate send
Uint32 vs uint64 bugs tridge
- Should be using uint32_t
- AM32 is suffering because of this
- DJI-RS2 LUA script was complaining!

UTC2336 - Cope with negative ESC rpms in notch filter by andyp1per · Pull Request #28309 · ArduPilot/ardupilot · GitHub

Cope with negative RPM values in notch filter
Not sure what to do about PH’s comment
Tagged for DevCallEU

UTC2340 - AP_SerialManager: RegisteredPort, add bytes_per_second/baudrate methods, proper flow control for MAVLink via DroneCAN by olliw42 · Pull Request #28315 · ArduPilot/ardupilot · GitHub

Add accessors to RegisteredPort for baud rate and bit rate
Merged!

UTC2342 - Tools: Expose DDS build options in build_options.py by Ryanf55 · Pull Request #28159 · ArduPilot/ardupilot · GitHub

DDS build options in build_options.py
Discussion on dependencies missing from in here
Remove old --enable-dds code?
- Should do, yes
This is a good change

UTC2350 - AP_BLHeli:correct RVMASK metadata by Hwurzburg · Pull Request #28318 · ArduPilot/ardupilot · GitHub

Correct rvmask metadata
Merged!
Yawd test failing?
- Flapping
- Can our model even support that test?

UTC2352 - AP_DDS: publish relative true airspeed to /ap/airspeed by tizianofiorenzani · Pull Request #28319 · ArduPilot/ardupilot · GitHub

Publish the relative true airspeed to /ap/airspeed
Needs a rebase
MergeOnCIPass

UTC2356 - Plane: added fast attitude recovery for inverted flight in Q modes by tridge · Pull Request #28320 · ArduPilot/ardupilot · GitHub

Fast attitude recovery for inverted flight
Useful for upset recovery
- Initialisation problem
To discuss with PH about calling this constantly

UTC0003 - Remove defunct board type defines by peterbarker · Pull Request #28325 · ArduPilot/ardupilot · GitHub

Remove unused defines
Merged!

UTC0004 - hwdef: GEPRCF745BTHD: remove parachute and bl-flashing support (flash… by peterbarker · Pull Request #28326 · ArduPilot/ardupilot · GitHub

Remove bootloader-flashing support from a board which is overflowing
… and parachute
DevCallEU, need Andy to approve

UTC0006 - AP_Bootloader: reject allocation of broadcast node ID by tpwrules · Pull Request #28327 · ArduPilot/ardupilot · GitHub

Reject allocation of broadcast node ID in bootloader
There are other protections which prevent this happening
This wouldn’t change behaviour and would cost flash

UTC0010 - AP_AHRS: DCM: remove unused variable by peterbarker · Pull Request #28334 · ArduPilot/ardupilot · GitHub

Remove unused variable from DCM
Merged!

UTC0011 - AP_AHRS: DCM: tidy variable creation by peterbarker · Pull Request #28335 · ArduPilot/ardupilot · GitHub

Tidy DCM variable creation
MergeOnCIPass

UTC0011 - Plane: stop using bit-packing for quadplane state by peterbarker · Pull Request #28336 · ArduPilot/ardupilot · GitHub

Stop using bit-packing in quadplane state
Merged
Should we stop doing this in the “ap” structure?
- probably

UTC0012 - Log DCM wind estimate in DCM message by peterbarker · Pull Request #28339 · ArduPilot/ardupilot · GitHub

Log DCM wind estimate in DCM message
MergeOnCIPass

UTC0017 - AP_DDS: Status Message by tizianofiorenzani · Pull Request #28337 · ArduPilot/ardupilot · GitHub

Know when vehicle has changed state
- Eg. mode, flying, failsafe state etc
- If you failsafe you want the CC to stop doing
- Ryan wants to do an event-driven approach
Two different names pointing to same value in DDS?
Shouldn’t be getting things out of AP_Notify
- There’s a lot of state in there
- But it introduces a dependency
Failsafes are not something which cross all the vehicles
- Bit of a wart
- Some libraries know about fs state
  - Eg. RC
  - E.g battery
They’ll keep working on this one

UTC0027 - Plane update

Not a lot happening
Beta is out
- Question about the Septentrino dnu value backport
  - Suspected red herring
  - The patch looks correct!
  - Report doesn’t make a lot of sense
  - Maybe pop off the patch which is suspected of causing problems

UTC0035 - Copter update

Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub
Nothing new and interesting in 4.5
- Got a “good” report
4.6 next
- Release notes are a 1-day process
  - Maybe this week
- 4.6 Wiki list might be useful highlight
- ChatGPT to create the notes?
- Backporting makes things a PITA
  - 4.6 feature list might help there?

UTC0042 - conference

Suika cards make it easy to travel on trains etc
See Conf2024 channel
Presentation schedule needs organising next
- Randy will put into a list
Help channel in #conf2204
- Eg. missed train then cry for help in there and DroneSchool teacher will jump on and help

Attendee count (max): 16

UTC2301 - Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame by nexton-winjeel · Pull Request #27071 · ArduPilot/ardupilot · GitHub

UTC2305 - Tools: stop requiring python-is-python3 package by peterbarker · Pull Request #28055 · ArduPilot/ardupilot · GitHub

UTC2310 - Tools: Expose arbitrary waf configure and build args by Ryanf55 · Pull Request #28124 · ArduPilot/ardupilot · GitHub

UTC2311 - Copter: Keep FIXED mode when WP_YAW_BEHAVIOR is NONE by tatsuy · Pull Request #28235 · ArduPilot/ardupilot · GitHub

UTC2316 - AP_DDS: Wrap all topics in ifdefs by Ryanf55 · Pull Request #28177 · ArduPilot/ardupilot · GitHub

UTC2318 - AP_DDS: battery topic to report all the available batteries by tizianofiorenzani · Pull Request #28291 · ArduPilot/ardupilot · GitHub

UTC2322 - DroneCAN: RC link statistics · Issue #28295 · ArduPilot/ardupilot · GitHub

UTC2328 - AP_HAL_ESP32: ADC ported to new idf 5.x driver and debugged by arg7 · Pull Request #28305 · ArduPilot/ardupilot · GitHub

UTC2328 - AP_RCProtocol: IBUS hack for FlySky IA6 receiver by arg7 · Pull Request #28306 · ArduPilot/ardupilot · GitHub

UTC2333 - AP_DroneCAN: properly convert timeout to deadline for aux frames by tpwrules · Pull Request #28308 · ArduPilot/ardupilot · GitHub

UTC2336 - Cope with negative ESC rpms in notch filter by andyp1per · Pull Request #28309 · ArduPilot/ardupilot · GitHub

UTC2340 - AP_SerialManager: RegisteredPort, add bytes_per_second/baudrate methods, proper flow control for MAVLink via DroneCAN by olliw42 · Pull Request #28315 · ArduPilot/ardupilot · GitHub

UTC2342 - Tools: Expose DDS build options in build_options.py by Ryanf55 · Pull Request #28159 · ArduPilot/ardupilot · GitHub

UTC2350 - AP_BLHeli:correct RVMASK metadata by Hwurzburg · Pull Request #28318 · ArduPilot/ardupilot · GitHub

UTC2352 - AP_DDS: publish relative true airspeed to /ap/airspeed by tizianofiorenzani · Pull Request #28319 · ArduPilot/ardupilot · GitHub

UTC2356 - Plane: added fast attitude recovery for inverted flight in Q modes by tridge · Pull Request #28320 · ArduPilot/ardupilot · GitHub

UTC0003 - Remove defunct board type defines by peterbarker · Pull Request #28325 · ArduPilot/ardupilot · GitHub

UTC0004 - hwdef: GEPRCF745BTHD: remove parachute and bl-flashing support (flash… by peterbarker · Pull Request #28326 · ArduPilot/ardupilot · GitHub

UTC0006 - AP_Bootloader: reject allocation of broadcast node ID by tpwrules · Pull Request #28327 · ArduPilot/ardupilot · GitHub

UTC0010 - AP_AHRS: DCM: remove unused variable by peterbarker · Pull Request #28334 · ArduPilot/ardupilot · GitHub

UTC0011 - AP_AHRS: DCM: tidy variable creation by peterbarker · Pull Request #28335 · ArduPilot/ardupilot · GitHub

UTC0011 - Plane: stop using bit-packing for quadplane state by peterbarker · Pull Request #28336 · ArduPilot/ardupilot · GitHub

UTC0012 - Log DCM wind estimate in DCM message by peterbarker · Pull Request #28339 · ArduPilot/ardupilot · GitHub

UTC0017 - AP_DDS: Status Message by tizianofiorenzani · Pull Request #28337 · ArduPilot/ardupilot · GitHub

UTC0027 - Plane update

UTC0035 - Copter update

UTC0042 - conference

UTC0044 - close