Dev call Sept 23, 2024

CraigElder · September 23, 2024, 10:59pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Refactor attitude control to be thread safe

ArduPilot:master ← andyp1per:pr-att-dt

opened 08:51PM - 14 Aug 24 UTC

andyp1per

+155 -52

Broken out from https://github.com/ArduPilot/ardupilot/pull/27029 The essence… of these changes is to make sure that the interaction between the attitude controller and the rate controller are thread safe. This involves avoiding setting object state as intermediate values but instead publishing at the end of a calculation. It also means that changes should be accepted as vectors rather than discrete axes. Experiments were also done using locking but this proved to be moderately expensive at high update rates and did not improve the overall effect of this change.

github.com/ArduPilot/ardupilot

ArduPlane: use Location::AltFrame for guided_state target frame references enabling ABOVE_TERRAIN

ArduPilot:master ← timtuxworth:pr-location-altframe

opened 10:59PM - 24 Aug 24 UTC

timtuxworth

+332 -60

This PR changes the c++ code in Plane Guided mode to use Location:AltFrame for i…nternal references to target Frame. This only applies for AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED - effectively guided mode commands received via MAVLink, which could also be from Lua using the command_int Lua interface. A very welcome side effect of this change is that it enables plane MAVLink CMD_GUIDED_CHANGE_ALTITUDE to work for terrain altitudes in addition to the existing GLOBAL/Absolute and RELATIVE/Home altitudes. Extracted from #27909 as requested by @IamPete1 to fix guided_state.target_alt_frame being a uint8_t whereas it actually stores AltFrame values from Location::AltFrame. Similar to changes proposed for Sub in #27767 Mavlink alt frame values (probably) needed for altitude navigation: ``` MAV_FRAME_GLOBAL=0, /* Global (WGS84) coordinate frame + altitude relative to mean sea level (MSL). | */ MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global (WGS84) coordinate frame + altitude relative to the home position. | */ MAV_FRAME_GLOBAL_TERRAIN_ALT=10, /* Global (WGS84) coordinate frame with AGL altitude (altitude at ground level). | */ ``` whereas the internal Location:AltFrame values are ``` enum class AltFrame { ABSOLUTE = 0, ABOVE_HOME = 1, ABOVE_ORIGIN = 2, ABOVE_TERRAIN = 3 }; ``` So as you can see ABSOLUTE is co-incidentally the same (zero) but none of the other values match. Even worse MAV_FRAME_GLOBAL_RELATIVE_ALT=3 == AltFrame::ABOVE_TERRAIN=3. So the MAVLink values need to be translated by GCS_Mavlink.cpp to values that can be used by Location and all of the other internal code that uses Location::ALtFrame.

github.com/ArduPilot/ardupilot

Param for Max Retrial of Engine Cranking.

ArduPilot:master ← loki077:Max-engine-cranking-retrial

opened 02:52AM - 26 Aug 24 UTC

loki077

+70 -2

As we use a common battery for Avionics and Engine Cranking we would like to hav…e an option to limit the number of retrials so that it doesn't drain that battery completely. Obvious choice is to separate the batteries but I still think there could be some use of this feature. My Implementation is by adding Param MAX_RETRY which If set 0 then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up. Also the counter to track retrials resets to zero on disarm (could be done only on power cycle rather than disarm). If needed to be override can be done by setting the param to 0. I would like to get more ideas on the method of its implementation. I have not yest tested this code. Other ways to implement this is by just keep increasing the time between retrials.

github.com/ArduPilot/ardupilot

Copter: guided: `set_angle` call `init_z_controller` when changing from thrust to climb rate control to avoid flow of control error

ArduPilot:master ← IamPete1:copter_angle_guided_flow_of_control

opened 10:04AM - 17 Sep 24 UTC

IamPete1

+5 -0

We init the Z controller when we fist enter the angle sub mode of guided. Howeve…r if you send throttle commands the Z controller is not used, if you then change to sending climb rate commands while remaining in angle sub mode you trigger this flow of control error in the pos controller: https://github.com/ArduPilot/ardupilot/blob/a9ea760cadfddf39434cb3b7dbcf8533f6c4fb1a/libraries/AC_AttitudeControl/AC_PosControl.cpp#L961-L969 extract from https://github.com/ArduPilot/ardupilot/pull/28110

github.com/ArduPilot/ardupilot

Copter: GCS_MAVLink: populate flags using position controller active flags

ArduPilot:master ← IamPete1:copter_mavlink_poscontrol

opened 10:57AM - 17 Sep 24 UTC

IamPete1

+17 -48

This means we don't need to switch on the mode number, extracted from https://gi…thub.com/ArduPilot/ardupilot/pull/28110 This is the first time we will be using these flags for reporting, until now it is used internally only. There are some changes in behaviour, for example you can be landed in auto mode in which case the pos controller may not report as active (i need to check).

github.com/ArduPilot/ardupilot

Scripting: add `set_target_rate_and_throttle` binding for copter

ArduPilot:master ← IamPete1:copter_rate_throttle

opened 11:49AM - 17 Sep 24 UTC

IamPete1

+35 -0

This adds a rate control binding with throttle for scripting, extracted from htt…ps://github.com/ArduPilot/ardupilot/pull/28110. Note that we do already have `set_target_throttle_rate_rpy` which is impended on plane. https://github.com/ArduPilot/ardupilot/blob/a9ea760cadfddf39434cb3b7dbcf8533f6c4fb1a/libraries/AP_Scripting/docs/docs.lua#L2487-L2492 The core idea is the same. However, the existing method does not return false if the current mode is not valid. We could add a return to the exiting plane method with out a breaking change. However it is nice to keep the forward flight bindings separate to the VTOL ones so in the future we could support this method on quadplane as well as the existing one for forward flight.

github.com/ArduPilot/ardupilot

Use get_channel_yaw() and friends in AP_Arming

ArduPilot:master ← peterbarker:pr/rcmap-stop

opened 02:22AM - 19 Sep 24 UTC

peterbarker

+20 -15

We have methods which return you the relevant channels (or a dummy if your vehic…le is mis-configured). Use them. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * Durandal -56 * -56 -56 -48 -48 -48 Hitec-Airspeed * KakuteH7-bdshot -64 * -56 -64 -64 -56 -56 MatekF405 -56 * -64 -56 -56 -56 -56 Pixhawk1-1M-bdshot -56 -56 -64 -64 -40 40 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -56 * -56 -56 -64 -56 -56 skyviper-v2450 -56 ``` We appear to faithfully copy what master does here: ``` MANUAL> arm throttle MANUAL> Got COMMAND_ACK: COMPONENT_ARM_DISARM: ACCEPTED AP: Throttle armed ARMED MANUAL> MANUAL> param show RCMAP* MANUAL> RCMAP_PITCH 2 RCMAP_ROLL 45 RCMAP_THROTTLE 3 RCMAP_YAW 56 Flight battery 100 percent ``` We'll need to get a lot more complicated than a single-bit "enforce RPY are neutral" to do better here.

github.com/ArduPilot/ardupilot

Rearrange initialiser lists so we can use -Werror=reorder

ArduPilot:master ← peterbarker:pr/reorder-simple-stuff

opened 12:29PM - 20 Sep 24 UTC

peterbarker

+144 -129

-Werror=reorder enforces a rule that initalisers must appear in the same order a…s the members they are initialising appear in the class declaration. Having these appear in the wrong order can lead to programmers believing one thing about the order of object construction when something else is happening. See point 3 from: https://en.cppreference.com/w/cpp/language/constructor ``` Initialization order The order of member initializers in the list is irrelevant: the actual order of initialization is as follows: 1) If the constructor is for the most-derived class, virtual bases are initialized in the order in which they appear in depth-first left-to-right traversal of the base class declarations (left-to-right refers to the appearance in base-specifier lists). 2) Then, direct bases are initialized in left-to-right order as they appear in this class's base-specifier list. 3) Then, non-static data member are initialized in order of declaration in the class definition. 4) Finally, the body of the constructor is executed. ``` These patches are pulled out of a larger PR as they are completely no-compiler-output-change: ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

AP_Math: rename earth_to_body to body_to_earth

ArduPilot:master ← robertlong13:pr/quat_earth_to_body_fix

opened 06:14AM - 21 Sep 24 UTC

robertlong13

+41 -44

This function actually converts a vector represented in the body frame to the ea…rth frame. The previous name was wrong. This function matches the behavior of AHRS::body_to_earth. Here is a lua script and an example log of it running in SITL to demonstrate that fact: [compare_ahrs_and_quat.zip](https://github.com/user-attachments/files/17082920/compare_ahrs_and_quat.zip) The confusion stems from the fact that the rotation that you apply to rotate frame A such that it becomes frame B is the _**opposite**_ of the rotation you apply to convert a vector represented in frame A to be represented in frame B. Or, in other words, the rotation that you apply to rotate frame A such that it becomes frame B is the rotation you apply to convert a vector represented in frame B to be represented in frame A. Interestingly, the docs for the lua binding correctly described what the function was doing (applying the rotation described by the quaternion to a vector), but the original function description described the opposite (converting a body-frame vector to earth-frame). Let's do an example in 2D. XE/YE is the Earth frame coordinate system. Our vehicle is pointing at a heading of 45 degrees. If we rotate our Earth reference frame XE/YE 45 degrees to the right, we get the body reference frame XB/YB. ![image](https://github.com/user-attachments/assets/355d9714-33d8-4e85-af22-e405cc42930a) One might call this rotation of 45 degrees to the right "a rotation from E to B". Someone might call a rotation matrix that converts a representation of a vector in frame E to one in frame B "a rotation from E to B". Those are exact opposites of each other. I'd argue the former is more correct, but because it's so easy to get confused, we need to be extremely clear what we mean. I have cleaned up some comments in the code that were ambiguous or flat-out wrong. Unfortunately, there are many other cases remaining (stuff like `get_rotation_body_to_ned`, which I think should be renamed to `get_body_to_ned` or maybe `get_body_to_ned_matrix` and get a comment explaining very clearly what it does and how it's used). If people are generally on-board with cleaning those up, I'd be happy to in another PR if this one gets approved.

github.com/ArduPilot/ardupilot

Copter: mode_auto: remove more code based on defines

ArduPilot:master ← peterbarker:pr/remove-more-code-copter

opened 09:55AM - 21 Sep 24 UTC

peterbarker

+12 -2

Replaces https://github.com/ArduPilot/ardupilot/pull/14554 ``` Board … AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * -32 -32 * * * Pixhawk1-1M-bdshot * -32 -32 * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * -32 -32 * * * skyviper-v2450 -24 ```

github.com/ArduPilot/ardupilot

Rover: remove handling of prearm empty-string case

ArduPilot:master ← peterbarker:pr/remove-empty-string-check-arming-rover

opened 01:39AM - 22 Sep 24 UTC

peterbarker

+1 -7

it is clear by inspection that this string can never be empty when the called fu…nction returns false. AP_OAPathPlanner::pre_arm_check is not that complicated! Lightly tested in SITL by setting `OA_TYPE` to an invalid value Replaces https://github.com/ArduPilot/ardupilot/pull/26963/files

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 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

CraigElder · September 25, 2024, 1:30am

Attendee count (max): 20

UTC2301 - AP_Motors: Change to pass-through by muramura · Pull Request #24246 · ArduPilot/ardupilot · GitHub

Change pass-through in motors code
Tested
Merged!

UTC2302 - Common: Integrate methods for converting hexadecimal characters to numbers by muramura · Pull Request #25213 · ArduPilot/ardupilot · GitHub

Re-use a library function when converting char to hex
And change return value on error from 0 to 255
Peter will look at it after the call

UTC2313 - Refactor attitude control to be thread safe by andyp1per · Pull Request #27839 · ArduPilot/ardupilot · GitHub

Refactor attitude control be be thread-safe
Andy’s been working on this stuff with Leonard
Leonard thinks this is looking good now
PH thinks this is looking good now
Only modifies the multi attitude controller to make it thread-safe
There are several other attitude controllers (heli, sub etc) which are not thread-safe after this
Tridge wants this tested on a quadplane in RealFlight
- Why not just SITL?
  - Doesn’t check the behaviour closely enough
Heli should also have a bit of testing
Unfortunately compiler output changes so not trivial
May affect backing off of gains in transition
Slewing time constant from fixed-wing to multi during reverse transition
- Not logged hard to check
More testing needed
- Tridge is working in background
Turns out we broke gain scheduling somehow

UTC2339 - Tools:remove BATTERY_SUM from <1K builds by Hwurzburg · Pull Request #28202 · ArduPilot/ardupilot · GitHub

Remove battery sum from <1K boards
What will the user see if they try to use this if support is not present?
Maybe a “feature_not_available” function?
Do we want to solve the generic problem of removing features
Maybe a “feature_disabled” function
Needs to be a pre-arm failure
Compile-time error if you have sum built in but less than three backends
Peter will make up some compile-time

UTC2355 - Tools:clean up displayed build options by Hwurzburg · Pull Request #28208 · ArduPilot/ardupilot · GitHub

Uniform descirpiotns in custom build server
Merged

UTC2356 - ArduPlane: use Location::AltFrame for guided_state target frame references enabling ABOVE_TERRAIN by timtuxworth · Pull Request #27921 · ArduPilot/ardupilot · GitHub

Use Location::AltFrame for guided state target frame reference
Logging both frames
Merged!

UTC0006 - https://github.com/ArduPilot/ardupilot/pull/27926

Param for max-retry of engine cranking
Save the batteries!
- Brown-outs
If running continuously for more than 2 or 3 times the crank time then we should reset the crank counter
Some little things to do

UTC0016 - disable feature due to flash space constraints by peterbarker · Pull Request #28123 · ArduPilot/ardupilot · GitHub

Remove features for flash reasons
Will do this in 4.7 rather than 4.6
List of features which can be removed, ideally from developers who own that feature
- Eg. Randy mentions several mounts
- Avoid_adsb
- Flash savings ideas : features/drivers to disable/remove to save flash · Issue #28210 · ArduPilot/ardupilot · GitHub
  - Please update suggestions for features to be removed
    - Especially if you own the feature!

UTC0026 - Ensure all peripherals define HAL_PERIPH_ENABLE_GPS to 1 or 0 by peterbarker · Pull Request #28127 · ArduPilot/ardupilot · GitHub

Pattern for moving from defined (HAL_PERIPH_ENABLE_GPS) to just HAL_PERIPH_ENABLE_GPS
Do this at the chibios hwdef level
Move to AP_PERIPH_GPS_ENABLED

UTC0033 - Copter: GCS_MAVLink: populate flags using position controller active flags by IamPete1 · Pull Request #28131 · ArduPilot/ardupilot · GitHub

Populate position flags using position controller active flags
- Instead of switching on modes
Virtuals vs a uint32_t flags?
- “Has_capability”?
- Booleans are easy!
- Randy likes the true/false approach
Check QGC and MP to see how they behave
- If the flag is not present then we’re good

UTC0038 - Copter: add and use new `afs_mode` mode method by IamPete1 · Pull Request #28132 · ArduPilot/ardupilot · GitHub

Removing more switches on mode numbers
Add and use new afs_mode
Merged!

UTC0045 - Copter: add and use new `allows_GCS_arming_with_throttle_high` mode method by IamPete1 · Pull Request #28133 · ArduPilot/ardupilot · GitHub

New “allows_GCS_or_SCR_arming_with_throttle_high”
Merged!

UTC0047 - AP_DDS: Joystick Support 2 by tizianofiorenzani · Pull Request #28145 · ArduPilot/ardupilot · GitHub

AP_DDS joystick support
Assumes a 1-1 mapping between DDS and or RC channels
Need to trim out the gcs send texts
Will be back with this one

UTC0055 - AP_BattMonitor: add option minimum volt option by loki077 · Pull Request #28148 · ArduPilot/ardupilot · GitHub

Allows reporting of minimum voltage rather than the average voltage
Rename sum to aggregate at some stage?
Does average still work?
Maybe there’s a race condition on the value?
- Maybe accept the race condition?
Will come back with this one

UTC0104 - Copter/Rover-4.5.0 issues list · Issue #26103 · ArduPilot/ardupilot · GitHub

4.5.7 PR is still pending

UTC0105 - Plane update

Crash dump from Leonard on 4.5
Bench repro
- Unable to repro
- Leonard can reproduce a stuck-logging error
- CAN-serial adapter
  - Mavlink carried via this adapter
- Tridge will keep trying to reproduce with Durandal
Two CAN problems outstanding
- And the patch from Sid
Larger crashdumps would be nice!
- Tridge has reproduced the 57kB dump stuff
  - Regions array not initialised correctly?!

UTC0119 - Use get_channel_yaw() and friends in AP_Arming by peterbarker · Pull Request #28149 · ArduPilot/ardupilot · GitHub

Use get_channel_yaw and friends in AP_Arming
MergeOnCIPass

UTC0124 - AP_DroneCAN: Fix constructor initialization order by bugobliterator · Pull Request #28157 · ArduPilot/ardupilot · GitHub

Fix constructor initialisation ordering
DNA server could not hear node info messages at all
- No CAND messages
- Constantly verify the nodes
- PH has also noticed missing CAND messages
- Missing items on CANBus
Randy’s having a few issues with mount and CAN
- Canbus 2
- CAN1 and CAN2 using first driver
Only affects second river
- Both on first driver this won’t impact you
Symptoms
- Only affects the client listening for node info
- No CAND logging on second bus
Need to discuss the C++ canard interfacing taking a half-constructed “this” object

UTC0128 - AC_AttitudeControl: use AC_PID defaults to tidy rate Sub PID initialisation by peterbarker · Pull Request #28161 · ArduPilot/ardupilot · GitHub

Improve sub initialisation
Merged!

UTC0136 - Rearrange initialiser lists so we can use -Werror=reorder by peterbarker · Pull Request #28165 · ArduPilot/ardupilot · GitHub

Rearrange initialiser lists so we can use -Werror=reorder
AM32 compiler option to zero makes it zero flash cost
- Need to find that “spec” option and use it!
MergeOnCIPass

UTC0141 - AC_AttitudeControl: use AC_PID defaults to tidy heli rate PID initialisers by peterbarker · Pull Request #28162 · ArduPilot/ardupilot · GitHub

Tidy AC_PID default s to tidy heli rate pid controllers
Merged!

UTC0143 - AP_WheelEncoder: correct initialisation of WheelRateController object by peterbarker · Pull Request #28166 · ArduPilot/ardupilot · GitHub

Correct init of WheelRateController object
- Srmax set to a value of 0.02
Merged!

UTC0146 - AP_Bootloader: add request to fill gaps rather than add to end by peterbarker · Pull Request #28172 · ArduPilot/ardupilot · GitHub

Add request to fill gaps rather than add at the end of the reserved-boards list
Merged!

UTC0147 - Plane: correct the ability to disable the takeoff atititude checks by peterbarker · Pull Request #28179 · ArduPilot/ardupilot · GitHub

Correct the ability to disable the takeoff attitude checks
4.5 backport
merged

UTC0150 - AP_Bootloader: add request to fill gaps rather than add to end by peterbarker · Pull Request #28172 · ArduPilot/ardupilot · GitHub

Correct the ability to disable the takeoff attitude checks
merged

UTC0152 - Rover: remove handling of prearm empty-string case by peterbarker · Pull Request #28190 · ArduPilot/ardupilot · GitHub

Remove handling of prearm empty=-string case
Can be merged once errant patch removed

UTC0152 - AP_Compass: use memcmp to check whoami result code from HMC5843 device by peterbarker · Pull Request #28191 · ArduPilot/ardupilot · GitHub

Use memcpt to check whoami
Merged!

UTC0153 - correct initialisation of PrecLand buffers by peterbarker · Pull Request #28192 · ArduPilot/ardupilot · GitHub

Correct init of AC_Precland

UTC0157 - Adjust includes to help prevent loops by peterbarker · Pull Request #28193 · ArduPilot/ardupilot · GitHub

Adjust includes to avoid loops
Merged!

UTC0159 - AP_Scripting: remove dependency on tmpnam by tpwrules · Pull Request #28204 · ArduPilot/ardupilot · GitHub

Remove deps on tmpnam
Careful changing the lua src
We gate with “ARDUPILOT_BUILD” to make these easy to find
MergeOnCIPass

UTC0200 - Plane: added Q_LAND_DIS_DELAY by tridge · Pull Request #28199 · ArduPilot/ardupilot · GitHub

Bad mid-air disarm happened
- First one in a very, very long time
- If ever with current formulation?
- … a key parameter had been changed making this much more likely
PH suggests we stop disabling stabilisation before we disarm
Need to reach zero throttle but you need enough rpy to keep vehicle up
- Hard to sim
Adds a deck height
New test sinks the ship really fast to test it
Big block comment explaining limitations
- Prop-wash vs barometers
Implications are spool-up/spool-down as the new feature activates/deactivates
Weight-on-wheels?
Lidar?
PH will have a look when he’s more awake
LH finds the land detector code one of trickiest to get right

UTC0225 - close