Dev Call Oct 9, 2023

CraigElder · October 9, 2023, 10:58pm

**Issues & Pull Requests"

github.com/ArduPilot/ardupilot

GCS_MAVLink: Fix for the Gopro/Solo Gimbal issue

ArduPilot:master ← mtbsteve:master

opened 08:27AM - 23 May 23 UTC

mtbsteve

+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

Filter: HarmonicNoth: allow upto 16 harmonics

ArduPilot:master ← IamPete1:harmonic_notch_more_harmonics

opened 05:51PM - 14 Jul 23 UTC

IamPete1

+38 -11

Lots of harmonics are useful for low frequency excitation. For example a heli, i…n this case with 3 blades. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/ce49d1b8-bfba-4733-a225-1fa7a1df4835) This is the best I can do with all 8 harmonics. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/09dca9f8-8947-4afb-8df7-18b6ee279cd9) This does increase the max number of harmonics to 16, but in this particular case a total of 8 would have been fine. Because of the three bladed head the 3,6,9,12... harmonics are much stronger. I would have much rather have the 9th and 12th harmonic and not the 7th and 8th and keeping the max total to 8. But we do already have a check for the total number of notches, so I don't think we need to limit to only 8 active harmonics.

github.com/ArduPilot/ardupilot

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

ArduPilot:master ← rishabsingh3003:baro_field_elevation

opened 03:24AM - 27 Sep 23 UTC

rishabsingh3003

+3 -1

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

github.com/ArduPilot/ardupilot

Copter: encapsulate auto takeoff into an ojbect

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

opened 01:04PM - 03 Oct 23 UTC

peterbarker

+74 -59

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

github.com/ArduPilot/ardupilot

Filter: LowPassFilter2p: constrain cuttoff to 40% of sample rate

ArduPilot:master ← IamPete1:lowpass_high_freq

opened 06:24PM - 03 Oct 23 UTC

IamPete1

+4 -9

Currently its possible to get stuck in a boot loop if the frequency is set too h…igh. For example set `INS_GYRO_FILTER` to 1500 you will find the board will no longer boot all the way. The main goal of this PR is to fix that boot loop but I have also done a couple of other tidy ups. The stops numerical errors by constraining the cutoff down, we could also just turn off the filter as we would for a cutoff of zero.

github.com/ArduPilot/ardupilot

AP_Scripting: add missing defines to build on Periph

ArduPilot:master ← IamPete1:periph_scripting

opened 05:36PM - 04 Oct 23 UTC

IamPete1

+129 -16

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

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 - [ ] can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height - [ ] pitch stick mixing can stall aircraft - [ ] 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: - [ ] 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 9, 2023, 11:46pm

Attendee count (max): 13

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

Deferred

UTC2306 Filter: HarmonicNotch: allow upto 16 harmonics by IamPete1 · Pull Request #24309 · ArduPilot/ardupilot · GitHub

Merged

UTC2308 Add airspeed estimate status logging by Hwurzburg · Pull Request #25080 · ArduPilot/ardupilot · GitHub

Merged

UTC2310 AP_Periph: Matekl431 ADSB hwdef by rishabsingh3003 · Pull Request #25112 · ArduPilot/ardupilot · GitHub

Merged

UTC2318 AP_Baro: Check if origin alt is zero before using it as field elevation by rishabsingh3003 · Pull Request #25114 · ArduPilot/ardupilot · GitHub

Deferred

UTC 2320 Copter: encapsulate auto takeoff into an ojbect by peterbarker · Pull Request #25171 · ArduPilot/ardupilot · GitHub

Deferred

UTC 2322 Filter: LowPassFilter2p: constrain cuttoff to 40% of sample rate by IamPete1 · Pull Request #25175 · ArduPilot/ardupilot · GitHub

Merged

UTC 2326 GCS_MAVLink: allow PREFLIGHT_STORAGE as COMMAND_INT and COMMAND_LONG by peterbarker · Pull Request #25180 · ArduPilot/ardupilot · GitHub

Merged

UTC 2329 allow Plane to run MAV_CMD_MISSION_START as long and int by peterbarker · Pull Request #25181 · ArduPilot/ardupilot · GitHub

Merged

UTC 2332 ArduSub: accept MAV_CMD_CONDITION_YAW as both long and int in Sub by peterbarker · Pull Request #25182 · ArduPilot/ardupilot · GitHub

Merged

UTC 2333 AP_Scripting: add missing defines to build on Periph by IamPete1 · Pull Request #25183 · ArduPilot/ardupilot · GitHub

Deferred

UTC 2336 AP_GPS: correct placement of voiding clause by peterbarker · Pull Request #25188 · ArduPilot/ardupilot · GitHub

Merged

UTC 2338 hwdef: Create correct README and add defaults to ease setup by Hwurzburg · Pull Request #25209 · ArduPilot/ardupilot · GitHub

Deferred to EU call

UTC 2345 Copter

Getting ready for 4.4.2 beta