ArduPilot-4.6.0-beta6 release #29888
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That's a lot of changes for a beta 6! |
rmackay9
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@rmackay9 the "speed up ublox configuration" change is already in this PR |
…t scheduler loop rate
Co-authored-by: Henry Wurzburg <[email protected]>
we have a lot more steps now to configure a ublox, and it is taking an annoyingly long time. There is really not a good reason to do the configuration so slowly on a F9P this reduces the time for configuration from detection of the ublox to fully configured from 35s to 10s
it was possible for a runtime allocated subscriber, client or server to trigger a call to a pure virtual handle_message function in the HandlerList class as the constructor ordering inserts the handler into the list before the vtable pointer is updated to the vtable for the child class. The same issue happens on destructor this could happen in a couple of places in ArduPilot: - the MPPT battery driver does runtime allocation of a client on an R/C switch - the DroneCAN_Serial client is started after the thread starts so packet processing is started thanks to Thomas and Sid
…tioning fast waypoints
…false
CubeNode was trying to check a parameter which doesn't exist
../../libraries/AP_Airspeed/Airspeed_Calibration.cpp: In member function 'void AP_Airspeed::send_airspeed_calibration(const Vector3f&)':
../../libraries/AP_Airspeed/Airspeed_Calibration.cpp:179:23: error: 'class AP_Airspeed_Params' has no member named 'autocal'
179 | if (!param[i].autocal && !calibration_enabled) {
| ^~~~~~~
compilation terminated due to -Wfatal-errors.
... so we don't try to buld bootloaders for it
Required for the ellipsoid height to be broadcast correctly over e.g. MAVLink. Tested on a NovAtel OEM719.
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tridge
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Apr 28, 2025
This prevents the pre-rotation pitch calculations to occur post-rotation.
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ArduPilot's internal definition of undulation is reversed in sign compared to the accepted convention and this creates confusion: ArduPilot#29199 . Instead of the internal definition, log the altitude above ellipsoid, which ArduPilot already consistently and correctly calculates and broadcasts over e.g. DroneCAN and MAVLink. Switching the quantity logged allows users to accommodate the problem in old logs (i.e. always flip GPA.Und sign to match the accepted convention) and reduces opportunity for future confusion. Future work will clean up or replace the internal representation, but this should be a complete fix for the issue from a user perspective.
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This is a work-in-progress PR for the AP-4.6.0-beta6 release affecting Copter, Rover, Plane and Tracker.
The list of PRs included can be seen in the "4.6.0-beta6" column of this project.
Thanks to @andyp1per, @Ryanf55 and @peterbarker, @Hwurzburg, @tpwrules and @tridge for their help so far with this PR
All feedback welcome!