Dev call Sept 16, 2024

CraigElder · September 16, 2024, 10:51pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_Scripting: examples: add reverse thrust in FBWA mode on touchdown

ArduPilot:master ← nikandriya:AP_Scripting/rev_thr_land_FBWA

opened 04:54AM - 11 Apr 23 UTC

nikandriya

+181 -0

This script automatically engages reverse thrust on planes in FBWA mode on touch…down. Prerequisities: - ArduPlane 4.1 or later - A Fixed Wing platform capable of CTOL operation - ESCs capable of reversing motor direction - A Separate RC channel for triggering throttle reverse, assigned by RCx_FUNCTION=64 - A good rangefinder (downward facing) capable of reliably reading [0.1, 5]m of range - A separate RC channel that will serve as an "arming" switch for reverse throttle operation. This script uses RC_ARM_CHANNEL_ for this purpose (i.e. reverse throttle is armed whenever this switch PWM >1500, set by RC_ARM_CHANNEL_HI_PWM_) Params to adjust: - THRESH_LAND_HEIGHT_ (m) - this is the height read by rangefinder which corresponds to a plane's height above ground on touchdown. Set this a couple of cms higher than the height reading by your rangefider when the aircraft is on the ground but well within the height that the rangefinder can reliably read. - LAND_DET_TIME_ (s) - time during which rangefinder height estimate is consistently below THRESH_LAND_HEIGHT_ - MIN_GROUND_SPEED_ (m/s) - minimum ground speed at which the autopilot will disengage reverse thrust and switch to idle forward thrust - REV_THRUST_HIGH_PWM_, REV_THRUST_IDLE_PWM_ - max and min pwm values for RC_CHANNEL_NUM_ when in reverse throttle mode - REV_THRUST_CHG_PWM_PS_(pwm) - this is the motors' linear acceleration time in seconds, from REV_THRUST_IDLE_PWM_ to REV_THRUST_HIGH_PWM_ - MAXTIME_REV_THRUST_APPLIED_MS_ (ms) - maximum time, in seconds, reverse throttle is allowed to apply - TIME_THROT_WAIT_MS_ (ms) - time the throttle is suppressed, sitting at forward idle - REV_THRUST_SPOOL_DPWM_ (pwm) - initial increase in pwm to apply when in reverse throttle mode

github.com/ArduPilot/ardupilot

Copter: Give better error in opendroneid build when DID_ENABLE=0.

ArduPilot:master ← shipp02:fix-did-enable

opened 01:29AM - 23 Apr 24 UTC

shipp02

+5 -0

Based on my report on discord: Problem arises when: - ArduPilot compiled w…ith ``--enable-opendroneid`` - ``DID_ENABLE`` set to 0 - init and update functions do not do anything but pre_arm_checks still fail. Should pre_arm_checks also be skipped or there should be a different error message like DID_ENABLE is not allowed to be 0 when compiled with --enable-opendroneid. Currently one of the pre_arm_checks will fail but there's no indiciation of what exactly the problem is. A better error message or disabling pre arm checks might save time for users. This PR adds a better error message to report that ``DID_ENABLE`` is not allowed to be 0 when compiled with ``--enable-opendroneid``.

github.com/ArduPilot/ardupilot

DroneCAN: fix dangerous bug for twin-motor Planes

ArduPilot:master ← robertlong13:pr/dronecan_escminmax_bugfix

opened 02:13PM - 22 Jul 24 UTC

robertlong13

+12 -7

Without this, twin motor planes with DroneCAN ESCs need to set a dummy throttle… channel for the `scale_esc_to_unity` to work correctly. Worse yet, if you don't do this, your ESCs will receive a max throttle command while disarmed as soon as the safety switch is disengaged. The first commit prevents the max-throttle symptom when esc scaling is unconfigured or misconfigured (costs 16 bytes). The second commit allows the left/right throttle servos to be used to configure esc scaling (costs 24 bytes). Params to reproduce this bug on CubeOrange, disengage the safety switch and look at RawCommand coming out of the autopilot in DroneCAN GUI ``` CAN_D1_UC_ESC_BM 3 CAN_P1_DRIVER 1 CAN_P2_DRIVER 1 SERIAL6_PROTOCOL 2 SERVO1_FUNCTION 74 SERVO1_MAX 2000 SERVO1_MIN 1000 SERVO2_FUNCTION 73 SERVO2_MAX 2000 SERVO2_MIN 1000 SERVO3_FUNCTION 0 SERVO4_FUNCTION 0 ```

github.com/ArduPilot/ardupilot

AP_Camera: Load CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION from Lua

ArduPilot:master ← Winjeel:upstream/lua-camera-information

opened 08:12AM - 08 Aug 24 UTC

nexton-winjeel

+530 -24

This PR allows us to populate the [`CAMERA_INFORMATION`](https://mavlink.io/en/m…essages/common.html#CAMERA_INFORMATION) and [`VIDEO_STREAM_INFORMATION`](https://mavlink.io/en/messages/common.html#VIDEO_STREAM_INFORMATION) MAVLink messages from Lua scripts. Sending these messages allows a GCS to auto-configure the video stream to receive video from the payload. Replaces https://github.com/ArduPilot/ardupilot/pull/27594.

github.com/ArduPilot/ardupilot

Networking: added CAN multicast UDP network gateway

ArduPilot:master ← tridge:pr-mcast-can

opened 04:37AM - 08 Sep 24 UTC

tridge

+432 -34

This allows the PPPGW peripherals to act as CAN multicast gateways, which allows… any device on the ethernet network to interact with CAN devices on the flight controllers CAN networks It also means we can configure and update the PPPGW peripherals without knowing the IP address it is configured for, as we can use DroneCAN GUI tool with interface mcast:0 or mcast:1 to get at CAN1 or CAN2 and configure parameters This gateway is enabled in both AP_Periph with PPPGW and in the network enabled AP_Periph bootloader, which means this can also be used to update the firmware on the AP_Periph PPPGW device This costs about 450 bytes, which comes from the change to the hal.can API to allow registration of more than one callback. We could have a new API that only appears when this option is enabled, but it would be a duplicate of the current register function, just with a new cb targets, maybe cb_mcast.

github.com/ArduPilot/ardupilot

AC_AttitudeControl: Fix dt update order

ArduPilot:master ← lthall:20240902_AttitudeControl_dt

opened 07:56AM - 08 Sep 24 UTC

lthall

+47 -23

This PR moves the movement of target position to the first step of the attitude …controller where it knows the dt. Currently we assume the next dt will be the same as the last dt. This causes noise in the rate controllers when dt changes and high rates are being requested. Limitations in ATT logging has made this difficult to observe previously. Before: ![image](https://github.com/user-attachments/assets/f0650d52-a128-4988-a8da-8822dce66983) After: ![image](https://github.com/user-attachments/assets/195f1cbc-c9d6-4d3d-893c-f340c9f549e9)

github.com/ArduPilot/ardupilot

AP_DroneCAN: DNAServer: avoid resetting when server node ID changes

ArduPilot:master ← tpwrules:pr/no-dna-auto-reset

opened 12:55AM - 09 Sep 24 UTC

tpwrules

+22 -19

Avoids confusing the user and removes weirdness with multiple servers sharing th…e same storage. Does leak the registration for the old ID but in the unlikely event the table fills up the user can simply reset the database. We keep the check for an existing registration to avoid dirtying the storage every boot unnecessarily. We also factor out the deletion of an existing registration (which is very unlikely but technically possible) to save some flash. Tested upgrades and node ID changes on CubeOrange with some MatekL431 boards.

github.com/ArduPilot/ardupilot

Add defines for experimental topics such as IMU to allow saving flash for unused topics

ArduPilot:master ← Ryanf55:dds-wrap-imu-in-define

opened 11:07PM - 13 Sep 24 UTC

Ryanf55

+33 -1

# Purpose * Experimental topics, such as IMU, should have an easy way to be …disabled at compile time * This demonstrates a pattern to add in new topics at compile time * By updating to use the C++ topic table instead of the XML refs, AP now has full control at compile time over what's enabled in the interface * Note - IMU is a special case - it's super high rate, and largely useless unless you are doing offboard fusion, which reportedly has not performed as well). We don't want to clog our network with unused data. # Long term * Every topic could get a define. It might make the code hard to read - are we actually that flash conscious if using DDS? ![image](https://github.com/user-attachments/assets/0baf48e2-7426-4489-8344-2a0b2631e135) I wouldn't think so because a lot of flash-heavy features can be moved offboard like path planning, terrain, avoidance, fences, advanced failsafe, AP_follow, AP_MIssion, Proximity, SmartRTL, Soaring, WPNav. # Tests performed Compile with IMU disabled and then check it's not published by running sim_vehicle. ```bash ./Tools/autotest/sim_vehicle.py -v ArduPlane --waf-configure-arg "--define=AP_DDS_IMU_PUB_ENABLED=0" --map --console --enable-dds ``` Terminal 2: Run the MicroROS agent ```bash ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 ``` Terminal 3: Check topics exposed ```bash $ ros2 topic list /ap/battery/battery0 /ap/clock /ap/cmd_gps_pose /ap/cmd_vel /ap/geopose/filtered /ap/gps_global_origin/filtered /ap/joy /ap/navsat/navsat0 /ap/pose/filtered /ap/tf /ap/tf_static /ap/time /ap/twist/filtered /parameter_events /rosout ````

github.com/ArduPilot/ardupilot

AP_DroneCAN: DNAServer: optimize allocation strategy

ArduPilot:master ← tpwrules:pr/dna-optimize-alloc

opened 01:56AM - 14 Sep 24 UTC

tpwrules

+12 -9

Please see code for details. There are sure to be a lot of variables but this ch…ange demonstrably makes the allocation message count (and therefore real allocation time, though I did not measure this precisely) lower and more consistent. Number of allocation messages with 3x MatekL431-Periph nodes and Cube Orange (6 trials): before: 44, 36, 35, 92, 107, 41 after: 28, 28, 28, 28, 26, 28

github.com/ArduPilot/ardupilot

AP_DroneCAN: DNAServer: remove preferred allocation support

ArduPilot:master ← tpwrules:pr/dna-remove-preferred-alloc

opened 02:21AM - 14 Sep 24 UTC

tpwrules

+16 -37

Nothing is known to support it so it can't be tested. Removing it saves flash an…d reduces complexity. I would prefer to add support for it to AP_Periph so it can be tested but tridge said he would prefer to just remove support. Saves 168 bytes of flash on Cube Orange. Would consume 32 bytes to add support to AP_Periph. Tested on the bench that allocation of new and existing nodes works properly still.

github.com/ArduPilot/ardupilot

Copter: allow adding custom modes from scripting

ArduPilot:master ← IamPete1:copter_custom_modes

opened 12:26AM - 15 Sep 24 UTC

IamPete1

+462 -118

This allows a script to register a new mode with a given number and name. This i…s just a wrapper on guided mode, but it allows clearer interaction with the user. The example re-implements flip mode in a script. It uses mode 100, in MAVProxy you can enter with `mode 100`. In order to allow the flip I added a new guided binding `set_target_rate_and_throttle`. I also found and fixed a issue that the Z controller would throw a flow of control error when moving from guided angle with throttle to guided angle with climb rate. The internal variables of guided mode are changed to static so they apply to to the new modes too. There are some more changes needed: - [x] anywhere that doing a compare on guided mode by reference or number needs to deal with the new modes. - [ ] Come up with a way to communicate to the GCS which modes are available so it could populate its mode list with the new modes (this would also be useful if we want to start removing modes and/or for the custom build server). - [ ] Currently scripting is the only way to register a mode, but there is no reason a companion computer could not do the same with a new MAVLink message. - [ ] In the future we may want to add more state on the custom mode object, for example a "allow_enter" bool which the script could keep updated. This would allow the script to reject entry if the correct conditions are not met. Currently the flip example will enter but then immediately put the mode back again if it does not like it. - [ ] Allow a custom version of guided no-gps as well as full guided. - [ ] Currently the mode will fail to add if the script is restated because it is already there, it might be nice to allow a re-add of the same mode, although this is only a issue for script dev.

Copter

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 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] 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)) -

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 - [ ] 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