Dev call June 24, 2024

Issues & Pull Requests

Correct MAVLINK_MSG_ID_SET_ATTITUDE_TARGET anglular rate input frame

ArduPilot:master ← lthall:20230630_PR_GuidedAngleFrameFix

opened 02:05AM - 10 Aug 23 UTC

This PR fixes a problem where the angular rate inputs to MAVLINK_MSG_ID_SET_ATTI…TUDE_TARGET were not in the body frame if both attitude and rate are specified. It also checks to make sure each of the three rotation rate axis are specified. This fixes the bug where when only rates are specified they are in body frame but when using quaternion attitude and rates the rates were in earth frame. The message clearly specifies the rates are in body frame.

github.com/ArduPilot/ardupilot

AP_Scripting: add lua implementation of Copter's target location bindings

ArduPilot:master ← robot-to-society:patch-copter-lua-target-location-bindings

opened 05:19PM - 17 Jan 24 UTC

robot-to-society

+91 -1

This PR is a lua bindings implementation of copter's get_target_location/update_…target_location(https://github.com/ArduPilot/ardupilot/issues/25492). https://discuss.ardupilot.org/t/vehicle-get-target-location-in-lua-copter/108901 I tested in sitl. <img width="804" alt="Screenshot 0006-01-18 at 2 12 09" src="https://github.com/ArduPilot/ardupilot/assets/150573421/27d14651-3df3-4323-993d-5eb5a8a1d145">

github.com/ArduPilot/ardupilot

Sub: fix several EK3_MAG_Fusion cases for Sub

ArduPilot:master ← clydemcqueen:clyde_yaw_drift

opened 10:10PM - 04 Mar 24 UTC

clydemcqueen

+19 -0

Fix several EK3_MAG_CAL cases for sub by flipping signs: * EK3_MAG_CAL,3 (AFTER…_FIRST_CLIMB): look for -2.5m altitude change (vs +2.5m) * EK3_MAG_CAL,0 (WHEN_FLYING): look for -1.5m altitude change (vs +1.5m) or -0.5m rangefinder change (vs +0.5) This might help a little with https://github.com/ArduPilot/ardupilot/issues/18229. [I edited this comment to match the latest code, and deleted older comments.]

github.com/ArduPilot/ardupilot

AP_Scripting: introduce serial device simulation support

ArduPilot:master ← tpwrules:scripting-serial-device

opened 05:10AM - 02 Jun 24 UTC

tpwrules

+822 -73

Allows a script to simulate a device attached via any serial protocol. The scrip…t can read and write data and have it handled according to the protocol as if exchanged over a serial port. The script can then do protocol translation, data filtering and validation, hardware-in-the-loop simulation, experimentation, etc., especially in combination with the scripting protocol which lets the script itself handle an attached device and so interpose any communication. Costs about 850B flash on Cube Orange Plus. Todo: * [X] Test in SITL * [X] Test that it properly disables * [x] Test on real vehicle * [x] Bikeshed names * [x] Put parameters into a subgroup? * [x] Examples * [x] Binding docs * [ ] Wiki docs * [x] Autotest script

github.com/ArduPilot/ardupilot

Copter: Remove Payload release on thrust loss detection

ArduPilot:master ← lthall:20240620_RandomPaylaodReleaseFeatureRemoval

opened 01:19AM - 20 Jun 24 UTC

lthall

+6 -7

This PR removes a potentially very dangerous "feature" added in this PR #19890. … The previous PR will release the payload any time the aircraft uses more than 90% thrust for a second while descending under control and less than 15 degrees lean angle. The thrust loss detection is designed to be a sub check of further dependent checks like the motor out test. It is a check that is expected to happen in normal flight. This feature above looks like a sensible check to enable but is expected to result in random releases of the payload during landings on low battery for example. The aircraft is heavily loaded because it has a payload, the aircraft is descending and it is normal for the industry to specify their aircraft maximum take-off at 80% thrust on a full battery. Releasing payloads in an unplanned and automated way, over landing zones or on approach is literally a risk of serious or fatal injury to ground crew. I have not removed the option bit as I am not confident how to best do that however I believe this is a serious enough problem to do that in a separate PR. ----------------------------- I have tried to improve the comments on thrust_loss_check() to make it clearer what this check is doing. We may also be able to improve the output message to the user to be clearer or more appropriate. It is currently "Potential Thrust Loss (%d)" and a motor. However, it does not require a motor lost so it will say motor 1 when no motor is lost I think. The name is also misleading. Perhaps the name "Thrust Limited Detection" would be better. We could also reduce the likelihood of this going off by changing the check for decent to make it "less than commanded decent" in alt_hold based modes.

github.com/ArduPilot/ardupilot

Detune to stop ground oscillation

ArduPilot:master ← lthall:20240423_GroundOccilation

opened 07:12AM - 20 Jun 24 UTC

lthall

+50 -0

This pr provides the ability to reduce the gains of roll, pitch, and yaw to remo…ve ground oscillation while landed. Each axis has a gain reduction variable that is set when the aircraft is landed. The gain returns to normal in 2 x ATC_INPUT_TC. This is a common problem on aircraft with flexible landing gear. It is often seen as a yaw oscillation during spool up on more solidly built aircraft also.

github.com/ArduPilot/ardupilot

Rename get_primary_() to get_first_healthy_() and record primary instance in inertial sensors

ArduPilot:master ← andyp1per:pr-primary-gyro-rename

opened 08:45PM - 20 Jun 24 UTC

andyp1per

+43 -22

Split out from https://github.com/ArduPilot/ardupilot/pull/27029 This PR make…s explicit the difference between the "primary gyro" as selected by the EKF and the "first healthy gyro" as selected by the IMU. Both are used in different ways in different places, and sometimes they are the same. The existing naming was far too error prone.

github.com/ArduPilot/ardupilot

Fix ECC Failure Check in Bootloader and recovery from it

ArduPilot:master ← bugobliterator:pr-fix-ecc-check

opened 04:35AM - 21 Jun 24 UTC

bugobliterator

+1 -5

For STM32H7 board the RAM[0] is actually non DMA'ble memory in bootloader. And f…or doing ECC check we were trying to copy values from Flash to non-DMA'ble memory which will just fail and not raise an error when the ECC fail actually happens. The easiest way I think is to simply not use DMA and use memcpy instead. A good side benefit I found is that the CPU raises SIGTRAP under GDB and breaks properly, allowing for better debugging around the address of failure. Total time taken when using memcpy is 18ms. My guess is it wouldn't be that different with dma either.

github.com/ArduPilot/ardupilot

AP_BatteryMonitor: add missing failsafe with no action

ArduPilot:master ← IamPete1:batt_missing

opened 06:19PM - 22 Jun 24 UTC

IamPete1

+19 -0

Currently if your battery monitor goes away the only way to tell is a bit in sys… status. This is quite easy to miss. This now results in a full battery failsafe with no action. We might want to consider adding a parameter in the future. This uses a 5 second timeout. This becomes more likely with CAN battery monitors which are often powered from the battery itself, so if the battery fails the node also disappears rather than telling us that the battery is gone. Example: ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/48df93f5-d4ce-48e9-92fb-4ed9a76c588c)

github.com/ArduPilot/ardupilot

AP_BattMonitor: Sum, ESC: all selected items must be found for health.

ArduPilot:master ← IamPete1:batt_health

opened 07:16PM - 22 Jun 24 UTC

IamPete1

+22 -3

Currently both the sum and ESC backends will hide a failure because they take a …average. So if one item is lost the voltage stays the same and no fail-safe is tripped. This will now mark the monitor unhealthy if any item is missing. With https://github.com/ArduPilot/ardupilot/pull/27358 this gives a clear warning to the pilot.

github.com/ArduPilot/ardupilot

8266 based ELRS or mavesp8266 fails due to DEFAULTGPIO driving their TX lines low in bootloader

opened 08:59PM - 22 Jun 24 UTC

Hwurzburg

DevCallTopic

Within the last year many boards started using the DEFAULTGPIO.....LOW instructi…on in their bootloaders. Recently Andy Piper got reports that ELRS modules would not work with ArduPilot and has started adding commands on "likely" RCIN UART RX pins to pull high in the bootloader. Discussing with the ELRS devs, it seem that an ESP8266 will enter a hardware test mode that cannot be exited except by reboot if its UART TX is pulled low on power up. This means that if an ESP8266 is attached to an ArduPilot autopilot, either as a MAVESP telem wifi or ELRS, it will lock in a hardware selftest mode rendering it useable. Andy's solution is not really viable unless you pull ALL UART RX pins high or tristate during bootloader. This would be a massive code effort. Alternatively, we could remove all DEFAULTGPIO statements from the bootloader code....or change to tristate? We need a viable solution... Why hasn't this come up before? most ELRS are ESP32 based and don't have this issue and the MAVesp is not widely used either, but ELRS has been ported to R9 modules and others now and they are ESP8266 based, as I understand it...so just now starting to emerge **Platform** [ x] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

github.com/ArduPilot/ardupilot

hwdef: don't use DEFAULTGPIO in bootloaders

ArduPilot:master ← tridge:pr-bl-defaultgpio

opened 02:15AM - 23 Jun 24 UTC

tridge

+45 -85

setting up a DEFAULTGPIO pulldown in bootloaders is a bad idea as it overrides a…ny hardware pullups that have been put in place as part of a "hold in bootloader" mechanism. See discussion in #27360 for ELRS. Instead we want undefined pins to be floating, which is the default anyway. This does mean higher ESD vulnerability in bootloaders, but we really have no choice as we have no way to predict which pins need what pullup/pulldown to avoid peripherals from not booting note that this only impacts one board that I can see, the BlitzF745AIO, due to the MCU vs DEFAULTGPIO interaction

github.com/ArduPilot/ardupilot

AP_Scripting: correct use-after-free in script statistics

ArduPilot:master ← peterbarker:pr/script-stats-valgrind

opened 02:24AM - 23 Jun 24 UTC

peterbarker

+53 -2

... I think a restructure may not be a bad option here.... Before the patch i…s applied the autotest reproduces the valgrind problem if you run it like this: `./Tools/autotest/autotest.py build.Plane --valgrind test.Plane.ScriptStats` No Valgrind problem after the patch. OTOH, `math.lua` doesn't seem to work any more - before *or* after this patch. ``` AT-0031.7: AP: Lua: ./scripts/math.lua exceeded time limit ``` ... in fact, that's why we're getting the Valgrind problem, the removal of that script due to it running overtime. So if we fix `math.lua` we might need a `run_overtime.lua` to make sure we cross the relevant path in our lua script handling. Implications here.... well, you're limited to reading memory with random contents, but AFAICS that memory pointer will always be valid. A crash may still still possible, but extraordinarily unlikely: - scripts->name points to an address just before the end of a valid memory region - the "random contents" at that location doesn't contain a null - strncpy from the stale scripts->name over-reads into invalid memory as it doesn't find a nullptr - you buy a lottery ticket, as karma dictates any ticket bought must be a winner

github.com/ArduPilot/ardupilot

Scripting: added command_int API for accessing MAV_CMD_xxx

ArduPilot:master ← tridge:pr-lua-command-int

opened 09:53AM - 23 Jun 24 UTC

tridge

+158 -7

This makes it possible to call most MAV_CMD_xxx calls from lua scripts, gaining …us a lot of functionality with a small amount of flash This was prompted by #27223 and the MAV_CMD_GUIDED_xxx commands, but is really very broadly useful some questions: - should we return the full MAV_RESULT enum? Is it useful? - should we create a dedicated GCS_MAVLink channel for lua? this also adds an example that tests DO_SET_MODE and DO_REPOSITION

github.com/ArduPilot/ardupilot

AC_Autotune: Clean up Multi Variables and non functional changes

ArduPilot:master ← lthall:20240624_Autotune_Clean_Up

opened 04:17AM - 24 Jun 24 UTC

lthall

+51 -50

I have moved the multi only variable declaration variables into the AC_AutoTune_…Multi.h. I removed the "f" from the floats. I simplified a couple functions. All these changes should be non-functional. I am a little disgusted by some of the structures that I made here. This still has some work to do before it could be considered "clean".

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: - [ ] 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 - [ ] EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650)) - [ ] 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)) - [ ] 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] 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 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

GSOC

Conference

1 post - 1 participant

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Dev call June 24, 2024

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