Dev Call Sept 4, 2023

CraigElder · September 4, 2023, 10:55pm

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

+132 -17

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

AP_HAL_ChibiOS: External flash optimizations (H750 etc.) backport to 4.4

ArduPilot:Copter-4.4 ← mluessi:ml_ext_flash_opt-4.4

opened 09:08PM - 19 Jun 23 UTC

mluessi

+4085 -3356

This is a backport of the external flash optimizations from #23947 to version 4.…4 . There were some additional changes needed for ChibiOS, the linker files, and the hwdef Python script. The ChibiOS changes are in ArduPilot/ChibiOS#75 I have bench tested this with CubeOrange (internal flash target) and a RADIX 2 HD (H750, external flash). EDIT: I have minimized the changes to try and achieve binary equivalence. The changes now produce binaries of the same size. -- Andy

github.com/ArduPilot/ardupilot

Plane: accept DO_CHANGE_SPEED as command_int

ArduPilot:master ← peterbarker:pr/plane-DO_CHANGE_SPEED-as-int

opened 12:42AM - 30 Aug 23 UTC

peterbarker

+158 -81

This also stops us converting the mavlink command into a mission item before try…ing to handle it. It was the last user of the method which did the conversion from command_long into a mission command, so that method is now removed. I factored the existing handler to cut out the complicated conversion process. I could have converted from command_int -> mission_cmd instead, but this seemed neater. Critical lines in AP_Mission.cpp to do with conversion from cmd_long -> mission_item_it_t -> mission_cmd -> field values change in this PR: ``` case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178 cmd.content.speed.speed_type = packet.param1; // 0 = airspeed, 1 = ground speed cmd.content.speed.target_ms = packet.param2; // target speed in m/s cmd.content.speed.throttle_pct = packet.param3; // throttle as a percentage from 1 ~ 100% break; ``` ``` Board,AP_Periph,blimp,bootloader,copter,heli,iofirmware,plane,rover,sub Durandal,,*,*,*,*,,-64,*,* HerePro,*,,,,,,,, Hitec-Airspeed,*,,,,,,,, KakuteH7-bdshot,,*,*,*,*,,-88,*,* MatekF405,,*,*,*,*,,-48,*,* Pixhawk1-1M-bdshot,,*,,*,*,,-88,*,* f103-QiotekPeriph,*,,,,,,,, f303-Universal,*,,,,,,,, iomcu,,,,,,*,,, revo-mini,,*,*,*,*,,-96,*,* skyviper-v2450,,,,*,,,,, ```

github.com/ArduPilot/ardupilot

AP_L1_Control: check vehicle yaw (heading) and ground track agree

ArduPilot:master ← magate:feature/check-yaw-heading-and-groundtrack-agree

opened 09:45PM - 31 Aug 23 UTC

magate

+5 -1

## Context It appears that the L1 navigation controller assume the vehicle head…ing (yaw) is always in a direction that will close the distance to the desired ground track between waypoints. In the case of an aircraft flying into a large headwind (higher than `TRIM_ARSPD_CM`), the controller will begin to swing between left and right roll. This is possibly related to: https://github.com/ArduPilot/ardupilot/issues/20080 ; however, this is more of a corner case than general wrapping of the calculation. ### SITL quadplane with 30 m/s wind from 180 deg **SITL command from top level directory**: `python ./Tools/autotest/sim_vehicle.py --vehicle ArduPlane --out=tcpin:localhost:5760 --out=tcpin:127.0.0.1:14550 --frame quadplane -D -w` **Waypoints**: [canberra_180.txt](https://github.com/ArduPilot/ardupilot/files/12490556/canberra_180.txt) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/34d59384-9250-449a-931e-3730d04c116c) **BIN log (remove .txt extension)**: [canberra_left_hand_180_baseline_30wind.BIN.txt](https://github.com/ArduPilot/ardupilot/files/12490563/canberra_left_hand_180_baseline_30wind.BIN.txt) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/82cbde4a-7294-48c1-8cce-9e6a73e8b248) _Figure: Roll begins commanding left and right when GPS speed changes direction. GPS speed is always positive, zero indicates where the direction changed._ ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/b59911f0-72a9-48a1-9fa9-da47b03c337d) _Figure: Ground course is oscillating about north because the winds are out of 180 degrees._ ## Proposal Check that vehicle yaw (heading) is within 90 degrees of the ground track (any greater than this means we are moving away from the ground track and will not be able to close). In the event we are moving backwards, use the existing code for small groundspeeds where we use the vehicle heading to adjust the ground track path. This will not do anything to progress the flight plan. Ideally it will keep the aircraft stable while the operator can take an appropriate course of action. ### SITL quadplane with 30 m/s wind from 180 deg **SITL command from top level directory**: `python ./Tools/autotest/sim_vehicle.py --vehicle ArduPlane --out=tcpin:localhost:5760 --out=tcpin:127.0.0.1:14550 --frame quadplane -D -w` **Waypoints**: [canberra_180.txt](https://github.com/ArduPilot/ardupilot/files/12490556/canberra_180.txt) **BIN log (remove .txt extension)**: [canberra_left_hand_180_new_30wind.BIN.txt](https://github.com/ArduPilot/ardupilot/files/12490628/canberra_left_hand_180_new_30wind.BIN.txt) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/f9763c89-a076-4623-90e8-832bf0493ee5) _Figure: Roll remains smooth when GPS speed changes direction. GPS speed is always positive, zero indicates where the direction changed._ ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/0abea6aa-7c99-4d0d-87a2-2a5a5614b9d1) _Figure: Ground course swings from 0 to 360 degrees and roll remains constant._ ## Simulation results with zero wind to check behavior A flight plan with 180 degrees waypoint difference was used to ensure this does not affect the current `_prevent_indecision(Nu)` code. **Baseline**: https://drive.google.com/file/d/1x7_GJDk8OymB14a0-PHF1HqWN7079t4e/view?usp=drive_link **New**: https://drive.google.com/file/d/1z0hhpeV6oGJCSEggN1ptlwXUbgpwdB5B/view?usp=drive_link ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/0e8379f5-c042-46d9-ba0c-73a11b1af882) _Figure: Baseline results. At 180 degree waypoint turn, aircraft decided left hand turn._ ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/56a6f3e3-433e-407d-ae6e-00848c88b5ef) _Figure: New code results. At 180 degree waypoint turn, aircarft decided right hand turn._ ## Additional simulation results ### Wind direction 270 degrees, step increase to 30 m/s **Waypoints**: [canberra_270dir.txt](https://github.com/ArduPilot/ardupilot/files/12490705/canberra_270dir.txt) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/79f05734-0651-4d96-aeb7-c29972a1d11b) **Baseline log (remove .txt extension)**: [canberra_left_hand_winddir270_30_baseline.BIN.txt](https://github.com/ArduPilot/ardupilot/files/12490708/canberra_left_hand_winddir270_30_baseline.BIN.txt) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/d6ea1e76-5086-44b6-b10f-2f27f3aca717) _Figure: DesRoll alternates left and right when groundspeed reverses. Indicated by the zero point._ ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/5bda049a-7e4d-459f-a08e-65bfa194f241) _Figure: Ground course reverses and DesRoll starts changing between left and right roll._ **New log (remove .txt extension)**: [canberra_left_hand_winddir270_30_new.BIN.txt](https://github.com/ArduPilot/ardupilot/files/12490721/canberra_left_hand_winddir270_30_new.BIN.txt) ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/443e9172-1dab-4204-a7e4-dd49901ebbcc) _Figure: GPS speed reverses direction (indicated by zero point) and DesRoll stays smooth._ ![image](https://github.com/ArduPilot/ardupilot/assets/69254089/308bee3c-0f18-4e61-9c56-c78023acf1b4) _Figure: Ground course reverses direcition (270 degrees to 90 degrees). DesRoll remains smooth and vehicle yaw (heading) remains constant._

github.com/ArduPilot/ardupilot

hwdef: include defaults.parm files from other identical defaults.parm

ArduPilot:master ← peterbarker:pr/defaults-include

opened 02:17AM - 01 Sep 23 UTC

peterbarker

+9 -78

Bult on another PR which fixes simonhardware build No change in compiler outp…ut: ``` Board blimp bootloader copter heli plane rover sub CUAV-Nora-bdshot * * * * * * * CUAV-X7-bdshot * * * * * * * CubeOrangePlus-SimOnHardWare * FlywooF745Nano * * * * * * * HEEWING-F405v2 * * Pixhawk6C-bdshot * * * * * * * mRoPixracerPro-bdshot * * * * * * * ```

github.com/ArduPilot/ardupilot

AP_Mount: xacti supports set lens and zoom

ArduPilot:master ← rmackay9:xacti-lens-select

opened 05:09AM - 01 Sep 23 UTC

rmackay9

+191 -18

This adds support for setting the "lens" (which camera is used for the live vide…o feed) and the digital zoom. The camera rejects messages if sent too close together meaning that I had to add some additional checks to existing methods to increase the likelihood that the messages are spaced apart. This has been tested on real hardware. Below are some screen shots taken during testing. ![image](https://github.com/ArduPilot/ardupilot/assets/1498098/afb33851-d1e3-475f-996b-8239ff3f3f13)

github.com/ArduPilot/ardupilot

GCS_MAVLink: add defines for serial control, deviceop and servo_relay

ArduPilot:master ← peterbarker:pr/mavlink-commands-out

opened 01:45PM - 01 Sep 23 UTC

peterbarker

+39 -3

... and build_options.py options for same I've run this through `test_build_o…ptions.py` for each of the new options. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: chibios_hwdef.py: canonicalise AP_PERIPH env define

ArduPilot:master ← peterbarker:pr/AP_PERIPH-int-thing

opened 03:40AM - 02 Sep 23 UTC

peterbarker

+6 -2

before this change this environment variable is a string, which means anything c…hecking it for truth will get back true even if it is empty ("") or the string zero ("0"). The existing is_periph_fw check only works because "1" != 0 - if it was "0" then it would still be considered a periph firmware ... also random flake8 fix...

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) - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] 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

github.com/ArduPilot/ardupilot

Plane: 4.4.1-beta1 preparation

ArduPilot:Plane-4.4 ← tridge:pr-plane4.4.1-beta1

opened 07:06AM - 04 Sep 23 UTC

tridge

+1690 -42

this includes the following changes: - plane: fixed nav_roll/nav_pitch when wa…iting for VTOL takeoff - Tools: fixed ccache test for newer ccache version - support himark DroneCAN servos - support hobbywing DroneCAN ESCs - AP_Param: fixed parameter defaults array length handling - Tools: allow selection of sdcard storage on custom build server - GCS_MAVLink: fixed corruption of FTP reply component ID - hwdef: add hwdef for SDMODELH7V1 - hwdef: qiotek: correct HAL_BATT_MONITOR_DEFAULT define name - add 8 bi-directional dshot channels to KakuteH7-Wing - Add option to make EKF3 more robust to bad IMU and lagged GPS data - AP_HAL_Linux: update Navigator available GPIOs - pull RTS lines low on Pixhawk6C - added log_file_content scripting binding for aerobatics I am open to more backports to 4.4.1. Please open PRs against Plane-4.4

Copter & Rover

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: - [ ] 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

Partner call tomorrow

CraigElder · September 5, 2023, 5:45pm

Attendee count (max): 17

UTC2300 - https://github.com/ArduPilot/ardupilot/pull/13760

Improve quadplane use of forward throttle in VTOL modes
Doesn’t rely on converting from downward-pitch into forward throttle, goes directly to throttle
Also puts forward throttle in qhover
- Tridge doesn’t want this on by default
  - Couldn’t tune
- It’s a recovery mode
  - Paul thinks this works better as a recovery mode past this
- This could be bad if your ICE is playing up….
- Maybe another mode which allows use of the forward throttle
- Another mode?
- Maybe just leave the default to 0?
  - Probably will want it in qloiter and qrtl by default
  - This replaces vfwd
    - We’d leave the vfwd behaviour if we defaulted this new thing to off
  - Default it on for position controlled modes only?
  - Auxiliary switch?
Need to know how this will work with non-linear and laggy response of ICE engines
- Old algorithm is available still
- Probably reduce the gain and soften the throttle response to get stability in correct range
You don’t want this on vfwd at same time, so set the vfwd off…
We already have an option for directly controlling thrust in e.g. qhover
- How does this interact with that?
Maybe put it in off-by-default
We need a good simulation of a horrible-throttle-control IC Engine
An RC option to turn it on…
Make it tunable with the table of parameters which are tunable
Don’t necessarily want the vehicle to stay level
- May not come down
- May be able to make this automatic tunable
- Some sort of integrator which gradually allows more pitch if the thing isn’t coming down
  - At the moment, just choose a good pitch limit such that the vehicle will come down
Might be auto-tuneable
We need asymmetry on roll/pitch for quadplanes!
Is the position controller trying to do too much?
- Do we need better feedback about hitting limits rather than putting too much code into the position controller?
ICE cuts ignition to forward motor when hitting land-final in vertical descent…
- Don’t want them to lose position control and start drifting….

UTC2338 - AP_Rangefinder: Refactor CAN based drivers. Add TOFSenseP driver & NRA24 by rishabsingh3003 · Pull Request #24097 · ArduPilot/ardupilot · GitHub

Refactor CAN, add TofSenseP and NRA24
Tridge to test USD1
11-bit CAN devices
- Would be nice for these to co-exist with DroneCAN
Can be merged after Andy has approved and it passes CI

UTC2351 - AP_HAL_ChibiOS: External flash optimizations (H750 etc.) backport to 4.4 by mluessi · Pull Request #24098 · ArduPilot/ardupilot · GitHub

Backport external flash optimisations
- Makes external flash
Tridge is changing base to Plane-4.4 to get it to rebuild
Need to explain the not-no-change button

UTC2358 - Copter: accept solo buttons as both long and int by peterbarker · Pull Request #24822 · ArduPilot/ardupilot · GitHub

More accept-commands-as-int stuff
Merged!

UTC2359 - AP_ADSB: remove unused get_transceiver_status method by peterbarker · Pull Request #24824 · ArduPilot/ardupilot · GitHub

Remove unused method from AP_ADSB
merged!

UTC0001 - SITL: document GPS parameters by antholuo · Pull Request #24831 · ArduPilot/ardupilot · GitHub

Document more SITL parameters
merged!

UTC0003 - AP_ICEngine: stop engine on parachute release by IamPete1 · Pull Request #24833 · ArduPilot/ardupilot · GitHub

Kill ICE engine when parachute released
Merged!

UTC0005 - AP_L1_Control: check vehicle yaw (heading) and ground track agree by magate · Pull Request #24834 · ArduPilot/ardupilot · GitHub

L1 control
- Check vehicle yaw and ground track agree
- If you are not pointed in the direction you are expecting to be going then
- You still blow away, but at least you will do so consistently
Use compass at zero GPS velocity

UTC0007 - hwdef: include defaults.parm files from other identical defaults.parm by peterbarker · Pull Request #24838 · ArduPilot/ardupilot · GitHub

Include defaults where there’s an identical other file to include
Need to make sure @include works when no new-line present

UTC0013 - AP_Mount: xacti supports set lens and zoom by rmackay9 · Pull Request #24841 · ArduPilot/ardupilot · GitHub

Xacti supports lens and zoom
- And now we do too
Dronecan messages can’t be sent in faster than 20ms apart?!
Randy likes this because it has both HDMI output and rtsp streams
- Connect USB and video and you get
Merged!

UTC0019 - GCS_MAVLink: add defines for serial control, deviceop and servo_relay by peterbarker · Pull Request #24845 · ArduPilot/ardupilot · GitHub

Options for serial control, deviceop and servorelay
Merged!

UTC0020 - AP_HAL_ChibiOS: chibios_hwdef.py: canonicalise AP_PERIPH env define by peterbarker · Pull Request #24849 · ArduPilot/ardupilot · GitHub

Canonicalise AP_PERIPH to zero
- Because some places it is used as truth
Make it fatal instead

UTC0027 - https://github.com/ArduPilot/ardupilot/pull/24852

Add build options for the himark servos
Really want the guys to do DroneCAN so they appear on the bus and can be monitored nicely
MergeOnCIPass

UTC0028 - AP_BattMonitor: log external temperature if available by peterbarker · Pull Request #24853 · ArduPilot/ardupilot · GitHub

Log external temperature if it is being used
Merged!

UTC0031 - Allow more libraries to compile with no HAL_GCS_ENABLED by peterbarker · Pull Request #24860 · ArduPilot/ardupilot · GitHub

Use HAL_GCS_ENABLED in more places
Use GCS_SEND_TEXT
Add GCS_SEND_MESSAGE
Peter should get SIM_Gimbval.cpp organised so we can test that
MergeOnCIPass

UTC0038 - Allow Precland fast descend by rishabsingh3003 · Pull Request #24867 · ArduPilot/ardupilot · GitHub

Precland fast descend
- To stop the vehicle slowing down too much in final descend
Randy’s happy
2m hard-coded slowdown can go away
Looks much more like our normal landing in terms of descent-rate profile

UTC0040 - Add support for TSYS03 temperature sensor by peterbarker · Pull Request #24868 · ArduPilot/ardupilot · GitHub

Driver for TSYS03 temperature sensor
Merged!

UTC0042 - Plane: use dead zone in stick mixing by tridge · Pull Request #24873 · ArduPilot/ardupilot · GitHub

Use dead-zone in stick mixing
Needs to be split up into two different PRs
- One for pitch/roll, another for using the deadzone

UTC0045 - Plane: 4.4.1-beta1 preparation by tridge · Pull Request #24870 · ArduPilot/ardupilot · GitHub

Plane update
4.4.1beta soon
Other things that should go backwards?
Need to tell people if stuff isn’t going to go into 4.4.1 if it isn’t going to go in
- Value judgment on age of PR and amount of testing
- But need to set expectations

UTC0058 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

4.2 → 4.4 upgrade success story
Little different but basically fine

UTC0058 - Random

Partner’s call tomorrow
PH hardware review tool under way! Add Hardware Review tool. by IamPete1 · Pull Request #36 · ArduPilot/WebTools · GitHub
Having tabs to click between tools would be awesome; load log once
New feature in MAVExplorer “help atan” “help lowpass”
Demo for filter for partners tomorrow
- But could we have a more elaborate video on how to use it?
Thanks to our GSoC students!
- All over for another year
- All very productive!

Attendee count (max): 17

UTC2300 - https://github.com/ArduPilot/ardupilot/pull/13760

UTC2338 - AP_Rangefinder: Refactor CAN based drivers. Add TOFSenseP driver & NRA24 by rishabsingh3003 · Pull Request #24097 · ArduPilot/ardupilot · GitHub

UTC2351 - AP_HAL_ChibiOS: External flash optimizations (H750 etc.) backport to 4.4 by mluessi · Pull Request #24098 · ArduPilot/ardupilot · GitHub

UTC2358 - Copter: accept solo buttons as both long and int by peterbarker · Pull Request #24822 · ArduPilot/ardupilot · GitHub

UTC2359 - AP_ADSB: remove unused get_transceiver_status method by peterbarker · Pull Request #24824 · ArduPilot/ardupilot · GitHub

UTC0001 - SITL: document GPS parameters by antholuo · Pull Request #24831 · ArduPilot/ardupilot · GitHub

UTC0003 - AP_ICEngine: stop engine on parachute release by IamPete1 · Pull Request #24833 · ArduPilot/ardupilot · GitHub

UTC0005 - AP_L1_Control: check vehicle yaw (heading) and ground track agree by magate · Pull Request #24834 · ArduPilot/ardupilot · GitHub

UTC0007 - hwdef: include defaults.parm files from other identical defaults.parm by peterbarker · Pull Request #24838 · ArduPilot/ardupilot · GitHub

UTC0013 - AP_Mount: xacti supports set lens and zoom by rmackay9 · Pull Request #24841 · ArduPilot/ardupilot · GitHub

UTC0019 - GCS_MAVLink: add defines for serial control, deviceop and servo_relay by peterbarker · Pull Request #24845 · ArduPilot/ardupilot · GitHub

UTC0020 - AP_HAL_ChibiOS: chibios_hwdef.py: canonicalise AP_PERIPH env define by peterbarker · Pull Request #24849 · ArduPilot/ardupilot · GitHub

UTC0027 - https://github.com/ArduPilot/ardupilot/pull/24852

UTC0028 - AP_BattMonitor: log external temperature if available by peterbarker · Pull Request #24853 · ArduPilot/ardupilot · GitHub

UTC0031 - Allow more libraries to compile with no HAL_GCS_ENABLED by peterbarker · Pull Request #24860 · ArduPilot/ardupilot · GitHub

UTC0038 - Allow Precland fast descend by rishabsingh3003 · Pull Request #24867 · ArduPilot/ardupilot · GitHub

UTC0040 - Add support for TSYS03 temperature sensor by peterbarker · Pull Request #24868 · ArduPilot/ardupilot · GitHub

UTC0042 - Plane: use dead zone in stick mixing by tridge · Pull Request #24873 · ArduPilot/ardupilot · GitHub

UTC0045 - Plane: 4.4.1-beta1 preparation by tridge · Pull Request #24870 · ArduPilot/ardupilot · GitHub

UTC0058 - Copter/Rover-4.4.0 issues list · Issue #23192 · ArduPilot/ardupilot · GitHub

UTC0058 - Random

UTC0107 - close