Dev Call Sept 25, 2023

CraigElder · September 25, 2023, 10:36pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Improve quadplane use of forward throttle in VTOL modes

ArduPilot:master ← priseborough:pr-QuadPlaneFwdThrottle

opened 09:25PM - 08 Mar 20 UTC

priseborough

+307 -26

This patch provides a more direct control of forward thrust motor throttle durin…g quadplane Q modes. I have found it to provide more precise position control in varying wind conditions in Q_LOITER and better control with less pitch/dive when operating in QSTABILIZE and QHOVER and applying forward tilt to reposition or hold position in wind. I would be interested to get feedback from other quadplane flyers.

github.com/ArduPilot/ardupilot

Fix for the Gopro/Solo Gimbal issue

ArduPilot:master ← mtbsteve:master

opened 08:27AM - 23 May 23 UTC

mtbsteve

+14 -1

@rmackay9 @davidbuzz @proficnc This PR replaces the PR https://github.com/ArduPi…lot/ardupilot/pull/22692 which I accidentally closed last week. It should work for CubeSolo, CubeGreen and fmuv3 boards when HAL_SOLO_GIMBAL_ENABLED is met and when a Gopro heartbeat is broadcasted. I tested it successfully with AC 4.4beta on a Solo with a CubeSolo board and a non-Solo copter with CubeBlack installed.

github.com/ArduPilot/ardupilot

AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging

ArduPilot:master ← IamPete1:pre-post-raw-gyro

opened 09:10PM - 14 Jul 23 UTC

IamPete1

+37 -42

This expands the capability of raw sensor logging to allow post filter and pre-p…ost. If the board can keep up with it raw sensor is much nicer than batch logging. - logs as float, much less quantization noise - its continuous so you can change FFT window size after the fact, also much better for seeing how the frequency tracking is doing - Pre-post is of the same samples so a true comparison can be made in dynamic flight This re-uses the batch sampler options, which means we loose this functionality if batch sampler is compiled out. This will be a change in behavior if users have left over options from filter setup but now have disabled the batch mask. We could also add a new param for just raw sensor logging, this would allow us to add a new bits "primary IMU only" and "gyro only" that would reduce the logging rate.

github.com/ArduPilot/ardupilot

Sub: Lua scripts can query joystick button state

ArduPilot:master ← clydemcqueen:clyde_sub_script_buttons

opened 03:15PM - 18 Jul 23 UTC

clydemcqueen

+211 -3

This PR provides a way to use a joystick (used by Sub) to provide input to Lua s…cripts. You can associate a counter with a joystick button, and this counter can be queried and cleared from inside Lua scripts. This provides an easy way to trigger various kinds of script behaviors using a joystick. The example script provides documentation. Feedback welcome.

github.com/ArduPilot/ardupilot

Copter: allow MAV_CMD_CONDITION_YAW to be run as COMMAND_INT

ArduPilot:master ← peterbarker:pr/copter-condition-yaw

opened 06:22AM - 20 Sep 23 UTC

peterbarker

+25 -16

Adjusted the auto-test to run as both int and long. ![image](https://github.c…om/ArduPilot/ardupilot/assets/7077857/0c996a71-cd50-4c4d-a446-e3758403a7b7) ``` 2023-09-20 16:09:28.779 MAVC {TimeUS : 57926820, TS : 1, TC : 1, SS : 250, SC : 250, Fr : 5, Cmd : 115, P1 : 269.0, P2 : 10.0, P3 : 1.0, P4 : 0.0, X : 0, Y : 0, Z : 0.0, Res : 0, WL : 0} 2023-09-20 16:10:06.969 MAVC {TimeUS : 96117371, TS : 1, TC : 1, SS : 250, SC : 250, Fr : 5, Cmd : 115, P1 : 329.0, P2 : 2.0, P3 : 1.0, P4 : 0.0, X : 0, Y : 0, Z : 0.0, Res : 0, WL : 0} ``` (WL is zero, meaning it was received as an int)

github.com/ArduPilot/ardupilot

AP_ICEngine: Add an option to disable starting while disarmed

ArduPilot:master ← WickedShell:ice-start-disarmed

opened 05:05PM - 20 Sep 23 UTC

WickedShell

+12 -6

Basically I don't want to start the engine while disarmed. Currently it's a flic…k of a switch away. To replicate the start while disarmed in SITL set `ICE_IDLE_PCT` to a non 0 value like 20, set the start channel and raise it. You can then set ICE_OPTIONS 8 and it won't do this anymore unless you have armed the aircraft. This has only been SITL tested. I have some follow ups that will build off of this.

github.com/ArduPilot/ardupilot

AP_Compass: avoid saving device IDs if not calibrated

ArduPilot:master ← tridge:pr-magorder-not-calibrated

opened 11:04PM - 20 Sep 23 UTC

tridge

+64 -34

this fixes an issue with the following sequence: - new board (or board w…ith FORMAT_VERSION reset) starts up with only internal compasses - internal compasses are detected and devids saved - an external compass is added and the board is rebooted - the external compass will not be the first compass - user then calibrates and flies, but has internal as primary this can lead to a very bad experience for new users. At least one vehicle has crashed due to this sequence. The fix is to not save device IDs during the Compass::init() if we have never been calibrated. This means that when an external compass is added it will come up as the first compass. @peterbarker I'd like to discuss how we could add a CI test for this. I think we would need to use AP_Param/tools/eedump_apparam to look for saved IDs for key 147 (compass)

github.com/ArduPilot/ardupilot

AP_Scripting: add some missing dependencies and support per method

ArduPilot:master ← IamPete1:scripting_method_depends

opened 01:28AM - 22 Sep 23 UTC

IamPete1

+54 -18

First step towards running scripting with more stuff disabled. This also fixes a… bug where all of the `GCS` singleton depended on `HAL_HIGH_LATENCY2_ENABLED`. To support that per method dependencies are now supported. There are a number of existing methods that could have dependencies added in the future.

github.com/ArduPilot/ardupilot

Camera: image start/stop capture fixes

ArduPilot:master ← rmackay9:camera-multipic-fix

opened 12:39PM - 22 Sep 23 UTC

rmackay9

+63 -40

This is a follow-up to PR https://github.com/ArduPilot/ardupilot/pull/24772 to f…ix some issues found with the [IMAGE_START_CAPTURE](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L1670) and [IMAGE_STOP_CAPTURE](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L1693) support both when sent as real-time commands and when included in missions. The issues fixed are: 1. IMAGE_START_CAPTURE with zero "interval" and "total images" fields would lead to potentially huge numbers of images being taken. With this PR we only take one picture. This may be slightly unintuitive in that an IMAGE_START_CAPTURE with "Total Images = 0" has the same effect as "Total Images = 1" but I think it is safer. 2. IMAGE_STOP_CAPTURE was incorrectly converting the "Id" field to "instance" meaning the user might not be able to stop taking pictures. 4. IMAGE_START_CAPTURE (sent in real-time) would return ACCEPTED even when no cameras had been setup (e.g. CAM1_TYPE=0). With this PR it returns FAILED. Note though that if the "Id" field (aka instance) is incorrect, before it would report UNSUPPORTED but now it reports FAILED. This is perhaps incorrect and maybe @peterbarker can confirm. 5. AP_Camera_Mount::trigger-pic() was always reporting success even if the AP_Mount library reported it could not take a pic. This is a drive-by fix unrelated to the other changes. This has been fairly extensively tested in SITL both using real-time commands and mission commands. Below are before-and-after screen shots of the 1st issue. ![billion-pic-before-and-after](https://github.com/ArduPilot/ardupilot/assets/1498098/50b0e32e-30c3-4e67-acd0-374d08fe81d9) This resolves https://github.com/ArduPilot/ardupilot/issues/25073

github.com/ArduPilot/ardupilot

AP_Mount: improve Xacti picturing taking reliability

ArduPilot:master ← rmackay9:xacti-takepic-reliably

opened 06:26AM - 23 Sep 23 UTC

rmackay9

+191 -85

This PR is built on top of https://github.com/ArduPilot/ardupilot/pull/25075 …This improves Xacti's picture taking reliability in two ways: 1. Set parameter commands are put in a queue before being sent to ensure that they are spaced at least 20ms apart from any other commands sent to the gimbal. 2. If the camera reports that the time is not set, the driver resends the time This has been tested on real hardware to ensure that existing features (take picture, record video, zoom, focus) all still work and that 100 pictures can reliably be taken. This was done with a short mission shown below. ![xacti-take100-pic-mission](https://github.com/ArduPilot/ardupilot/assets/1498098/814a17fe-0f87-4d8f-a04e-c4a4f7c1e256) Below are before vs after screen shots showing that before only 95 pics were taken and the date/time of the files was incorrect. After we see that 100 pics were taken and the date/time on the files is correct. ![xacti-pic-reliability-before-vs-after](https://github.com/ArduPilot/ardupilot/assets/1498098/fcb1411b-8028-4719-ab9b-8dca5564d358) Below is what is shown in the MP messages tab when the camera reports that (for whatever reason) the camera gimbal's time has not been sets. I actually don't know why sometimes the time needs to be set twice but in any case this resolves the problem. ![xacti-time-set-again](https://github.com/ArduPilot/ardupilot/assets/1498098/ba8d732e-32ca-49d3-8b3a-5b15e46d64d1)

github.com/ArduPilot/ardupilot

Fix GCS DPS310 HWID issue

ArduPilot:Copter-4.4 ← lida2003:Copter-4.4-fix-gcs-dps310

opened 08:35AM - 24 Sep 23 UTC

lida2003

+8 -5

[DPS310 baro on I2C](https://discuss.ardupilot.org/t/dps310-baro-on-i2c/65179) … DPS310 was very similar with DPS280. And current driver do support DPS310, but GCS was hard to tell if correct chip is founded. So just make this work for GCS(Mission planner). ![1c2271790b6bb2f2786739e713be5789217e7f35](https://github.com/ArduPilot/ardupilot/assets/1296171/93bd1cd4-8a83-426e-9763-1f2c1271cbb4)

github.com/ArduPilot/ardupilot

Use AP_GPS_ENABLED to exclude more code

ArduPilot:master ← peterbarker:pr/more-AP_GPS_ENABLED

opened 08:18AM - 25 Sep 23 UTC

peterbarker

+56 -10

Board AP_Periph blimp bootloader copter heli iofirmware plan…e rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 16 * 16 8 8 16 8 Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ``` This work sponsored by Spektreworks

github.com/ArduPilot/ardupilot

AP_Winch: Options param for init state and verbose output

ArduPilot:master ← rmackay9:daiwa-fixes

opened 12:58PM - 25 Sep 23 UTC

rmackay9

+114 -0

This PR aims to ease the use of the Daiwa winch in particular which I'm planning… to use at the [Japan Innovation Challenge](https://japan-innovation-challenge.com/en/) in a couple of weeks. 1. WINCH_OPTIONS parameter is added with two bits - bit0: Spin freely on startup allows the line to be pulled out after startup. This is the current default but is actually quite annoying because we need to remember to disengage the clutch before takeoff or the package will likely be left on the ground. - bit1: Verbose output sends text to the user when any important state of the winch changes (healthy, moving up or down, clutch position, line length). In previous competitions we've stared at the WINCH_STATUS message but it's tough to interpret in the heat of the moment (see below) By the way, I debated whether the param should default to 0 (no bits set) or 3 (both bits set). I'm actually happy either way although "3" is how I like it. This has been tested on real hardware. Below is the slightly difficult to interpret WINCH_STATUS message output ![mavlink-winch-status](https://github.com/ArduPilot/ardupilot/assets/1498098/969b06fc-5d70-4944-8f2c-06ef82e62498)

github.com/ArduPilot/ardupilot

AP_Scripting: winch-test simplification

ArduPilot:master ← rmackay9:scripting-winch-test-simplification

opened 01:09PM - 25 Sep 23 UTC

rmackay9

+58 -47

This is a follow-up to PR https://github.com/ArduPilot/ardupilot/pull/25093 to i…mprove usability of the winch ahead of the [Japan Innovation Challenge](https://japan-innovation-challenge.com/en/) in a couple of weeks. This simplifies the winch-test lua script and brings it more inline with other newer scripts: 1. The SRV_SRC_FN param (which allowed the target rate to be set from a servo **output**) is replaced with RC_FUNC (which allows the target rate to be set an RC auxiliary function switch position and/or MP's AuxFunction screen). A year ago we could not access the auxiliary switch positions sent from Mission Planner's Aux Function page. 2. Added parameter descriptions ahead of possibly moving this to an applet. 3. The script gets a small welcome message This has been tested on real hardware. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/12b8dda1-b0d0-4d04-b470-b6a7d1401ca7)

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.4.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [ ] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [ ] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] benewake TFminiPlus-I2C timing out with NoData ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-released/105233/56)) - [ ] Lane switching warning (reported by Partner, [issue](https://github.com/ArduPilot/ardupilot/issues/24181)) - [ ] MSP on Matek board ([discussion](https://discuss.ardupilot.org/t/msp-problem-no-gps-comp-and-baro-data/103043)) - [ ] CSRF and Mount Siyi boot loop ([see bottom of this issue](https://github.com/ArduPilot/ardupilot/issues/23815)) - [ ] very short ELRS failsafes ([issue](https://github.com/ArduPilot/ardupilot/issues/23853), [PR](https://github.com/ArduPilot/ardupilot/pull/24170)) - [ ] endless climb with vertical bendy ruler? ([discussion](https://discuss.ardupilot.org/t/rtl-and-auto-mode-working-in-strange-mode/100132/4)) - [ ] Baro TCal not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/21438)) - [ ] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594), [PR may help](https://github.com/ArduPilot/ardupilot/pull/24135)) Confirmed issues: - [ ] Gremsy ZIO zoom and focus not working? ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-mavlink-commands-not-working/103080)) -- needs backport from 4.5 - [ ] GSF on Rover not working below 5m/s ([discussion](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/2), [related PR](https://github.com/ArduPilot/ardupilot/pull/23515), [issue](https://github.com/ArduPilot/ardupilot/issues/24183), [PR](https://github.com/ArduPilot/ardupilot/pull/24206)) - [ ] KDECAN not working ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/11)) -- needs backport from 4.5. - [ ] Yaapu reports battery 2 error but only one battery is installed ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/7)) Enhancements or Issues that may not be resolved before the stable release: - [ ] Provide RemoteID support firmware to ease setup ([issue](https://github.com/ArduPilot/ardupilot/issues/24789), [discussion](https://discuss.ardupilot.org/t/offical-copter-release-with-remote-id-support/105543)) - [ ] ADSB on AP_Periph support? ([discussion](https://discuss.ardupilot.org/t/adsb-using-ap-periph-not-connecting/105634), [wiki](https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Periph/README.md), [issue](https://github.com/ArduPilot/ardupilot/issues/24802)) - [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9) - [ ] Enable 10hz PID logging - [ ] RPLidarA2M12 not working ([discussion](https://discuss.ardupilot.org/t/rp-lidar-a3-integration-with-ardupilot/101792/11)) - [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23782)) Resolved issues: - [x] users keep forgetting to set CAM1_TYPE (or CAM_TRIGG_TYPE) ([discussion](https://discuss.ardupilot.org/t/mav-cmd-set-camera-zoom-command-doesnt-work/100613/4)) -- fewer reports recently perhaps because of wiki updates - [x] RockBlock only works with MAVProxy ([discussion](https://discuss.ardupilot.org/t/rockblock-iridium-sbd-and-mission-planner/102728), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/5263)) -- Stephen Dade will raise wiki and MP/QGC issues -- added to wiki for -beta4 - [x] yaw reset from low flying copter passing over bridge (Randy has logs) -- older version of AP, new versions should be a little better - [x] Request to add Custom Build Server support for beta builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/7), [issue](https://github.com/ArduPilot/CustomBuild/issues/54, [PR](https://github.com/ArduPilot/CustomBuild/pull/55))) -- resolved for -beta3 - [x] Gremsy WE not working ([4.4 discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/15), [4.3.7 discussion](https://discuss.ardupilot.org/t/gremsy-pixy-we-not-working-with-4-3-5/99163)) -- Gremsy software issue. Fix from Gremsy coming soon - [x] Siyi A8 ROI not working (reported by Kelly Schrock on facebook, [discussion](https://discuss.ardupilot.org/t/siyi-a8-roi-issue/102091), [PR](https://github.com/ArduPilot/ardupilot/pull/24011)) -- resolved for -beta3 - [x] MatekF405-TE-bdshot only 2 channels working (see Painless360's channel) -- user error - [x] FPV406 watchdog due to cracked SD card ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/48)) -- no logs - [x] Mount serial gimbal param description confusion ([discussion](https://discuss.ardupilot.org/t/ip-cameras-rtsp-mavlink-support/99893/20)) -- fixed for beta3 - [x] serial pass through (for GPS) broken ([issue](https://github.com/ArduPilot/ardupilot/issues/21114), [PR](https://github.com/ArduPilot/ardupilot/pull/23888)) -- fixed in -beta2 - [x] RC loss+regain issue ([PR](https://github.com/ArduPilot/ardupilot/pull/23844)) -- fixed in -beta2 - [x] MP scales set-ekf-origin-here altitude incorrectly ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3083)) -- fixed in MP 1.3.80 build 1.3.8522.19145 - [x] Custom build server broken for Matek405 builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/13)) - [x] CubeOrangePlus not booting due to early memory corruption (reported by rmackay9, investigated by Tridge, PeterB, Sid) - [x] RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall, [PR](https://github.com/ArduPilot/ardupilot/pull/23553)) - [x] Watchdog using CSRF ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/18), [PR](https://github.com/ArduPilot/ardupilot/pull/23648)) -- resolved for beta2

CraigElder · September 26, 2023, 5:39am

Attendee count (max): 19

UTC2300 - Plane:clarify CTUN.SAs message meaning by Hwurzburg · Pull Request #25042 · ArduPilot/ardupilot · GitHub

Clarify the CTUN.SAs message
Merged!

UTC2303 - Correct/expand metadata for Q_OPTION bit12 and TECS_SYNAIRSPEED by Hwurzburg · Pull Request #25051 · ArduPilot/ardupilot · GitHub

Documentation fix for Q_OPTION bit we, TECS_SYNAIRSPEED
Merged!

UTC2304 - Add airspeed estimate status logging by Hwurzburg · Pull Request #25080 · ArduPilot/ardupilot · GitHub

Add airspeed estimate status logging
Need to compress log message strings…
Could do with a better formulation
Peter to help with reformulation of the API

UTC2317 - AP_ICEngine: Add an option to disable starting while disarmed by WickedShell · Pull Request #25053 · ArduPilot/ardupilot · GitHub

Add an option to disable starting while disarmed
Diversion
- Relay rework
- Relay1_func relay2_func
- Parameter conversion?
- Pin library?
  - Three places to configure
    - ICE parameters
    - RELAY parameters
    - GPIO parameters
  - No, something like SRC_CHANNELs where you set it in one place
- GPIO1_PIN etc as defines?
- GPIO CAN?
  - We do support GPIO already….
- Probably an enabled set of parameters in ICE for now
- … actually, relay for now and ICE if that doesn’t work
Follow-on PR will enable starting ICE while disarmed, bypassing this feature

UTC2350 - AP_DroneCAN: Add a servo offset to match ESC offset by WickedShell · Pull Request #25076 · ArduPilot/ardupilot · GitHub

Add a servo offset to match ESC offset
ESCs are non-contiguous
Servos are, so this shouldn’t save anything?
Michael will re-measure

UTC2354 - SRV_Channel: Consider igntion something that should be e-stopped by WickedShell · Pull Request #25068 · ArduPilot/ardupilot · GitHub

E-stop the ignition channel
Vertical lift motors come through a different channel….
Add an ICE option instead, to allow people to recover if they e-stop in flight
- We document this scenario so people use estop in place of disarm

UTC0003 - Improve quadplane use of forward throttle in VTOL modes by priseborough · Pull Request #13760 · ArduPilot/ardupilot · GitHub

Improve quadplane use of forward throttle
Allows vehicle to move around with forward throttle when in vtol modes instead of pitching
If position controller saturates then we allow the forward tilt angle through to the maximum tilt angle
- So a loss of forward motor still lets you make progress
There’s a gain involved so an ICE engine can probably be used for this
This is off by default
PR has had forward flight speeds in qhover
Perhaps a way of moving into forward flight?
Tridge will do some SITL testing
Will this oscillate if you lose the motor?
- Probably, but very slowly
- Will find equilibrium
Probably merge this after SITL testing
Aside: some sort of TECS height-control issue?
- VTOL planes using airspeed sensors?

UTC0007 - SMBus :expanded SoloBMS to 6s - providing support for madhacker BMSOne by AndKe · Pull Request #23676 · ArduPilot/ardupilot · GitHub

Expand SoloBMS to 6S
- Madhacker BMS
Merged!

UTC0017 - Fix for the Gopro/Solo Gimbal issue by mtbsteve · Pull Request #23861 · ArduPilot/ardupilot · GitHub

Fix for the gopro / solo gimbal issue
Global scope variable is no good
GOPRO_HEARBTBEAT?
Tridge will tidy the use of the global and merge

UTC0021 - AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging by IamPete1 · Pull Request #24311 · ArduPilot/ardupilot · GitHub

Use batch logging options to allow pre-post-raw logging
For those boards that can’t keep up with raw logging
Our raw logging is actually our filter-rate logging
Tridge has patches to log at the fifo rate
- But only gyro… and one IMU…
  - Custom hackery
INS_LOG_OPTS bitmask?
Nice to have options to just log the gyro, not the accels?
- Would be more useful to have 1 data source at 8kHz than our current 6 sources at 2kHz
Tridge managed to trigger his lock-ordering problem with his logging changes…
- Logging in FIFO… tough stuff.

UTC0031 - Sub: Lua scripts can query joystick button state by clydemcqueen · Pull Request #24347 · ArduPilot/ardupilot · GitHub

Allow lua scripts to query joystick button states
- sub -only

UTC0036 - Add PID object PD limit by lthall · Pull Request #24567 · ArduPilot/ardupilot · GitHub

PID object PD limit
Merged!

UTC0041 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
TECS issues are most interesting
4.4.1 soon-ish
- This week, probably
Quadplane yaw tuning needs some documentation and possible defaults changes

UTC0042 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

Copter update
External nav is using wrong noise
- Uses gps noise when it shouldn’t
Really want stable releases to have stable CI
- Backport test fixes!

UTC0046 - Camera: image start/stop capture fixes by rmackay9 · Pull Request #25075 · ArduPilot/ardupilot · GitHub

Fixes for image start/stop capture fixes
Merged!

UTC0053 - AP_Compass: avoid saving device IDs if not calibrated by tridge · Pull Request #25058 · ArduPilot/ardupilot · GitHub

Avoid saving device IDs if not calibrated
So if you power on without an external compass then the parameters will lock your internal compass as the first compass!
Maybe change MP to warn the user they’re using internal compasses?
- Wouldn’t help QGC users
Autotest needed

UTC0110 - AP_Scripting: winch-test simplification by rmackay9 · Pull Request #25094 · ArduPilot/ardupilot · GitHub

LUA Winch test simplification
Merged!

UTC0112 - AP_Winch: Options param for init state and verbose output by rmackay9 · Pull Request #25093 · ArduPilot/ardupilot · GitHub

Winch library niceness changes
Randy will make a few cosmetic changes then merged

UTC0116 - Feature/rover enum class by khancyr · Pull Request #25066 · ArduPilot/ardupilot · GitHub

Rename a bunch of enumerations in Rover
MergeOnCIPass!

UTC0123 - Plane: fix guided heading control anti windup by IamPete1 · Pull Request #25085 · ArduPilot/ardupilot · GitHub

Fix guided heading control anti-windup
Needs to be tested….

UTC0126 - AP_Scripting: add some missing dependencies and support per method by IamPete1 · Pull Request #25072 · ArduPilot/ardupilot · GitHub

Add missing dependencies and support per-method
Merged!

UTC0130 - Only provide config for serial ports that exist by andyp1per · Pull Request #25090 · ArduPilot/ardupilot · GitHub

Only provide config for serial ports that exist
Saves user confusion
Merged!

UTC0131 - AP_Baro: Fix GCS DPS310 HWID issue by lida2003 · Pull Request #25087 · ArduPilot/ardupilot · GitHub

Fix reporting of dps baro type
Probably won’t do this as a backport
Will merge the master patch

UTC0134 - Copter: allow MAV_CMD_CONDITION_YAW to be run as COMMAND_INT by peterbarker · Pull Request #25045 · ArduPilot/ardupilot · GitHub

And command_yaw as both long and int
Merged!

UTC0135 - Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int by peterbarker · Pull Request #25047 · ArduPilot/ardupilot · GitHub

DO_AUTOTUNE_ENABLE as both long and int
Merged!

UTC0137 - GCS_MAVLink: handle MAV_CMD_AIRFRAME_CONFIGURATION as both LONG and INT by peterbarker · Pull Request #25048 · ArduPilot/ardupilot · GitHub

Airframe configuration as both long and int
Merged!

UTC0137 - Sub: accept NAV_LOITER_UNLIM and NAV_LAND as command_int too by peterbarker · Pull Request #25060 · ArduPilot/ardupilot · GitHub

Accept nav_loiter_unlim and nav_land as command int and command_long
Merged!

UTC0138 - Stop trying to stream MAG_CAL messages if mag cal not compiled in by peterbarker · Pull Request #25050 · ArduPilot/ardupilot · GitHub

Stop trying to send messages we can’t

UTC0043 - Add and use AP_AHRS_DCM_ENABLED by peterbarker · Pull Request #25049 · ArduPilot/ardupilot · GitHub

Add and use AP_AHRS_DCM_ENABLED
MergeOnCiPass

UTC0048 - AP_Mount: improve Xacti picturing taking reliability by rmackay9 · Pull Request #25082 · ArduPilot/ardupilot · GitHub

Needs a rebase

UTC0049 - Use AP_GPS_ENABLED to exclude more code by peterbarker · Pull Request #25092 · ArduPilot/ardupilot · GitHub

Can be merged after a matrix test shows no changes

UTC0056 - Move serial port configuration into user of serial ports by peterbarker · Pull Request #25097 · ArduPilot/ardupilot · GitHub

Serial port initialisation into relevant serial drivers
Need to remove the init

Attendee count (max): 19

UTC2300 - Plane:clarify CTUN.SAs message meaning by Hwurzburg · Pull Request #25042 · ArduPilot/ardupilot · GitHub

UTC2303 - Correct/expand metadata for Q_OPTION bit12 and TECS_SYNAIRSPEED by Hwurzburg · Pull Request #25051 · ArduPilot/ardupilot · GitHub

UTC2304 - Add airspeed estimate status logging by Hwurzburg · Pull Request #25080 · ArduPilot/ardupilot · GitHub

UTC2317 - AP_ICEngine: Add an option to disable starting while disarmed by WickedShell · Pull Request #25053 · ArduPilot/ardupilot · GitHub

UTC2350 - AP_DroneCAN: Add a servo offset to match ESC offset by WickedShell · Pull Request #25076 · ArduPilot/ardupilot · GitHub

UTC2354 - SRV_Channel: Consider igntion something that should be e-stopped by WickedShell · Pull Request #25068 · ArduPilot/ardupilot · GitHub

UTC0003 - Improve quadplane use of forward throttle in VTOL modes by priseborough · Pull Request #13760 · ArduPilot/ardupilot · GitHub

UTC0007 - SMBus :expanded SoloBMS to 6s - providing support for madhacker BMSOne by AndKe · Pull Request #23676 · ArduPilot/ardupilot · GitHub

UTC0017 - Fix for the Gopro/Solo Gimbal issue by mtbsteve · Pull Request #23861 · ArduPilot/ardupilot · GitHub

UTC0021 - AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging by IamPete1 · Pull Request #24311 · ArduPilot/ardupilot · GitHub

UTC0031 - Sub: Lua scripts can query joystick button state by clydemcqueen · Pull Request #24347 · ArduPilot/ardupilot · GitHub

UTC0036 - Add PID object PD limit by lthall · Pull Request #24567 · ArduPilot/ardupilot · GitHub

UTC0041 - Plane: stable 4.4.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0042 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0046 - Camera: image start/stop capture fixes by rmackay9 · Pull Request #25075 · ArduPilot/ardupilot · GitHub

UTC0053 - AP_Compass: avoid saving device IDs if not calibrated by tridge · Pull Request #25058 · ArduPilot/ardupilot · GitHub

UTC0110 - AP_Scripting: winch-test simplification by rmackay9 · Pull Request #25094 · ArduPilot/ardupilot · GitHub

UTC0112 - AP_Winch: Options param for init state and verbose output by rmackay9 · Pull Request #25093 · ArduPilot/ardupilot · GitHub

UTC0116 - Feature/rover enum class by khancyr · Pull Request #25066 · ArduPilot/ardupilot · GitHub

UTC0123 - Plane: fix guided heading control anti windup by IamPete1 · Pull Request #25085 · ArduPilot/ardupilot · GitHub

UTC0126 - AP_Scripting: add some missing dependencies and support per method by IamPete1 · Pull Request #25072 · ArduPilot/ardupilot · GitHub

UTC0130 - Only provide config for serial ports that exist by andyp1per · Pull Request #25090 · ArduPilot/ardupilot · GitHub

UTC0131 - AP_Baro: Fix GCS DPS310 HWID issue by lida2003 · Pull Request #25087 · ArduPilot/ardupilot · GitHub

UTC0134 - Copter: allow MAV_CMD_CONDITION_YAW to be run as COMMAND_INT by peterbarker · Pull Request #25045 · ArduPilot/ardupilot · GitHub

UTC0135 - Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int by peterbarker · Pull Request #25047 · ArduPilot/ardupilot · GitHub

UTC0137 - GCS_MAVLink: handle MAV_CMD_AIRFRAME_CONFIGURATION as both LONG and INT by peterbarker · Pull Request #25048 · ArduPilot/ardupilot · GitHub

UTC0137 - Sub: accept NAV_LOITER_UNLIM and NAV_LAND as command_int too by peterbarker · Pull Request #25060 · ArduPilot/ardupilot · GitHub

UTC0138 - Stop trying to stream MAG_CAL messages if mag cal not compiled in by peterbarker · Pull Request #25050 · ArduPilot/ardupilot · GitHub

UTC0043 - Add and use AP_AHRS_DCM_ENABLED by peterbarker · Pull Request #25049 · ArduPilot/ardupilot · GitHub

UTC0048 - AP_Mount: improve Xacti picturing taking reliability by rmackay9 · Pull Request #25082 · ArduPilot/ardupilot · GitHub

UTC0049 - Use AP_GPS_ENABLED to exclude more code by peterbarker · Pull Request #25092 · ArduPilot/ardupilot · GitHub

UTC0056 - Move serial port configuration into user of serial ports by peterbarker · Pull Request #25097 · ArduPilot/ardupilot · GitHub

UTC0105 - close