Dev Call Sept 23, 2019 2300 UTC

CraigElder · September 23, 2019, 11:02pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

EKF ram reduction using common variables

ArduPilot:master ← tridge:pr-ekf-ram-reduction

opened 01:15AM - 21 Sep 19 UTC

tridge

+155 -44

This is an alternative to #11717. Instead of moving variables to the stack it mo…ves them to a common structure shared between cores. This doesn't save as much memory as #11717, but it avoids the large stack frames. I tried to build a static analyser to allow us to have large stack frames safely, but haven't had the time to finish that work, so this is an alternative that gives us most of the memory saving now. This patch also adds code in SITL to fill the common variables with NaN on each filter update. This allows SITL to catch any cases where these intermediate variables are carrying over values from a previous iteration, which they should not do.

github.com/ArduPilot/ardupilot

AP_Math: remove unit_mod concept from wrap functions

ArduPilot:master ← peterbarker:pr/remove-unit-mods

opened 03:49AM - 18 Sep 19 UTC

peterbarker

+82 -32

devcall decided it would be clearer to have non-shared implementation for the _…cd variants I've run SITL with these and the Math tests all pass for me. I'm not sure whether I should declare `short` or `int16_t` variants here - at the moment they'll be promoted to native types. This (surprisingly) makes fmuv2 70 bytes smaller - probably due to the lack of int16_t variants.

github.com/ArduPilot/ardupilot

AP_Motors: Allow the user to control minimum PWM time when coming out of SAFE_DISARM

ArduPilot:master ← WickedShell:wickedshell/lthall-pwm-safe-timer

opened 10:47PM - 16 Sep 19 UTC

WickedShell

+31 -14

`M_SAFE_DISARM` allows you to ensure there are no pulses while disarmed. Dependi…ng upon the ESC you have you will need a minimum time at minimum throttle to enable the ESC to spin up. This introduces a parameter to control the ramp up time on the motor. The initial patch was done by @lthall I did the bench testing of it and had to add a patch to restore a regression around sending pulses when it shouldn't be. The main change I introduced on top of what @lthall did was that when going into the shutdown state on the motors I removed the spool down time. I think this is actually appropriate though as while I need a second of the motor being at a low throttle to start the motors, I really don't want or need a second of minimum throttle when stopping the motors. And the act of disarming the aircraft already has the same effect of cutting the throttle output so I think this is a safe path.

github.com/ArduPilot/ardupilot

AP_LTM_Telem: Implementation of LTM telemetry protocol for Ardupilot

ArduPilot:master ← mariansoban:feature/ltm_protocol

opened 10:35PM - 27 Aug 19 UTC

mariansoban

+289 -8

Low bandwidth LTM protocol implementation based on code from artemen from thread…: https://discuss.ardupilot.org/t/adding-ltm-telemetry-support/35385 Protocol overview: https://quadmeup.com/ltm-light-telemetry-protocol/ Note: Data speed is fixed to 2400 bauds. Data sample from Logic Analyser: https://1drv.ms/u/s!AmxBUJd5HcNhh3D46wF66DZK3J63 Screenshot from Logic Analyser ![logic analyser screenshot - G and A frames](https://user-images.githubusercontent.com/14848648/63812459-bbea1380-c92a-11e9-813c-ec2fc42a6b96.png) Screen of Ghetto Antenna tracker: ![ltm protocol at ghetto antenna tracker](https://user-images.githubusercontent.com/14848648/63812447-b68cc900-c92a-11e9-8f35-369faa119810.png) EDIT (2nd Sept. 2019): More photos and screenshots added: 1) Messages from Mission Planner - dev FW built from branch with PR ![01-mp-messages](https://user-images.githubusercontent.com/14848648/64133814-30183180-cdd9-11e9-965a-3506db957874.png) 2) LTM serial setting @ MP ![02-mp-serial-settings](https://user-images.githubusercontent.com/14848648/64133815-30183180-cdd9-11e9-8346-82281bb8f662.png) Note: Current index of LTM protocol is 24, 23 is used by RC IN. 3) Output of serial console from customized Ghetto Antenna Tracker, code: https://github.com/mariansoban/Ghettostation - contains many changes from original KipK's version, but LTM processing was kept intact [03-station-serial-debug.txt](https://github.com/ArduPilot/ardupilot/files/3567121/03-station-serial-debug.txt) 4) Photo of testing setup - ArduPlane code is running on Pixhawk Lite, LTM data is sent to APM board where antenna tracker code is running ![04-testing-setup](https://user-images.githubusercontent.com/14848648/64133816-30b0c800-cdd9-11e9-9cf8-beec447c3542.jpg) 5) Detail photo of antenna tracker's display ![05-display-detail](https://user-images.githubusercontent.com/14848648/64133817-30b0c800-cdd9-11e9-8eaf-d0b55dd6299b.png)

github.com/ArduPilot/ardupilot

Trad Heli: [GSoC] Autonomous Autorotation - SITL only

ArduPilot:master ← Gone4Dirt:AROT-Master

opened 02:29PM - 21 Aug 19 UTC

Gone4Dirt

+1063 -21

This PR is to merge the work done so far on the autonomous autorotation controll…er. So far the Entry, Glide, and Bail Out phases have been developed to the point of being ready to incorporate into master. As it is incomplete, this flight mode has been made SITL only. Development is ongoing, however I would like for this to be merged into master at this stage to effectively act as a 'space saver' in the code and help me keep on top of maintaining the currency of the code with master. Here is a demo of the functionality and brief explaination of how to use the flight mode using Real Flight 8. https://youtu.be/rG3WAB25ctk Switching into this flight mode is different to 'normal' flight modes. This diagram illustrates the switchology. ![Switchology_Flow_Diagram_Mk2](https://user-images.githubusercontent.com/34512430/63439928-e158b800-c426-11e9-91e9-fb9a54f4e5e7.png) **Autorotation Library** This library holds all of the functions and parameters that are bespoke to the autorotation flight mode. Future autorotation functions will be stored here. The main two functions are _update_hs_glide_controller()_ and _get_rpm()_. _update_hs_glide_controller()_ is the head speed controller. This manipulates the collective position to achieve and maintain head speed. It utilises a simple P-term controller and a following trim. The following trim applys a LPF to the previous collective setting to control the rate at which the trim can change. During the entry phase the trim changes much quicker to achieve a sensible trim position. The trim is slowed down during the glide. This allows for fine tuning adjustments and reduces sensitivity to transient effects such as gusting winds. _get_rpm()_ interfaces with the RPM library, getting the correct RPM instance to be used for measuring the main rotor head speed. It also conducts sensor health monitoring and relays to the head speed controller if the sensor can be trusted or not. A demonstration of the sensor switching and the controller behaviour with poor RPM sensor health can be seen here: https://youtu.be/6YBl-w4EowY **The parameters are as follows:** **AROT_ENABLE** - Enables the autorotation mode and displays the AROT parameters. **AROT_HS_P** - P gain for the head speed controller. This parameter should need tuning. It should work for all helis. **AROT_HS_SP** - Set Point for the head speed controller. This is the target RPM for the main rotor. Start by using the hover head speed for your aircraft. **AROT_TARG_SP** - Target forward speed (cm/s). This is the target speed passed to the speed height controller. **AROT_COL_FILT_E** - The low pass filter cut off frequency (Hz), applied to the collective during the entry phase. This shouldn't need tuning. However, if using a large heli with significant inertia in main rotor, and the head speed hughly over-shoots the target RPM (>450+ RPM) then consider reducing this value a little. Conversly, very small helis with low inertia may need to increase the frequency. The default value will work for all sizes though. This value should be greater than AROT_COL_FILT_G. **AROT_COL_FILT_G** - The low pass filter cut off frequency (Hz), applied to the collective during the glide phase. This shouldn't need tuning. However, if using a large heli with significant inertia in main rotor, and the head speed oscillates about target RPM (+/-50 RPM), whilst not manouvering, then consider reducing this value a little. Conversly, very small helis with low inertia may need to increase the frequency. The default value will work for all sizes though. This value should be smaller than AROT_COL_FILT_E. **AROT_AS_ACC_MAX** - The maximum forward acceleration applied to the speed-height controller (cm/s/s). **AROT_BAIL_TIME** - The time in seconds between initiating the bail out phase and hand over to the new flight mode. **AROT_HS_SENSOR** - The RPM sensor instance to be used to measure main rotor head speed. 0 - RPM Sensor 1, 1 - RPM sensor 2. Must be 0 in SITL with real flight. **Speed Height Library** This library holds the functions for the forward speed/pitch control. This library was cherry-picked from @bnsgeyer 's L1-nav controller. I have modified it slightly. I moved the forward speed calculation into its own function, to allow it to be used by _mode_autorotation.cpp_. I removed the D-term as it is unnecessary/doesn't contribute must to this controller. The controller uses the PID library to convert the desired velocity into a desired acceleration. The acceleration is then limited to prevent over pitching and ensure smooth transitions. The acceleration is then converted into a pitch target using a little geometry. The pitch target is retrieved by _mode_autorotation.cpp_ and passed to the attitude controller. **The parameters are as follows:** **SPDHGT_VEL_P** - P term gain **SPDHGT_VEL_I** - I term gain **SPDHGT_VEL_D** - D term gain. Not used but shows up as part of the PID library. **SPDHGT_VEL_FF** - Feed forward term gain **SPDHGT_VEL_IMAX** - I term limit. **SPDHGT_VEL_FLTT** - Target filter **SPDHGT_VEL_FLTE** - Error filter **SPDHGT_VEL_FLTD** - D term filter. Not used but shows up as part of the PID library.

github.com/ArduPilot/ardupilot

COPTER: Failsafe Refactor & FS_OPTIONS

ArduPilot:master ← Pedals2Paddles:fs_options

opened 02:30AM - 20 Dec 17 UTC

Pedals2Paddles

+726 -191

(_Updated 2019-10-17_) As discussed on a dev call, bitmask options for failsaf…es was highly desired. Reason being, we can add many many options without adding many many additional parameters. So One new bitmask parameter called `FS_OPTIONS` now has all the user options for battery, radio, and GCS failsafes in copter. Now we can have as many little options or modifiers for each type of failsafe as we want. The user has more flexibility to meet mission needs. And it's pretty straightforward to add new ones. In the process, it turns out all the failsafes could use a refactoring to clean up the ever expanding nested ifs and missing functionality. **New bitmask options as of today** - Continue auto mode on radio failsafe (replaces `FS_THR_ENABLED = 2`) - Continue auto mode mission on GCS failsafe (replaces `FS_GCS_ENABLED = 2`) - Continue guided mode on radio failsafe - Continue landing on radio, GCS, or failsafe if already landing - Continue in pilot controlled modes on GCS failsafe **The GCS failsafe** seems have suffered some institutional neglect over the years. I updated that so it can have the same settings, options, and behaviors as the radio failsafe. Also, I found that the GCS failsafe checks were only running in guided mode. Not even auto mode, nor any other mode. The GCS failsafe has been heavily reworked, and will now operate in any mode. Just as before, the checks are bypassed if no GCS has ever been connected. **The radio failsafe** has been severely cleaned up but isn't operating any differently, other than the addition of FS_OPTIONS. **Parameter conversion** will set the new continue mission option bits for radio and GCS if your `fs_thr_enable` or `fs_gcs_enable` parameters were previously set to continue mission. Those two will then be set back to 1 (RTL). **Autotest refactor** now covers all logic and actions for the radio, GCS, and battery failsafes. Previously, the radio and battery failsafe only test one condition and action. There was no GCS failsafe test. I've added a GCS failsafe test. And all three now run through all the possible conditions and actions. The old autotest for radio and battery failsafe timed at 1.5 minutes. The new autotest for radio, gcs, and battery takes 13 minutes. That should give you an idea of how much more detail these tests perform now. **Benefits** - Radio failsafe _continue in mission_ only worked with RTL. You couldn't continue in mission with SmartRTL or Land as a failsafe. Now you can continue in mission with any of the failsafe actions. - GCS failsafe is now useful. If your use case requires a GCS for safety, this will allow that. Where before the GCS failsafe only responding in guided mode. Same options as radio failsafe. - You can also now choose to ignore the GCS failsafe in pilot controlled modes - You can choose to ignore GCS failsafe in a mission, which was non-functional before. - You can ignore radio failsafes while in guided mode, such as when your telemetry has more range than RC and are using guided mode. - If you are in land mode (flight mode, mission command, or landing phase of RTL), you can choose to continue landing if another failsafe kicks in. Before, you'd be stuck having it do a full RTL procedure when it was just about to land to begin with, wasting battery. - GCS Failsafe will fall back to RTL if an invalid value is entered into `fs_gcs_enable`. Previously, if the value was invalid, it would do nothing. ** Wiki Updates ** Done in https://github.com/ArduPilot/ardupilot_wiki/pull/2102 ** Blog Post ** I have a blog post ready to post on Discuss that details all of this with pretty tables such. I will put a link to that blog post in the Facebook group as well. **TO DO:** - Mission Planner update for the new bitmasks. Does MP do that little checkbox thing automatically or does MO need to create that?

Plane

Copter

github.com/ArduPilot/ardupilot

Copter: 3.6.0 issues list

opened 01:29AM - 02 Oct 18 UTC

closed 06:40AM - 13 Apr 21 UTC

rmackay9

Copter ChibiOS

List of issues for the Copter-3.6.10 release: - SBUS input not working when u…sing converter board ([discussion](https://discuss.ardupilot.org/t/ac-3-6-10-and-error-reading-sbus/45468), [discussion2](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/14)) - omnibus pro v2 not working? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/26)) - Radiolink mini pix telem1, telem2 are swapped (again) ([discussion](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/17)) - Can't initialise AK09166 reset failed ([discussion](https://discuss.ardupilot.org/t/passthrough-telem-ak09166-reset-failed/45512), [issue](https://github.com/ArduPilot/ardupilot/issues/11935)) - One user's board locks up on boot-up This is a list of issues to investigate for the Copter-3.6.0 release: - Matek405-STD not built for stable ([issue](https://github.com/ArduPilot/ardupilot/issues/11292)) - Notch filter not working? ([discussion](https://discuss.ardupilot.org/t/notch-filter-not-working/40616)) - Loss of altitude control not caused by vibration ([discussion](https://discuss.ardupilot.org/t/uncontrolled-climb-after-auto-not-respond-to-land-or-rtl/39689/5)) - Copter not disarming reliably on landing ([discussion](https://discuss.ardupilot.org/t/why-quad-doesnt-want-to-disarm-after-landing-happened-two-times-now-arducopter-3-6-7/39568/21)) - Compass cal makes no noise when started from transmitter ([discussion](https://github.com/ArduPilot/ardupilot/issues/10093)) - lots of questions around rangefinders as alt source ([issue1](https://github.com/ArduPilot/ardupilot/issues/10598), [issue2](https://github.com/ArduPilot/ardupilot/issues/10586)) - external baro bm280 doesn't work on 3.6.6 (works on 3.7) [discussion](**https://discuss.ardupilot.org/t/copter-3-6-6-rc2-available-for-beta-testing/38330/16**). unfortunately a bad wiki update led a user astray - flowhold can lean past ANGLE_MAX ([issue](https://github.com/ArduPilot/ardupilot/issues/10524)) - Zubax GPS won't initialise on ChibiOS with normal power (works on USB). https://discuss.ardupilot.org/t/zubax-compass-wont-initialize-on-uavcan-via-onboard-power/38524 - Matek405-STD logging not working. https://discuss.ardupilot.org/t/copter-3-6-0-available-soft-release-for-2-days/34456/122 - parameters wiped with SD card becomes full? (https://discuss.ardupilot.org/t/problem-w-3-7-flash-logging-lost-parameters/37803/2) - flowhold mode wobbles and jumps (https://discuss.ardupilot.org/t/3-6-4-flowhold-no-such-mode-cheerson-cx-of/37076) - oneshot125 not working on Navio2 ([discussion](https://discuss.ardupilot.org/t/copter-3-6-4-oneshot125-not-enabled/37067), [discussion2](https://discuss.ardupilot.org/t/copter-3-6-10-released/45367/28)) - -v2 or fmuv2 being loaded (discussion here:https://discuss.ardupilot.org/t/3-6-4-flowhold-no-such-mode-cheerson-cx-of/37076) - BLHeli passthrough not working. See [Giorgio discussion here](https://discuss.ardupilot.org/t/copter-3-6-4-released/36749/5). - PILOT_TKOFF_DZ not working. https://github.com/ArduPilot/ardupilot/issues/9969 - Twitch when switching from Loiter to Auto ([issue](https://github.com/ArduPilot/ardupilot/issues/10072)) - Dataflash log analysis tool needs updating ([issue](https://github.com/ArduPilot/ardupilot/issues/10094)) - UAVCAN external compass appearing as Compass2 ([issue](https://github.com/ArduPilot/ardupilot/issues/10095)) - set-home with 0,0,0 doesn't set home to current location (https://github.com/ArduPilot/ardupilot/issues/9725) - can't upload terrain missions to boards with no SD card ([issue](https://github.com/ArduPilot/ardupilot/issues/9679), [discussion](https://discuss.ardupilot.org/t/terrain-following-with-spline-wp-on-omnibusnanov6-not-supported)) - "Initialising APM" message if using UAVCAN Zubax GPS. https://github.com/ArduPilot/ardupilot/issues/9579 - Garmin Lidar Lite v3 offset issue: https://discuss.ardupilot.org/t/lidar-lite-v3-offset-value-issue/34793/13 ChibiOS specific issues: - SUMD (Graupner RC protocol): https://github.com/ArduPilot/ardupilot/issues/10346 - cx-of not working on kakutef4 (https://discuss.ardupilot.org/t/copter-3-6-5-rc2-available-for-beta-testing/37391) - mateksys F405 UART2/3 same? see Gino Nencioni https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/31. Cheerson CX-OF doesn't work on mateksys F405. https://discuss.ardupilot.org/t/cheerson-cx-of-low-cost-optical-flow-sensor-testing/35598/35 Also an issues in 3.5.7: - System doesn’t start compass if sbus receiver is plugged in (happens in 3.5.7 too). see Corrado here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/63 Resolved I think: - Pixhawk4-mini doesn't work with SBUS? ([discussion](https://discuss.ardupilot.org/t/pixhawk-4-mini-no-sbus-signal/38961)) (no feedback from user) - Motor Test leading to disconnect of MP? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-10-rc1-available-for-beta-testing/44531/22)) - CX-OF not working on ChibiOS boards. see Gino's report here: https://discuss.ardupilot.org/t/copter-3-6-6-rc2-available-for-beta-testing/38330/4 -- will be released with Copter-3.6.8 - Copter flips because Pixhack's 2nd IMU orientation is incorrect ([discussion](https://discuss.ardupilot.org/t/ekf-failsafe-change-imu-crash-with-flip/39709/11)) -- bad hardware it seems - Matek405 Wing with [Beitian GPS/compass](https://www.banggood.com/UBLOX-NEO-M8N-BN-880-Flight-Control-GPS-Module-Dual-Module-Compass-p-971082.html) not booting. https://discuss.ardupilot.org/t/copter-3-6-5-released/37733/10, report2: https://github.com/ArduPilot/ardupilot/issues/10448 -- fixed in 3.6.7 - Auto Land incorrectly sets target position ([issue](https://github.com/ArduPilot/ardupilot/issues/10617)) - fixed in 3.6.7 - check EKF switching in loiter (see Iron_Donkey's comments along with Randy's in this discussion: https://discuss.ardupilot.org/t/lidar-lite-v3-offset-value-issue/34793/25) -- serious EKF compass selection bug fixed in 3.6.6. - BMP280 External Baro not working see MarcK's report here:https://discuss.ardupilot.org/t/copter-3-6-6-rc2-available-for-beta-testing/38330/5 -- works in master but not included 3.6 so wiki has been updated - skipping first spline waypoint in SITL. https://github.com/ArduPilot/ardupilot/issues/9657 - resolved in Copter-3.6.6 - constant compass switching. see andypiper and Corrado_Steri here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/64 - resolved in Copter-3.6.6 - MP is missing 3.6.3, 3.6.4 in previous firmwares list. https://github.com/ArduPilot/MissionPlanner/issues/2079 - Bad logging messages ([issue here](https://github.com/ArduPilot/ardupilot/issues/10124), discussion here: https://discuss.ardupilot.org/t/copter-3-6-0-available-soft-release-for-2-days/34456/98, https://discuss.ardupilot.org/t/prearm-logging-fail-3-6-2/35828) -- hopefully resolved in Copter-3.6.5 - dshot dma issue? https://discuss.ardupilot.org/t/need-help-to-analyze-a-crash-reason/34662/2 -- no follow up reports - PWM output to ESCs not working 1 in 10 boots. see Corrado_Steri here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/63 -- cannot reproduce - RC decoding with DSM (https://discuss.ardupilot.org/t/rc-input-decoding-error/35855/3) -- cannot reproduce - interference issue? - TS100 gps/compass detects QMC5883L compass that doesn't exist. See Sergey https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/21. Also again here: https://discuss.ardupilot.org/t/error-height/35467 -- fixed in 3.6.4? - pixhawk4 voltage meter doesn't work: https://discuss.ardupilot.org/t/pixhawk-4-power-module-readings-not-working/35149 -- fixed in 3.6.4 - OSD not working on MatekF405-CTR. https://discuss.ardupilot.org/t/osd-does-not-work/35470 -- fixed in 3.6.3 - pixhawk4 rc inputs go crazy: https://discuss.ardupilot.org/t/cumulation-of-crashes-due-to-seemingly-weird-input-pixhawk-4/35537/4 -- fixed in 3.6.3 - tradheli defaults changed for ACCEL_Z. discussion: https://discuss.ardupilot.org/t/copter-3-6-1-released/34969/27 -- fixed in master, will go out with 3.6.3 - stable MP doesn't support installing 3.5.7 - Matek 405CTR telemetry not working? see Jonathan_Blumenfeld here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/48 -- stream rates were set to 0 (why didn't the GCS set them is unclear -- perhaps user was not using a GCS) - MiniPix the display SSD1306 blocks the telemetry on the usb port making it impossible to communicate with the FC (see Gino_Nencioni discussion here: https://discuss.ardupilot.org/t/copter-3-6-1-released/34969/10) -- cannot reproduce, no answer from user when requested params. - another dshot issue? https://github.com/ArduPilot/ardupilot/issues/9738, https://discuss.ardupilot.org/t/copter-3-6-1-released/34969/13 -- config issue according to tridge - MP doesn't allow downgrades ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/1977)) -- fixed in latest beta - Disabled Safety Switch is sometimes preventing arming https://discuss.ardupilot.org/t/copter-3-6-0-doesnt-obey-brd-safetyenable-0-some-times/34623 -- fixed in 3.6.1-rc1 - minimOSD showing Alt-above-sealevel: https://discuss.ardupilot.org/t/altitude-in-minimosd-relative-to-sea-level/34665/6 -- fixed in 3.6.1-rc1 - 3.5.7's FS_BATT_VOLT isn't being copied over to BATT_LOW_VOLT -- fixed in 3.6.1-rc1 - mavlink update rate slower than 3.5.7? see kknet here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/84 -- it's a bit slower with NuttX but faster with ChibiOS - arming failure tone not played. see brandon macdougall here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/60 -- cannot reproduce - "PreArm: Hardware Safety Switch" should only be displayed on MP HUD if there are not other pre-arm failures (this could possibly be fixed by changing the order in which we send these messages). see rickyg32 here: https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/73 - simple mode always starts on? see Paul Atkin https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/4 -- cannot reproduce - Pixhawk4 can't save parameters: https://discuss.ardupilot.org/t/parameter-writing-issue-arducopter-v3-6-0-rc10-on-a-pixhawk-4/33221 -- cannot reproduce. - PixhackV3 - 3rd compass not found. Varun Nelakanti: https://discuss.ardupilot.org/t/copter-3-6-0-rc8-available-for-beta-testing/32374/37 Resolved / removed as 3.6.0 release requirement: - flowhold won't descend: https://discuss.ardupilot.org/t/flow-hold-wont-descend/34105/3 -- fixed in 3.6.0 - kakutef7 hwdef incorrect? See Paul Atkin. https://discuss.ardupilot.org/t/copter-3-6-0-rc12-available-for-beta-testing/33718/47 -- fixed in 3.6.0 - Maxbotix I2C sonar freeze. https://github.com/ArduPilot/ardupilot/issues/9602 -- fixed in 3.6.0 - pixracer LED shows incorrect colours: https://discuss.ardupilot.org/t/pixracer-onboard-led-is-messed-up/28493/3 -- fixed and will be included in official release - DShot causes Cube to freeze up after 10sec. Daniel_Met: https://discuss.ardupilot.org/t/copter-3-6-0-rc10-available-for-beta-testing/33057/10 -- will be released with -rc12 - LidarLight3 using PWM not working. See FRED_GOEDDERT: https://discuss.ardupilot.org/t/copter-3-6-0-rc10-available-for-beta-testing/33057/12 -- not yet supported in ChibiOS (known issue) - PixhackV3 - can't do fast sampling. Roland Mayer: https://discuss.ardupilot.org/t/copter-3-6-0-rc8-available-for-beta-testing/32374/37 -- Pixhack uses MPU6000 that can't do fast sampling - Sergey: safety button not working on Pixracer: https://discuss.ardupilot.org/t/copter-3-6-0-rc11-available-for-beta-testing/33558/3 -- fixed in -rc12 - gazebo not working with SITL. https://discuss.ardupilot.org/t/arducopter-3-6-sitl-with-gazebo-unstable-flight/34451 -- solved, it was due to performance issue with gazebo.

Rover

github.com/ArduPilot/ardupilot

Rover: 3.5 issues list

opened 06:32AM - 26 Jan 19 UTC

closed 01:00AM - 15 Oct 19 UTC

rmackay9

Rover

This is a list of issues to investigate for the Rover-3.5.0 release: - OneSho…t (and possibly other output types) not working. Raised by Nando here: https://discuss.ardupilot.org/t/rover-3-5-0-rc2-is-available-for-beta-testing/37731/12 Resolved: - Build server hasn't rebuilt for fmuv2 (fmuv3 is available here: http://firmware.ardupilot.org/Rover/beta/fmuv2). report is here: https://discuss.ardupilot.org/t/rover-3-5-0-rc2-is-available-for-beta-testing/37731/14

CraigElder · September 24, 2019, 3:54pm

Attendee count (max): 19

UTC1102 - https://github.com/ArduPilot/ardupilot/pull/12380

Trimming for Rovers
Manual, armed and moving
Only changing the input side
Need to change servo trim
Trim then re-neutralize trim on transmitter
Won’t work it non-manual modes
- Will be seen as consistent input
Need a line of code for each active mixed output
Probably not a good idea for skid steering
Connecting real transmitter to SITL is a useful debugging technique

UTC1112 - https://github.com/ArduPilot/ardupilot/pull/12379

Add new CPU class 250
F7 and H7 small log buffer size
Soak up that extra memory!
Using CPU speed for memory?
- HAL_MEMORY_TOTAL_KB
  - Need to set this for SITL….
- 250-class is defined as having at least 512kB of memory
  - Fast CPUs not much RAM?
  - 75MHz for Maple stuff
- Proportions of memory would be bad
- Add MEMORY_CLASS
ESP32?
davidbuzz: esp32 240mhz, Memory 520 KiB SRAM
[9:20 AM] (Channel) MdB: I’m just pointing out that CPU class of speed doesn’t translate well across everything that exists, and when it’s been annoying before

UTC1122 - https://github.com/ArduPilot/ardupilot/pull/12364

EKF RAM reduction using common variables
Inspired by PR from JC
- Uses stack
- 5kB stack frames
- Loses only static monitoring of stack size we get from compiler as we need to set the number very high
This sets up one set of transient data store for all cores
- They use it in turn
Tridge wants this reviewed so he can merge it
- Peter will look at it later today

UTC1125 - https://github.com/ArduPilot/ardupilot/pull/12358

Add loiter gain
Thoroughly tested on lake
Critical on displacement hulls
Cruise on displacement hulls doesn’t work so well
Allows option of bypassing calculation and putting true maximum speed of craft in
Linear responses to stick inputs in many modes is what this is attempting to achieve
Speed_max rather than max_speed
Randy will merge after a few tweaks from Henry

UTC1126 - https://github.com/ArduPilot/ardupilot/pull/12344

Peter still needs to fix the gtest stuff
Want to get the gtest stuff fixed before merging this

UTC1136 - https://github.com/ArduPilot/ardupilot/pull/12335

Merged!
Eliminates on AP_Buffer class

UTC1136 - safe-disarm

Zero outputs can mean ESCs aren’t initialised when you finally send pulses
- You get beeping ESCs
- Half-pulses (e.g. on disconnect) can cause a bit of spin
https://github.com/ArduPilot/ardupilot/pull/12319
Adds parameter to add minimum delay
Comment is out of date
- Only does enable side rather than disable thing
These default times are very long
- Reboot recovery?
- Blheli needs 2/3rds of a second!
  - Maybe we have a bug in our output layer?
    - Tested with logic analyser to be on the blheli side
    - Arming-in-auto is rare
      - Combined with zero-pwm is even rarer
Need to make sure this doesn’t affect spin-up time when not using zero-pwm

UTC1145 - https://github.com/ArduPilot/ardupilot/pull/12313

Option bitmask in hold/loiter and at the end of RTL
Currently refuses failsafes in hold
This adds an option so your failsafes can continue to work in hold
Add something so you don’t activate failsafes within some distance of home?
If you RTL in surface vehicle you hold
- In a boat you will circle in a very tight circle at full throttle
- Option to loiter at end of rtl
Separate parameters for accel vs decel?
May want to split this into two PRs
RTL_DONE_BEHAVE
- To match MISS_DONE_BEHAVE

UTC1153 - https://github.com/ArduPilot/ardupilot/pull/12291

Copter - fix RC failsafe for no RC receiver
Stops fast spinning
Could do better with using the failsafe counter
Merged!

UTC0000 - https://github.com/ArduPilot/ardupilot/pull/12372

Publish nav data to OSD
Reviewed already
Don’t reference explicit flight modes
Where do we put this data?
- Screen real-estate issue
- Reusing xtrack error space for loiter distance
Use Flightmode object for distance and destination

UTC0011 - https://github.com/ArduPilot/ardupilot/pull/12158

AP_LTM_Telem
Need to reduce scope on semaphore
Need to resolve the issues raised by glacomo892

UTC0017 - Matt and autorotate

PR for SITL-only stuff
- Doesn’t appear on a normal board
Large PR
Bill has followed up and done testing
- With enable/disable on autorotation
https://github.com/ArduPilot/ardupilot/pull/12108
Using IDs above 255 is problematic
Can’t go backwards too far
- Never see anything before 3.2.1
  - Except on apm boards which aren’t going to get updated
- December 2015 change went in to master
- Maybe December 2016 for stable release
- Probably 3.4
- Anybody running early 3.4 or 3.3 might have problems when upgrading
Put it into g2 instead?
- Yes
Maybe in 4.0 we can start using extra parameter IDs

UTC0022 - https://github.com/ArduPilot/ardupilot/pull/7432

Extra failsafe bitmask options
Replaces continue-mission options
GCS failsafe fixes?
- Out-of-step with documentation?
- Parameter conversion takes care of GCS and radio failsafe
- MP updates needed
- Parameter conversion works
- Works in SITL
Parameter conversion not quite right
- Need to use “configured”, not check against zero
Behavioural change on throttle failsafe needs to be corrected
Blog post to announce changes coming

UTC0036 - Plane update

New beta release this-morning
- Out later today
- Beta2
- Smallish set of changes
- Plane 4.0.0beta releases
- Includes SCHED_LOOP_RATE fixes
  - Not checking for RC inputs in stabilize mode is a problem
  - Oneshot-125 timing problem also found
  - Delay_microseconds to ensure gap
  - 125 delay is only 1/8 th normal length
  - Throttle above certain level would mean running out of time for main loop
- Leonard is now running @1KHz
- Sched_debug has achieved loop rate now
- Uniitalised value in mag fusion in EKF3
- Enable EK3 as a ride-along
- track-origins option available for
- Perhaps we should run valgrind on an autotest?
- Fill-nanf
  - Catch uninitialised values without running Valgrind
  - Trying to prove Jon’s change was safe
    - Ensuring No reuse of variables between update calls in EKF
  - Need to not prefill when running Valgrind
- Another couple of weeks of testing before 4.0 is released
- Backports project added
  - Please add to this things that should come back into 4.0 from master

UTC0049 - Randy and Copter

https://github.com/ArduPilot/ardupilot/issues/10350
3.6.11 went out
Copter-3.6.11-rc1 available for beta testing
EKF fixes
Baro spikes issue
I2c storm mitigations
F405 wing Mark showed it happened when disconnecting a compass. Level shifter
Really need to publicise the need to move to the most recent stable firmware
Parity checking for commercial S.Bus device broken (inverted!)
Add option bit to ignore parity
- Need to propagate option to IOMCU
New Rover and Copter releases
- Status only moved forward a little bit
- Complex fences PR needs to be merged
- Vibration failsafe patches have been PRd
New point release for Rover?
- One with JUST a patch for the i2c storm fix
- Tridge is glad he did it for Plane
- Tridge offers to do it for Rover
- One-line-fix

UTC0103 - clos