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ArduPilot Development Report

Feb 2023

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Andrew Tridgell, Randy Mackay, AP Dev Team

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The last month saw a moderate level of activity in our github repository:

  • 375 patches affecting 16k lines of code, 71 wiki updates
  • 45 contributors
  • Two weekly dev calls attendance regularly 20+ people

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Statistics

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Driver Changes

Since last partner call we had changes to the following sensor and system drivers

  • Support VectorNAV VN-100
  • Support MambaH743-v2 and FoxeerH743
  • Added lua script and mission switching system
  • Improved parameter FTP performance
  • Added generator throttle control script
  • Support PD boosting for VTOL vehicles
  • Support splitting scripting heap across memory regions
  • Improved failure state handling in OpenDroneID support
  • Fixed log flood on fast FIFO reset
  • Support MAX31865 temperature sensor
  • Support Webots 2023a simulation
  • Support XPlane12 simulation
  • Fixed field orientation for MMC3416
  • Improved SkyPower EFI support
  • Fixed handling of ModalAI VOXL resets
  • Support Runcam2-4k
  • Support DJI R2 & R3-Pro handheld gimbals

Runcam2 4k

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Copter Updates

Copter-4.3.3 released! (announcement)

  • PID controllers run with main loop’s actual “dt”
  • Position controller and takeoff bug fixes (various edge cases)
  • MAVFTP speed improvements

Copter & Rover-4.4 beta starts this month

  • TradHeli manual autorotation (PR, video)
  • Precision Landing can resume after pilot repositioning
  • Throttle Gain Boost
  • ViewPro camera/gimbal support?
  • T-motor ESC telemetry support?
  • Firmware upload from SD card?

DJI RS2 gimbal

TradHeli manual autorotation

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Plane update

Plane stable release is at 4.3.3

Pending changes for 4.4.x:

  • Improved QRTL altitude handling
  • Package place support (cargo delivery)
  • Improved fixed wing landing accuracy
  • New ACRO locking mode
  • Aerobatics support
  • Improved non-airspeed takeoff throttle control

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Cargo Delivery Testing

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XPlane12 Support

For people who like to simulate large aircraft we now support XPlane12, with a very flexible interface for configuring aircraft controls.

See a demo video here for an example with a 3 tonne quadplane, the Beta Alia.

Features:

  • Flexible DataRef controls
  • Flexible joystick configuration
  • Support for fixed wing, VTOL, copter and heli

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Events

Developer Conference Fri 31st Mar ~ Sun 2nd Apr (Blog)