ArduPilot EU Dev Call 2025-12-03

Georacer · December 3, 2025, 8:42am

Attendees (unique): 8

UTC0700

github.com/ArduPilot/ardupilot

Create script that checks whether `define` lines in hwdef files are present in the codebase

master ← peterbarker:pr/validate-hwdef-defines

opened 06:20AM - 03 Dec 25 UTC

peterbarker

+458 -0

I've created several PRs to fix problems this tool has pointed out. ``` pbar…ker@threads:~/rc/ardupilot$ ./Tools/scripts/validate_board_hwdef.py -n 8 --all-boards Validating 442 boards using 8 parallel workers... Completed 1/442 boards (441 remaining): SITL_x86_64_linux_gnu Completed 2/442 boards (440 remaining): SITL_arm_linux_gnueabihf Completed 3/442 boards (439 remaining): HolybroG4_GPS Completed 4/442 boards (438 remaining): kha_eth Completed 5/442 boards (437 remaining): Pix32v5 Completed 6/442 boards (436 remaining): CubeRedSecondary Completed 7/442 boards (435 remaining): H757I_EVAL_intf Completed 8/442 boards (434 remaining): fmuv2 Completed 9/442 boards (433 remaining): omnibusf4pro-bdshot Completed 10/442 boards (432 remaining): CubeYellow Completed 11/442 boards (431 remaining): MatekL431-EFI Completed 12/442 boards (430 remaining): mRoPixracerPro-bdshot Completed 13/442 boards (429 remaining): f103-QiotekPeriph Completed 14/442 boards (428 remaining): Pixhawk4 Completed 15/442 boards (427 remaining): VM-L431-Periph-Pico Completed 16/442 boards (426 remaining): CubeBlack Completed 17/442 boards (425 remaining): CUAV-V6X-v2-ODID Completed 18/442 boards (424 remaining): AET-H743-Basic Completed 19/442 boards (423 remaining): CarbonixF405 Completed 20/442 boards (422 remaining): MatekF405-bdshot Completed 21/442 boards (421 remaining): JFB110 Completed 22/442 boards (420 remaining): iomcu Completed 23/442 boards (419 remaining): OmnibusNanoV6-bdshot Completed 24/442 boards (418 remaining): iomcu-dshot Completed 25/442 boards (417 remaining): KakuteH7Mini Completed 26/442 boards (416 remaining): CORVON405V2_1 Completed 27/442 boards (415 remaining): VRUBrain-v51 Completed 28/442 boards (414 remaining): CUAV-X7-bdshot Completed 29/442 boards (413 remaining): KakuteF4Mini Completed 30/442 boards (412 remaining): MatekG474-DShot Completed 31/442 boards (411 remaining): PixSurveyA1-IND Completed 32/442 boards (410 remaining): CubeOrange-joey Completed 33/442 boards (409 remaining): Airvolute-DCS2 Completed 34/442 boards (408 remaining): MatekL431-MagHiRes Completed 35/442 boards (407 remaining): Pixhawk1-1M-bdshot Completed 36/442 boards (406 remaining): f303-TempSensor Completed 37/442 boards (405 remaining): CubeOrange-periph-heavy Completed 38/442 boards (404 remaining): CubeOrange-periph Completed 39/442 boards (403 remaining): CUAV-X7-ODID Completed 40/442 boards (402 remaining): f405-MatekAirspeed Completed 41/442 boards (401 remaining): mRoControlZeroF7 Completed 42/442 boards (400 remaining): TBS-L431-CurrMon Completed 43/442 boards (399 remaining): KakuteF7Mini Completed 44/442 boards (398 remaining): MatekL431-GPS Completed 45/442 boards (397 remaining): SpeedyBeeF405Mini Completed 46/442 boards (396 remaining): Pixracer Completed 47/442 boards (395 remaining): MicoAir405Mini Completed 48/442 boards (394 remaining): SDMODELH7V2 Completed 49/442 boards (393 remaining): f103-RangeFinder Completed 50/442 boards (392 remaining): ZeroOneX6_Air Completed 51/442 boards (391 remaining): MatekF405-Wing-bdshot Completed 52/442 boards (390 remaining): BETAFPV-F405 Completed 53/442 boards (389 remaining): skyviper-v2450 Completed 54/442 boards (388 remaining): KakuteF4 Completed 55/442 boards (387 remaining): speedybeef4 Completed 56/442 boards (386 remaining): ARKV6X Completed 57/442 boards (385 remaining): BeastF7 Completed 58/442 boards (384 remaining): MambaF405v2 Completed 59/442 boards (383 remaining): AeroFox-Airspeed-DLVR Completed 60/442 boards (382 remaining): BETAFPV-F405-I2C Completed 61/442 boards (381 remaining): CSKY405 Completed 62/442 boards (380 remaining): Durandal Completed 63/442 boards (379 remaining): SPRacingH7 Completed 64/442 boards (378 remaining): f303-Universal Completed 65/442 boards (377 remaining): CUAV-Nora-bdshot Completed 66/442 boards (376 remaining): Sierra-F9P Completed 67/442 boards (375 remaining): PH4-mini Completed 68/442 boards (374 remaining): SVehicle-E2 Completed 69/442 boards (373 remaining): fmuv3-bdshot Completed 70/442 boards (372 remaining): revo-mini Completed 71/442 boards (371 remaining): ARK_RTK_GPS Completed 72/442 boards (370 remaining): f303-M10070 Completed 73/442 boards (369 remaining): MatekG474-GPS Completed 74/442 boards (368 remaining): TBS-L431-PWM Completed 75/442 boards (367 remaining): Pixhawk4-bdshot Completed 76/442 boards (366 remaining): X-MAV-AP-H743v2 Completed 77/442 boards (365 remaining): QioTekZealotH743-bdshot Completed 78/442 boards (364 remaining): CUAV-Nora Completed 79/442 boards (363 remaining): OrqaF405Pro Completed 80/442 boards (362 remaining): DroneerF405 Completed 81/442 boards (361 remaining): BeastH7 Completed 82/442 boards (360 remaining): CubeYellow-bdshot Completed 83/442 boards (359 remaining): Sierra-TrueNavIC Completed 84/442 boards (358 remaining): mRoControlZeroOEMH7 Completed 85/442 boards (357 remaining): SpeedyBeeF405WING Completed 86/442 boards (356 remaining): CUAV-X25-EVO-ODID Completed 87/442 boards (355 remaining): KakuteH7 Completed 88/442 boards (354 remaining): QioTekZealotH743 Completed 89/442 boards (353 remaining): PixFlamingo-F767 Completed 90/442 boards (352 remaining): ZubaxGNSS Completed 91/442 boards (351 remaining): BrahmaF4 Completed 92/442 boards (350 remaining): NucleoH753ZI Completed 93/442 boards (349 remaining): VUAV-V7pro Completed 94/442 boards (348 remaining): fmuv3 Completed 95/442 boards (347 remaining): DAKEFPVF405 Completed 96/442 boards (346 remaining): YJUAV_A6Ultra Completed 97/442 boards (345 remaining): AtomRCF405NAVI Completed 98/442 boards (344 remaining): Here4FC Completed 99/442 boards (343 remaining): KakuteH7-bdshot Completed 100/442 boards (342 remaining): TBS_LUCID_H7_WING_AIO Completed 101/442 boards (341 remaining): PixFlamingo Completed 102/442 boards (340 remaining): CUAV-7-Nano-ODID Completed 103/442 boards (339 remaining): ARK_PI6X Completed 104/442 boards (338 remaining): CBU-H7-LC-Stamp Completed 105/442 boards (337 remaining): TBS-L431-Airspeed Completed 106/442 boards (336 remaining): MatekL431-Periph Completed 107/442 boards (335 remaining): iomcu-f103-8MHz-dshot Completed 108/442 boards (334 remaining): CubeBlack-periph Completed 109/442 boards (333 remaining): mRoControlZeroClassic Completed 110/442 boards (332 remaining): G4-ESC Completed 111/442 boards (331 remaining): BlitzWingH743 Completed 112/442 boards (330 remaining): DAKEFPVH743Pro Completed 113/442 boards (329 remaining): MatekL431-BattMon Completed 114/442 boards (328 remaining): TBS-L431-BattMon Completed 115/442 boards (327 remaining): NucleoH755 Completed 116/442 boards (326 remaining): Sierra-TrueSpeed Completed 117/442 boards (325 remaining): AR-F407SmartBat Completed 118/442 boards (324 remaining): DevEBoxH7v2 Completed 119/442 boards (323 remaining): mRoX21-777 Completed 120/442 boards (322 remaining): FlywooF745 Completed 121/442 boards (321 remaining): JHEM_JHEF405 Completed 122/442 boards (320 remaining): HolybroG4_Compass Completed 123/442 boards (319 remaining): revo-mini-i2c-bdshot Completed 124/442 boards (318 remaining): Pixhawk6X Completed 125/442 boards (317 remaining): BROTHERHOBBYF405v3 Completed 126/442 boards (316 remaining): PixPilot-V3 Completed 127/442 boards (315 remaining): Pixracer-periph Completed 128/442 boards (314 remaining): PixPilot-C3 Completed 129/442 boards (313 remaining): OrqaH7QuadCore Completed 130/442 boards (312 remaining): MicoAir405v2 Completed 131/442 boards (311 remaining): RADIX2HD Completed 132/442 boards (310 remaining): omnibusf4pro-one Completed 133/442 boards (309 remaining): HolybroG4_Airspeed Completed 134/442 boards (308 remaining): CubePurple Completed 135/442 boards (307 remaining): VRCore-v10 Completed 136/442 boards (306 remaining): HEEWING-F405 Completed 137/442 boards (305 remaining): sparky2 Completed 138/442 boards (304 remaining): IFLIGHT_2RAW_H7 Completed 139/442 boards (303 remaining): MatekF405-CAN Completed 140/442 boards (302 remaining): Pixhawk6X-bdshot Completed 141/442 boards (301 remaining): QioTekZealotF427 Completed 142/442 boards (300 remaining): BeastH7v2 DEFAULT_NTF_LED_TYPES already in defines with same value Completed 143/442 boards (299 remaining): MatekF405-Wing Completed 144/442 boards (298 remaining): TBS_LUCID_H7_WING Completed 145/442 boards (297 remaining): f103-GPS Completed 146/442 boards (296 remaining): Swan-K1 Completed 147/442 boards (295 remaining): MicoAir743v2 Completed 148/442 boards (294 remaining): YJUAV_A6SE Completed 149/442 boards (293 remaining): thepeach-k1 Completed 150/442 boards (292 remaining): VRBrain-v54 Completed 151/442 boards (291 remaining): MambaH743v4 Completed 152/442 boards (290 remaining): airbotf4 Completed 153/442 boards (289 remaining): PixPilot-V6PRO Completed 154/442 boards (288 remaining): ARK_CANNODE Completed 155/442 boards (287 remaining): mRoPixracerPro Completed 156/442 boards (286 remaining): BlitzH743Pro Completed 157/442 boards (285 remaining): SIYI_N7 Completed 158/442 boards (284 remaining): mRoCANPWM-M10126 Completed 159/442 boards (283 remaining): FlywooF745Nano Completed 160/442 boards (282 remaining): BOTWINGF405 Completed 161/442 boards (281 remaining): CubeOrangePlus-bdshot Completed 162/442 boards (280 remaining): OmnibusNanoV6 Completed 163/442 boards (279 remaining): FlyingMoonH743 Completed 164/442 boards (278 remaining): f303-GPS Completed 165/442 boards (277 remaining): Sierra-PrecisionPoint Completed 166/442 boards (276 remaining): MazzyStarDrone Completed 167/442 boards (275 remaining): TBS-Colibri-F7 Completed 168/442 boards (274 remaining): NarinFC-H7 Completed 169/442 boards (273 remaining): MatekF765-Wing Completed 170/442 boards (272 remaining): R9Pilot Completed 171/442 boards (271 remaining): SequreH743 Completed 172/442 boards (270 remaining): CUAV-7-Nano Completed 173/442 boards (269 remaining): Sierra-TrueNavPro Completed 174/442 boards (268 remaining): CubeRedPrimary-PPPGW Completed 175/442 boards (267 remaining): f303-HWESC Completed 176/442 boards (266 remaining): CUAV-Pixhack-v3 Completed 177/442 boards (265 remaining): skyviper-journey Completed 178/442 boards (264 remaining): CUAVv5-bdshot Completed 179/442 boards (263 remaining): ReaperF745 Completed 180/442 boards (262 remaining): mRoControlZeroH7 Completed 181/442 boards (261 remaining): NxtPX4v2 Completed 182/442 boards (260 remaining): SkySakuraH743 Completed 183/442 boards (259 remaining): MFE_POS3_CAN Completed 184/442 boards (258 remaining): MicoAir743-AIO Completed 185/442 boards (257 remaining): MatekH743-bdshot Completed 186/442 boards (256 remaining): Here4AP Completed 187/442 boards (255 remaining): FlyingMoonF427 Completed 188/442 boards (254 remaining): CUAV_GPS Completed 189/442 boards (253 remaining): MatekL431-ADSB Completed 190/442 boards (252 remaining): Pixhawk6C Completed 191/442 boards (251 remaining): HolybroGPS Completed 192/442 boards (250 remaining): VM-L431-BatteryTag Completed 193/442 boards (249 remaining): MatekL431-RC Completed 194/442 boards (248 remaining): uav-dev_m10s Completed 195/442 boards (247 remaining): Sierra-TrueNavPro-G4 Completed 196/442 boards (246 remaining): CubeSolo Completed 197/442 boards (245 remaining): BROTHERHOBBYH743 Completed 198/442 boards (244 remaining): Pixhawk1 Completed 199/442 boards (243 remaining): iomcu-f103 Completed 200/442 boards (242 remaining): sw-boom-f407 Completed 201/442 boards (241 remaining): CUAVv5 Completed 202/442 boards (240 remaining): Sierra-F405 Completed 203/442 boards (239 remaining): MatekL431-DShot Completed 204/442 boards (238 remaining): MatekH7A3 Completed 205/442 boards (237 remaining): Pixhawk1-1M Completed 206/442 boards (236 remaining): f103-HWESC Completed 207/442 boards (235 remaining): YJUAV_A6 Completed 208/442 boards (234 remaining): SULILGH7-P1-P2 Completed 209/442 boards (233 remaining): SkystarsF405v2 Completed 210/442 boards (232 remaining): ORBITH743 Completed 211/442 boards (231 remaining): sw-spar-f407 Completed 212/442 boards (230 remaining): mRoX21 DEFAULT_NTF_LED_TYPES already in defines with same value Completed 213/442 boards (229 remaining): HolybroF4_PMU Completed 214/442 boards (228 remaining): DAKEFPVH743 Completed 215/442 boards (227 remaining): Nucleo-L496 Completed 216/442 boards (226 remaining): KakuteH7-Wing Completed 217/442 boards (225 remaining): FlywooF405HD-AIOv2 Completed 218/442 boards (224 remaining): StellarF4V2 Completed 219/442 boards (223 remaining): MatekF405-TE Completed 220/442 boards (222 remaining): BlitzF745AIO Completed 221/442 boards (221 remaining): f103-Airspeed Completed 222/442 boards (220 remaining): omnibusf4 Completed 223/442 boards (219 remaining): revo-mini-i2c Completed 224/442 boards (218 remaining): MicoAir743 Completed 225/442 boards (217 remaining): sw-nav-f405 Completed 226/442 boards (216 remaining): StellarF4 Completed 227/442 boards (215 remaining): PixPilot-V6 Completed 228/442 boards (214 remaining): AIRLink Completed 229/442 boards (213 remaining): Sierra-F412 Completed 230/442 boards (212 remaining): CubeOrange-SimOnHardWare Completed 231/442 boards (211 remaining): Sierra-L431 Completed 232/442 boards (210 remaining): NucleoH743 Completed 233/442 boards (209 remaining): MatekL431-AUAV Completed 234/442 boards (208 remaining): MatekL431-Serial Completed 235/442 boards (207 remaining): GreenSightUltraBlue Completed 236/442 boards (206 remaining): PH4-mini-bdshot Completed 237/442 boards (205 remaining): MFE_PDB_CAN Completed 238/442 boards (204 remaining): ACNS-CM4Pilot Completed 239/442 boards (203 remaining): CUAV-V6X-v2 Completed 240/442 boards (202 remaining): omnibusf4v6 Completed 241/442 boards (201 remaining): NarinFC-H5 Completed 242/442 boards (200 remaining): GEPRCF745BTHD Completed 243/442 boards (199 remaining): AcctonGodwit_GA1 Completed 244/442 boards (198 remaining): Pixracer-bdshot Completed 245/442 boards (197 remaining): CubeNode-ETH Completed 246/442 boards (196 remaining): CUAV-Nora-ODID Completed 247/442 boards (195 remaining): KakuteF7-bdshot Completed 248/442 boards (194 remaining): F4BY_H743 Completed 249/442 boards (193 remaining): MatekF405-STD Completed 250/442 boards (192 remaining): AnyleafH7 Completed 251/442 boards (191 remaining): PixSurveyA2-IND Completed 252/442 boards (190 remaining): FlywooF405S-AIO Completed 253/442 boards (189 remaining): RadiolinkPIX6 Completed 254/442 boards (188 remaining): f303-MatekGPS Completed 255/442 boards (187 remaining): SkystarsH7HD Completed 256/442 boards (186 remaining): mRoKitCANrevC Completed 257/442 boards (185 remaining): Aocoda-RC-H743Dual Completed 258/442 boards (184 remaining): ARK_FPV Completed 259/442 boards (183 remaining): SDMODELH7V1 Completed 260/442 boards (182 remaining): KakuteF7 Completed 261/442 boards (181 remaining): PixC4-Jetson Completed 262/442 boards (180 remaining): StellarH7V2 Completed 263/442 boards (179 remaining): CUAVv5Nano Completed 264/442 boards (178 remaining): CUAV-X7 Completed 265/442 boards (177 remaining): PixSurveyA1 Completed 266/442 boards (176 remaining): ARK_GPS Completed 267/442 boards (175 remaining): 3DRControlZeroG Completed 268/442 boards (174 remaining): CubeOrangePlus-ODID Completed 269/442 boards (173 remaining): MUPilot Completed 270/442 boards (172 remaining): FoxeerH743v1 Completed 271/442 boards (171 remaining): SkystarsH7HD-bdshot Completed 272/442 boards (170 remaining): OMNIBUSF7V2 Completed 273/442 boards (169 remaining): AeroFox-PMU Completed 274/442 boards (168 remaining): thepeach-r1 Completed 275/442 boards (167 remaining): AeroFox-Airspeed Completed 276/442 boards (166 remaining): ATOMRCF405NAVI-Deluxe Completed 277/442 boards (165 remaining): Pixhawk6X-PPPGW Completed 278/442 boards (164 remaining): SkyRukh_Surge_H7 Completed 279/442 boards (163 remaining): CBU-H7-Stamp Completed 280/442 boards (162 remaining): JHEMCUF405PRO Completed 281/442 boards (161 remaining): F4BY Completed 282/442 boards (160 remaining): Pixhawk6C-bdshot Completed 283/442 boards (159 remaining): Pixhawk6X-ODID Completed 284/442 boards (158 remaining): MatekL431-HWTelem Completed 285/442 boards (157 remaining): Durandal-bdshot Completed 286/442 boards (156 remaining): HEEWING-F405v2 Completed 287/442 boards (155 remaining): uav-dev-fc-um982 Completed 288/442 boards (154 remaining): AeroFox-GNSS_F9P DEFAULT_NTF_LED_TYPES already in defines with same value Completed 289/442 boards (153 remaining): MatekL431-Airspeed Completed 290/442 boards (152 remaining): MatekF765-Wing-bdshot Completed 291/442 boards (151 remaining): MatekH743 Completed 292/442 boards (150 remaining): revo-mini-bdshot Completed 293/442 boards (149 remaining): JFB100 Completed 294/442 boards (148 remaining): LumenierLUXF765-NDAA Completed 295/442 boards (147 remaining): JHEMCU-GSF405A-RX2 Completed 296/442 boards (146 remaining): FoxeerF405v2 Completed 297/442 boards (145 remaining): MFE_AirSpeed_CAN Completed 298/442 boards (144 remaining): VRBrain-v51 Completed 299/442 boards (143 remaining): modalai_fc-v1 Completed 300/442 boards (142 remaining): FlywooH743Pro Completed 301/442 boards (141 remaining): DrotekP3Pro Completed 302/442 boards (140 remaining): CubeGreen-solo Completed 303/442 boards (139 remaining): MatekL431-Proximity Completed 304/442 boards (138 remaining): MicoAir743-Lite Completed 305/442 boards (137 remaining): iomcu-f103-dshot Completed 306/442 boards (136 remaining): CUAV-X25-EVO Completed 307/442 boards (135 remaining): BeastF7v2 Completed 308/442 boards (134 remaining): GEPRC_TAKER_H743 Completed 309/442 boards (133 remaining): mindpx-v2 Completed 310/442 boards (132 remaining): FlywooF405Pro Completed 311/442 boards (131 remaining): MatekF765-SE Completed 312/442 boards (130 remaining): SPRacingH7RF Completed 313/442 boards (129 remaining): JHEMCU-H743HD Completed 314/442 boards (128 remaining): CubeOrange Completed 315/442 boards (127 remaining): CubeOrangePlus Completed 316/442 boards (126 remaining): RadiolinkF405 Completed 317/442 boards (125 remaining): mRoControlZeroH7-bdshot Completed 318/442 boards (124 remaining): ZeroOneX6 Completed 319/442 boards (123 remaining): YARIV6X Completed 320/442 boards (122 remaining): VM-L431-SRV-Hub-4CHP Completed 321/442 boards (121 remaining): uav-dev-powermodule Completed 322/442 boards (120 remaining): luminousbee4 Completed 323/442 boards (119 remaining): Hitec-Airspeed Completed 324/442 boards (118 remaining): CubeOrangePlus-SimOnHardWare Completed 325/442 boards (117 remaining): CubeRedSecondary-IO Completed 326/442 boards (116 remaining): Aeromind6X Completed 327/442 boards (115 remaining): FlyingMoonF407 Completed 328/442 boards (114 remaining): BlitzMiniF745 Completed 329/442 boards (113 remaining): fmuv5 Completed 330/442 boards (112 remaining): f303-PWM Completed 331/442 boards (111 remaining): SuccexF4 Completed 332/442 boards (110 remaining): f303-M10025 Completed 333/442 boards (109 remaining): KakuteF4-Wing Completed 334/442 boards (108 remaining): AeroCogito-H7Digital Completed 335/442 boards (107 remaining): mini-pix Completed 336/442 boards (106 remaining): omnibusf4pro Completed 337/442 boards (105 remaining): MatekF405-TE-bdshot Completed 338/442 boards (104 remaining): SpeedyBeeF405AIO Completed 339/442 boards (103 remaining): F4BY_F427 Completed 340/442 boards (102 remaining): BotBloxDroneNet Completed 341/442 boards (101 remaining): TMotorH743 Completed 342/442 boards (100 remaining): AEDROXH7 Completed 343/442 boards (99 remaining): VRBrain-v52 Completed 344/442 boards (98 remaining): TBS_LUCID_H7 Completed 345/442 boards (97 remaining): KakuteH7Mini-Nand Completed 346/442 boards (96 remaining): speedybeef4v4 Completed 347/442 boards (95 remaining): f103-ADSB Completed 348/442 boards (94 remaining): MatekH743-periph Completed 349/442 boards (93 remaining): BirdCANdy Completed 350/442 boards (92 remaining): JHEMCU-GSF405A Completed 351/442 boards (91 remaining): SPEDIXH743 Completed 352/442 boards (90 remaining): SPEDIXF405 Completed 353/442 boards (89 remaining): CubeRedPrimary Completed 354/442 boards (88 remaining): MatekL431-BatteryTag Completed 355/442 boards (87 remaining): HitecMosaic Completed 356/442 boards (86 remaining): C-RTK2-HP Completed 357/442 boards (85 remaining): ARKV6X-bdshot Completed 358/442 boards (84 remaining): KakuteH7v2 Completed 359/442 boards (83 remaining): FreeflyRTK Completed 360/442 boards (82 remaining): H757I_EVAL Completed 361/442 boards (81 remaining): MatekF405 Completed 362/442 boards (80 remaining): uav-dev-auav-g4 Completed 363/442 boards (79 remaining): CrazyF405 Completed 364/442 boards (78 remaining): MambaF405US-I2C Completed 365/442 boards (77 remaining): f103-Trigger Completed 366/442 boards (76 remaining): iomcu_f103_8MHz Completed 367/442 boards (75 remaining): CubeNode Completed 368/442 boards (74 remaining): Pixhawk1-bdshot Completed 369/442 boards (73 remaining): CORVON743V1 Completed 370/442 boards (72 remaining): MatekL431-bdshot Completed 371/442 boards (71 remaining): ACNS-F405AIO Completed 372/442 boards (70 remaining): Sierra-TrueNorth Completed 373/442 boards (69 remaining): skyviper-f412-rev1 Completed 374/442 boards (68 remaining): LongBowF405WING Completed 375/442 boards (67 remaining): Pixhawk5X Completed 376/442 boards (66 remaining): MFT-SEMA100 Completed 377/442 boards (65 remaining): mRoNexus Completed 378/442 boards (64 remaining): speedybeef4v3 Completed 379/442 boards (63 remaining): SkystarsH7HDv2 Completed 380/442 boards (62 remaining): revo-mini-sd Completed 381/442 boards (61 remaining): MatekG474-Periph Completed 382/442 boards (60 remaining): mRo-M10095 Completed 383/442 boards (59 remaining): rGNSS Completed 384/442 boards (58 remaining): Nucleo-L476 Completed 385/442 boards (57 remaining): MambaF405-2022 Completed 386/442 boards (56 remaining): rFCU Completed 387/442 boards (55 remaining): FlysparkF4 Completed 388/442 boards (54 remaining): crazyflie2 Completed 389/442 boards (53 remaining): TBS_LUCID_PRO Completed 390/442 boards (52 remaining): CubeOrange-ODID Completed 391/442 boards (51 remaining): BlitzF745 Completed 392/442 boards (50 remaining): mRoCZeroOEMH7-bdshot Completed 393/442 boards (49 remaining): f405-MatekGPS Completed 394/442 boards (48 remaining): CubeBlack+ Completed 395/442 boards (47 remaining): AEROFOX-H7 Completed 396/442 boards (46 remaining): MatekL431-Rangefinder Completed 397/442 boards (45 remaining): F35Lightning Completed 398/442 boards (44 remaining): CUAVv5Nano-bdshot Completed 399/442 boards (43 remaining): NarinFC-X3 Completed 400/442 boards (42 remaining): YJUAV_A6SE_H743 Completed 401/442 boards (41 remaining): Nucleo-G491 Completed 402/442 boards (40 remaining): QioTekAdeptF407 Completed 403/442 boards (39 remaining): luminousbee5 Completed 404/442 boards (38 remaining): CubeOrange-bdshot Completed 405/442 boards (37 remaining): pxfmini Completed 406/442 boards (36 remaining): MatekL431-APDTelem Completed 407/442 boards (35 remaining): JHEMCUF405WING Completed 408/442 boards (34 remaining): pilotpi Completed 409/442 boards (33 remaining): navigator Completed 410/442 boards (32 remaining): pocket Completed 411/442 boards (31 remaining): dark Completed 412/442 boards (30 remaining): ocpoc_zynq Completed 413/442 boards (29 remaining): linux Completed 414/442 boards (28 remaining): navio2 Completed 415/442 boards (27 remaining): bbbmini Completed 416/442 boards (26 remaining): edge Completed 417/442 boards (25 remaining): obal Completed 418/442 boards (24 remaining): navio Completed 419/442 boards (23 remaining): erleboard Completed 420/442 boards (22 remaining): bhat Completed 421/442 boards (21 remaining): erlebrain2 Completed 422/442 boards (20 remaining): bebop Completed 423/442 boards (19 remaining): canzero Completed 424/442 boards (18 remaining): vnav Completed 425/442 boards (17 remaining): pocket2 Completed 426/442 boards (16 remaining): aero Completed 427/442 boards (15 remaining): pxf Completed 428/442 boards (14 remaining): navigator64 Completed 429/442 boards (13 remaining): disco Completed 430/442 boards (12 remaining): zynq Completed 431/442 boards (11 remaining): blue Completed 432/442 boards (10 remaining): t3-gem-o1 Completed 433/442 boards (9 remaining): esp32s3empty Completed 434/442 boards (8 remaining): esp32icarus HAL_LOGGING_BACKENDS_DEFAULT already in defines with same value Completed 435/442 boards (7 remaining): esp32s3m5stampfly Completed 436/442 boards (6 remaining): esp32tomte76 Completed 437/442 boards (5 remaining): esp32empty Completed 438/442 boards (4 remaining): esp32s3devkit Completed 439/442 boards (3 remaining): esp32imu_module_v11 Completed 440/442 boards (2 remaining): esp32buzz Completed 441/442 boards (1 remaining): esp32diy Completed 442/442 boards (0 remaining): esp32nick Found unused defines in 84 boards: ACNS-CM4Pilot: UAVCAN_NODE_POOL_SIZE: 1024 ACNS-F405AIO: UAVCAN_NODE_POOL_SIZE: 1024 AEROFOX-H7: ADIS_DRDY_PIN: 90 AIRLink: HAL_OTG1_PROTOCOL: SerialProtocol_MAVLink2 AcctonGodwit_GA1: SP3_DRDY2: 93 AeroCogito-H7Digital: RELAY2_DEFAULT: 1 ALLOW_ARM_NO_GPS: None Aeromind6X: SP3_DRDY2: 93 HAL_HEATER_MAG_OFFSET_RM3100: AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(-19,37,-24) AnyleafH7: AP_CAN_SCLAN_ENABLED: 1 BOTWINGF405: HAL_COMPASS_AK8963_ENABLED: 1 HAL_I2C_ENABLED: None BirdCANdy: AP_PERIPH_LED_BRIGHT_DEFAULT: 50 BlitzF745AIO: HAL_BUZZER_ON: 1 HAL_BUZZER_OFF: 0 BotBloxDroneNet: AP_NETWORKING_MAX_INSTANCES: 4 CORVON405V2_1: BOARD_PWM_COUNT_DEFAULT: 10 HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE CSKY405: HAL_SERIAL3_BAUD: AP_SERIALMANAGER_GPS_BAUD CUAV-V6X-v2: SP3_DRDY2: 93 CUAV-V6X-v2-ODID: SP3_DRDY2: 93 CUAV-X7: ADIS_DRDY_PIN: 93 CUAV-X7-ODID: ADIS_DRDY_PIN: 93 CUAV-X7-bdshot: ADIS_DRDY_PIN: 93 CrazyF405: AP_NOTIFY_GPIO_LED_ENABLED: 1 CubeNode: AP_NETWORKING_MAX_INSTANCES: 4 CubeNode-ETH: AP_NETWORKING_MAX_INSTANCES: 4 CubeRedPrimary: AP_NETWORKING_DEFAULT_STATIC_NETMASK: "255.255.255.0" CubeRedPrimary-PPPGW: AP_NETWORKING_DEFAULT_STATIC_NETMASK: "255.255.255.0" CubeRedSecondary-IO: HAL_IO_FMU_COMMS_TX_DMA_CHANNEL: STM32_UART_UART7_TX_DMA_CHAN HAL_IO_FMU_COMMS_RX_DMA_STREAM: STM32_UART_UART7_RX_DMA_STREAM HAL_IO_FMU_COMMS_RX_DMA_CHANNEL: STM32_UART_UART7_RX_DMA_CHAN HAL_BL_IOMCU_FW_DETECT: 1 DevEBoxH7v2: HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE BOARD_PWM_COUNT_DEFAULT: 4 FlywooF405Pro: HAL_BUZZER_ON: 1 HAL_BUZZER_OFF: 0 GEPRCF745BTHD: HAL_BUZZER_ON: 1 HAL_BUZZER_OFF: 0 GEPRC_TAKER_H743: HAL_BUZZER_ON: 1 HAL_BUZZER_OFF: 0 GreenSightUltraBlue: AP_COMPASS_IST8308_DEFAULT_ROTATION: ROTATION_ROLL_180_YAW_90 Here4AP: GPIO_USART1_TX: 7 GPIO_USART1_RX: 8 GPIO_USART2_TX: 9 GPIO_USART2_RX: 10 DRONEID_MODULE_CHAN: MAVLINK_COMM_2 Here4FC: GPIO_USART1_TX: 7 GPIO_USART1_RX: 8 GPIO_USART2_TX: 9 GPIO_USART2_RX: 10 DRONEID_MODULE_PORT: 2 DRONEID_MODULE_CHAN: MAVLINK_COMM_0 GPIO_UBX_SAFEBOOT: 11 GPIO_UBX_RESET: 12 JFB100: BOARD_PWM_COUNT_DEFAULT: 8 HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE JHEMCU-GSF405A: HAL_RSSI_TYPE: 3 JHEMCU-GSF405A-RX2: HAL_RSSI_TYPE: 3 JHEM_JHEF405: HAL_BUZZER_ON: 1 HAL_BUZZER_OFF: 0 KakuteF4: HAL_NEOPIXEL_COUNT: 8 KakuteF4Mini: HAL_NEOPIXEL_COUNT: 8 MatekL431-Proximity: AP_PERIPH_PRX_PORT_DEFAULT: 2 MicoAir405Mini: BOARD_PWM_COUNT_DEFAULT: 9 HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE MicoAir405v2: BOARD_PWM_COUNT_DEFAULT: 10 HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE MicoAir743: BOARD_PWM_COUNT_DEFAULT: 10 MicoAir743-AIO: BOARD_PWM_COUNT_DEFAULT: 9 HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE MicoAir743-Lite: BOARD_PWM_COUNT_DEFAULT: 15 MicoAir743v2: BOARD_PWM_COUNT_DEFAULT: 11 HAL_COMPASS_DISABLE_QMC5883L_INTERNAL_PROBE: None NarinFC-H5: ADIS_DRDY_PIN: 93 NarinFC-H7: ADIS_DRDY_PIN: 93 NucleoH753ZI: HAL_ZCONFIG_COMMENTS: "SB55 and SB62 must be soldered ON for Arduino compatibility" HAL_USB_ENABLE_COMMENTS: "SB76 must be ON for USB OTG_FS to work" HAL_BLHELI_PASSTHROUGH_ENABLED: 1 HAL_BLHELI_PASSTHROUGH_UART: 3 HAL_ESC_TELEMETRY_UART_ENABLED: 1 HAL_ESC_TELEMETRY_UART: 1 PixC4-Jetson: BOARD_PWM_COUNT_DEFAULT: 8 Pixhawk6X: SP3_DRDY2: 93 Pixhawk6X-ODID: SP3_DRDY2: 93 Pixhawk6X-PPPGW: SP3_DRDY2: 93 Pixhawk6X-bdshot: SP3_DRDY2: 93 QioTekZealotH743: ADIS_DRDY_PIN: 93 QioTekZealotH743-bdshot: ADIS_DRDY_PIN: 93 SPRacingH7: HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE BOARD_PWM_COUNT_DEFAULT: 11 SPRacingH7RF: HAL_BUZZER_ON: 1 HAL_BUZZER_OFF: 0 HAL_COMPASS_DEFAULT: HAL_COMPASS_NONE BOARD_PWM_COUNT_DEFAULT: 9 SVehicle-E2: SP3_DRDY2: 93 SkyRukh_Surge_H7: AP_NOTIFY_GPIO_LED_INVERTED: None HAL_CAN_ENABLED: 1 HAL_CAN_NUM_DRIVERS: 1 VUAV-V7pro: ADIS_DRDY_PIN: 93 ZeroOneX6: SP3_DRDY2: 93 HAL_HEATER_MAG_OFFSET_RM3100: AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(0,0,0) ZeroOneX6_Air: SP3_DRDY2: 93 bebop: HAL_LINUX_HEAT_TARGET_TEMP: 50 disco: HAL_LINUX_HEAT_TARGET_TEMP: 50 edge: AP_BATT2_VOLT_PIN: 5 AP_BATT2_CURR_PIN: 4 AP_BATT2_VOLTDIVIDER_DEFAULT: 18.62 AP_BATT2_CURR_AMP_PERVOLT_DEFAULT: 62.98f esp32buzz: LOGGER_MAVLINK_SUPPORT: 1 esp32diy: HAL_INS_ICM20XXX_I2C_BUS: 0 HAL_INS_ICM20XXX_I2C_ADDR: (0x68) HAL_COMPASS_AK09916_I2C_BUS: 0 LOGGER_MAVLINK_SUPPORT: 1 esp32imu_module_v11: HAL_PROBE_EXTERNAL_I2C_BAROS: 1 esp32nick: HAVE_FILESYSTEM_SUPPORT: 1 LOGGER_MAVLINK_SUPPORT: 1 esp32s3devkit: HAL_COMPASS_DEFAULT: HAL_COMPASS_AK8963_MPU9250 HAVE_FILESYSTEM_SUPPORT: 1 LOGGER_MAVLINK_SUPPORT: 1 esp32tomte76: HAL_SERIAL9_BAUD: (115200/1000)*/ BUILD_DEFAULT_LED_TYPE: Notify_LED_None iomcu: HAL_ADC_VSERVO_CHAN: ADC_CHANNEL_IN4 HAL_ADC_VRSSI_CHAN: ADC_CHANNEL_IN5 iomcu-dshot: HAL_ADC_VSERVO_CHAN: ADC_CHANNEL_IN4 HAL_ADC_VRSSI_CHAN: ADC_CHANNEL_IN5 STM32_TIM_TIM2_UP_DMA_STREAM: STM32_DMA_STREAM_ID(1, 2) STM32_TIM_TIM2_UP_DMA_CHAN: 1 STM32_TIM_TIM4_UP_DMA_CHAN: 1 STM32_TIM_TIM3_UP_DMA_STREAM: STM32_DMA_STREAM_ID(1, 3) STM32_TIM_TIM3_UP_DMA_CHAN: 1 NO_FASTBOOT: None iomcu-f103: HAL_ADC_VSERVO_CHAN: ADC_CHANNEL_IN4 HAL_ADC_VRSSI_CHAN: ADC_CHANNEL_IN5 iomcu-f103-8MHz-dshot: HAL_ADC_VSERVO_CHAN: ADC_CHANNEL_IN4 HAL_ADC_VRSSI_CHAN: ADC_CHANNEL_IN5 STM32_TIM_TIM2_UP_DMA_STREAM: STM32_DMA_STREAM_ID(1, 2) STM32_TIM_TIM2_UP_DMA_CHAN: 1 STM32_TIM_TIM4_UP_DMA_CHAN: 1 STM32_TIM_TIM3_UP_DMA_STREAM: STM32_DMA_STREAM_ID(1, 3) STM32_TIM_TIM3_UP_DMA_CHAN: 1 NO_FASTBOOT: None STM32_TIM_TIM2_CH2_DMA_CHAN: 1 STM32_TIM_TIM4_CH3_DMA_STREAM: STM32_DMA_STREAM_ID(1, 5) STM32_TIM_TIM4_CH3_DMA_CHAN: 1 STM32_TIM_TIM3_CH4_DMA_STREAM: STM32_DMA_STREAM_ID(1, 3) STM32_TIM_TIM3_CH4_DMA_CHAN: 1 iomcu-f103-dshot: HAL_ADC_VSERVO_CHAN: ADC_CHANNEL_IN4 HAL_ADC_VRSSI_CHAN: ADC_CHANNEL_IN5 STM32_TIM_TIM2_UP_DMA_STREAM: STM32_DMA_STREAM_ID(1, 2) STM32_TIM_TIM2_UP_DMA_CHAN: 1 STM32_TIM_TIM4_UP_DMA_CHAN: 1 STM32_TIM_TIM3_UP_DMA_STREAM: STM32_DMA_STREAM_ID(1, 3) STM32_TIM_TIM3_UP_DMA_CHAN: 1 NO_FASTBOOT: None STM32_TIM_TIM2_CH2_DMA_CHAN: 1 STM32_TIM_TIM4_CH3_DMA_STREAM: STM32_DMA_STREAM_ID(1, 5) STM32_TIM_TIM4_CH3_DMA_CHAN: 1 STM32_TIM_TIM3_CH4_DMA_STREAM: STM32_DMA_STREAM_ID(1, 3) STM32_TIM_TIM3_CH4_DMA_CHAN: 1 iomcu_f103_8MHz: HAL_ADC_VSERVO_CHAN: ADC_CHANNEL_IN4 HAL_ADC_VRSSI_CHAN: ADC_CHANNEL_IN5 luminousbee5: BOARD_PWM_COUNT_DEFAULT: 7 mRoNexus: HAL_DRDY_ADIS16470_PIN: 93 obal: HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI: 1 rFCU: ADIS_DRDY_PIN: 93 HAL_HEATER3_GPIO_PIN: 82 HAL_HEATER4_GPIO_PIN: 83 skyviper-f412-rev1: LAND_START_ALT: 700 skyviper-journey: LAND_START_ALT: 700 skyviper-v2450: LAND_START_ALT: 700 AC_PRECLAND_COMPANION_ENABLED: 1 pbarker@threads:~/rc/ardupilot$ ``` I think a few of these might be false-positives (e.g. `STM32_TIM_TIM4_CH3_DMA_STREAM`, in which case the tool can be fixed. I'm hoping we can use this as part of CI once everything is clean. See also https://github.com/ArduPilot/ardupilot/pull/31638 https://github.com/ArduPilot/ardupilot/pull/31639 https://github.com/ArduPilot/ardupilot/pull/31641 @tpwrules I'm of a mind to just nuke the unexpected entries in those hwdef files for esp32 - not try to fix the defines IOW, just removed them. Thoughts?

Andrew: How long does it take to run?
Peter: About a minute, in parallel.

Will integrate will CI once it’s merged it in.

UTC0715

github.com/ArduPilot/ardupilot

AP_AHRS: options defaults to no dcm fallback for rover

master ← rmackay9:rover-ekf-only

opened 11:10AM - 02 Dec 25 UTC

rmackay9

+12 -4

This changes the AHRS_OPTION parameter default to 3 for Rover which means ([see …param desc here](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_AHRS/AP_AHRS.cpp#L199)): - DisableDCMFallbackFW + DisableDCMFallbackVTOL. I think we need to default both of these because rovers can be "fly forward" or not depending upon the frame type (e.g. ackerman vs skid steering) and whether they are armed and driving or not This change has been lightly tested in SITL to ensure it resolves issue https://github.com/ArduPilot/ardupilot/issues/31402. The test included: - loading a square mission into Rover - arming in Auto mode - param set SIM_GPS1_GLTCH_Y 0.0001 Before this change an EKF failsafe triggers and the vehicle switches to Hold mode <img width="815" height="1036" alt="image" src="https://github.com/user-attachments/assets/a58c0686-1d53-4683-bbe3-4c82507478c6" /> After the vehicle handles the GPS glitch correctly and keeps driving around the course <img width="811" height="690" alt="image" src="https://github.com/user-attachments/assets/b7879eb3-505a-4276-b5a8-9d22587c7788" />

Randy: For some reason EKF failsafe triggers when DCM becomes the active AHRS and triggers HOLD mode.

When EKF is configured to use GPS but can’t do it at the moment, it switches to DCM.
But when the GPS glitches, the EKF will switch to DCM too eagerly.
Rover can’t handle the switch well, so we just set it to HOLD. It is disruptive.

P: We should provide the innovations to save us the HOLD.
A: It’s not straightforward to extract the innovations from the Rover EKF.

Merged!

UTC0720

P: Needs an autotest.
R: I’m going to test this one.
A: Especially what happens when you can’t look up the terrain.

UTC0730

github.com/ArduPilot/ardupilot

AP_TECS: Initialize flare sink demand with current demand

master ← Georacer:pr/tecs_flare_sink_init

opened 12:42PM - 27 Nov 25 UTC

Georacer

+4 -4

# Summary This PR modifies the flare landing stage and the climb rate control…, to initialize the climb rate demand not from the current climb (sink) rate, but from the current climb rate **demand**. # Details I noticed in a [log posted in the forum](https://discuss.ardupilot.org/t/plane-4-6-release/134619/30?u=georacer) that when the flare starts, we snap the demanded climb rate to the current climb rate. The original idea is to progressively fade in the flare climb rate, which is usually 0. But what actually can happen is that if the current sink rate is different to the sink rate demand, it can result in abrupt pitch up or down demand. It can also lead to unintended loss of altitude at a very critical state of the landing. A couple of examples from that log: <img width="724" height="925" alt="Screenshot from 2025-11-27 13-21-25" src="https://github.com/user-attachments/assets/29d3468f-f457-483b-84e5-f37673e1cc86" /> <img width="724" height="925" alt="image" src="https://github.com/user-attachments/assets/125d3303-6138-4039-93bc-98cc6e403531" /> I think it's a better idea to initialize with the similar quantity of the climb rate demand instead. # Testing Tested in SITL, using the `MAV_CMD_DO_LAND_START` autotest. Before: <img width="724" height="925" alt="Screenshot from 2025-11-27 13-58-40" src="https://github.com/user-attachments/assets/85ef6d1a-41a5-4928-b0c2-607e92e62ba6" /> After: <img width="724" height="925" alt="image" src="https://github.com/user-attachments/assets/6c005123-27b6-4bb4-bd4f-71443bbe3928" /> # Potential improvements It would be better perhaps if we were holding on to `_hgt_rate_dem_prev`, but there's no such quantity yet.

Needs testing from another party.

UTC0733

A: It’s probably not worth using the bitfields.

Let’s change the original rangefinder_state bitfields to be their own bytes.
Also pick better names if they can fit.

UTC0739

A: What is required from the standard here?
R: Probably it’s meant to host an arrow that points to where we are sampling right now.
P: Bill Boney was trying to draw something, but lacked the information.

If we use different messages, then the mismatch in timestamps will cause latency and problems.

R: Let’s just fill it in with the compass vetor.
P: Nah, let’s not.
R: It’s fine, I’ll take this over.

UTC0752

A: The chance of getting a FS when looking for the timesync is much higher. We need to warn people of this.

Let’s test on your Bixler perhaps, Peter?

UTC0803

4.7 release

R: We’re waiting for Leonard’s PRs.

We don’t have a lot of selling features for 4.7.

Andy: Fast rates.
P: Arc waypoints.
R: Help Leonard along and get the beta out.
P: Why rush if there are no big advertising features?
R: Yeah, I see your point.

Andy: I’m getting very slow frame rates when I’m compiling with Cygwin, around 30Hz.
A: Let me try it out.

I’m getting around 700FPS.

Andy: I was running with sim_vehicle, does this not work?
A: Oh, that might not be working correctly, it’s adviseable to copy the built binary and invoke it with Mission Planner.

In essence you only need to open the socket to the SITL 5760, to get it running. MAVProxy, telnet, netcat or even a browser would do.

Andy: It’s sim_vehicle that causes the slowness. Weird…
A: Weird indeed.

Matteo_Tarsi · December 3, 2025, 11:51am

github.com/ArduPilot/ardupilot

AP_TECS: Initialize flare sink demand with current demand

master ← Georacer:pr/tecs_flare_sink_init

opened 12:42PM - 27 Nov 25 UTC

Georacer

+4 -4

# Summary This PR modifies the flare landing stage and the climb rate control…, to initialize the climb rate demand not from the current climb (sink) rate, but from the current climb rate **demand**. # Details I noticed in a [log posted in the forum](https://discuss.ardupilot.org/t/plane-4-6-release/134619/30?u=georacer) that when the flare starts, we snap the demanded climb rate to the current climb rate. The original idea is to progressively fade in the flare climb rate, which is usually 0. But what actually can happen is that if the current sink rate is different to the sink rate demand, it can result in abrupt pitch up or down demand. It can also lead to unintended loss of altitude at a very critical state of the landing. A couple of examples from that log: <img width="724" height="925" alt="Screenshot from 2025-11-27 13-21-25" src="https://github.com/user-attachments/assets/29d3468f-f457-483b-84e5-f37673e1cc86" /> <img width="724" height="925" alt="image" src="https://github.com/user-attachments/assets/125d3303-6138-4039-93bc-98cc6e403531" /> I think it's a better idea to initialize with the similar quantity of the climb rate demand instead. # Testing Tested in SITL, using the `MAV_CMD_DO_LAND_START` autotest. Before: <img width="724" height="925" alt="Screenshot from 2025-11-27 13-58-40" src="https://github.com/user-attachments/assets/85ef6d1a-41a5-4928-b0c2-607e92e62ba6" /> After: <img width="724" height="925" alt="image" src="https://github.com/user-attachments/assets/6c005123-27b6-4bb4-bd4f-71443bbe3928" /> # Potential improvements It would be better perhaps if we were holding on to `_hgt_rate_dem_prev`, but there's no such quantity yet.

Can I help? I want to do real tests posing attention only of the flare

Georacer · December 3, 2025, 2:30pm

You’re welcome to test the code in the Pull Request, of course!

However that means you’ll be flying on our master branch, meaning non-officially released code.
Is that OK with you?

Matteo_Tarsi · December 3, 2025, 8:56pm

Yes, I saw your solution on github and hypothetically, even if I don’t understand the code, your simulator seems to be fine. Unfortunately, I’m not able, after some try, at using the software in the loop and I can’t wait to try the new solution, since I’ve been performing landings with poorly designed flares for three years, and while waiting for the official firmware, I’ve realized that not many provide real-world experiences, and it’s still a bit sketchy. Unfortunately, I’m not good at IT. I can use Mission Planner, update, install previous or custom FW, but I have no idea how to compile code, etc. IT has always been a stumbling block for me. If the FW is already compiled for the original mRobotics 3DR Pixracer PRO, I can install it. If only the TECS library changes, there shouldn’t be any other problems. In any case, I’ve done a lot of testing and can save the plane by hand. In any case is a simple frame for testings, there’s no problem. If you can help me on how to install it, I’ll proceed as soon as possible. Excuse me for bad English, I use translators and after I check the meaning to make me understandt as possible. Thank you very much.

Georacer · December 4, 2025, 11:51am

You can find a compiled version of the Pull Request here.
You can flash it with Mission Planner → Setup → Install Firmware → Load Custom Firmware.

If you install it successfully, at the time of the boot, you should get a message saying that the firmware hash is 12c7c8e2dfe0.

Keep in mind: This is not a version where the flare change is placed on top of the 4.6 release. It;s a version where the flare change is placed on top of the current “dev” version, also know as “master”. So there will be more changes, fixes and new features, apart from the flare fix.
I’m mentioning in case this is important to you.

Thank you for offering to test, in any case!

Matteo_Tarsi · December 4, 2025, 2:31pm

So: It started raining and I was able to do a few tests.
Don’t pay attention to the precise touchdown, as I need to change the parameters a bit based on the different behavior. If it stops raining, I’ll fix it a bit better. I didn’t have time to take a video.
It seems perfect to me, the behavior is very different, it’s very fluid with LiDAR acquisition and in every approach phase. I can’t believe it, after more than three years of trying to set the parameters in vain. I haven’t changed any of the parameters, just two questions:

1 - in the image, while the file “arduplane_pr_tecs_flare_sink_init_12c7c8e2dfe0” mentions the number you mentioned, it doesn’t appear anywhere; this different number appears 115025f0. So, is this the hash I should have tried?

2 - Then with this firmware, it seems to me that the EK3 OPTION parameter, which if I’m not mistaken was set to 1 by default, “fuse all velocities,” has now reverted to 0. What’s the best way to set it? It’s very important to me because in 2021 or 2022, I don’t remember, I blocked the pitot in flight due to rain and the flight control decided to dive as a safety measure, and at full throttle (a similar problem still exists in FBWB if the aircraft banks above 45°, but it’s clearly intentional). So with the new flight control units from the following years, from EKF2 to EKF3, a lane switch occurs and often the aircraft only has a lower estimated airspeed accuracy but doesn’t dive. It’s not necessary to save it, I usually switch to FBWA.

I haven’t looked at the log. If it stops raining, I’ll adjust the flares properly, but I think it’s going to rain in the next few days. The only problem with rain is pitot failure quite sure because different times I had this, and my fear is the lane switch that I don’t know, also if sometimes I had lane switch bacause of pitot closed due to rain or GNSS jamming. Anyway I noted the well behaviour of also the old EKF2 since about in the 2020 I hadn’t the pitot and after firts experiences I loved to use the TECS_SYNAIRSPEED

Matteo_Tarsi · December 4, 2025, 3:37pm

I only managed to do three other landings; I forgot, I saw the launch direction for autolandings, but I haven’t had a chance to try it since we have a strip with often crosswinds, and autolandings aren’t ideal here, probably better the classic waypoints, I don’t know when I’ll have a chance to try it. I’ve adjusted the parameters a bit better, but there’s still room for improvement, and I only managed to take the video of the second landing, as I first had to try with the radio in hand. Then, seeing that it worked, I put the radio down and the camera in hand and I done video, and then it started raining again. If I may, look at initial video pitch abrupt correction, when after the flare seems perfect in terms of logic. I don’t understand anything about the data you’re able to analyze, but it seems like a very gentle flare and I can improve with parameters, but the correction initially in video of the approach is not so gentle. Correspond to this in the log:

I’ll resume work on other aircraft later, but on the second approach, where the difference between the baro altitude in that launch and probably the GNSS or LiDAR altitude is greatest, the steps are a bit terrifying in reality. For now, as mom teaches, thank you very much and let’s be satisfied. Congratulations, I really do! It takes me almost two hours to get to the camp and I risked to do noting today because of the rain, and is raining also next days, and I’ve been trying to do flare for years in vain…

https://www.dropbox.com/scl/fi/d55ohvsryq8ae5dblla40/IMG_1330.MOV?rlkey=0bbfo89drc6dsbpf2dysheqf5&st=g80dfkzm&dl=0

EDIT: the flare problem is not very very solved, in one of the six flares, I open the log and, also if during a moment, there is a pitch down command like in 4.6.3, see

Georacer · December 4, 2025, 4:15pm

Unfortunately I gave you the wrong build, it was meant for another feature. I apologize.

This should be the correct link.

Again, please check the correct hash number before you take off. It should be 12c7c8e2 if I did things correctly.

Matteo_Tarsi · December 4, 2025, 4:22pm

Very good, don’t worry. Initially, I had the impression that everything was working perfectly, then I noticed the pitch down again. It was nice to try this one, though, even though I don’t know if it’s a master branch or something else. I don’t really understand much about it, and it’s nice to hope that with the new solutions, it can improve further. Thank you so much for your reply, because to be honest, I was quite heartbroken after the last landings with the same problem and problems in approach. In this case, however, it was an opportunity to see some changes. Thanks.

EDIT: is raining and night now, as soon as I can try with curiosity and a little trepidation, in the meantime I installed and compared the said number

excuse me, EK3_SRC_OPTIONS six landings with zero, then I put 1 “fuseallvellocities”, update with12c7c8e2 and remained 1, I don’t know why from 4.6.3 passed from 1 to 0; witch is better now for the tests, and why if you can explain me? thank

Georacer · December 4, 2025, 5:41pm

I’d say keep whatever value you had in your 4.6 flights.

Matteo_Tarsi · December 6, 2025, 1:09pm

dear George, last firmware you suggest to me, four flare in any condition perfect, no more pitch down

flare solved

P.S. usefull fllght count in 4.7, not noted in 4.6

Georacer · December 7, 2025, 8:11pm

Excellent! Thank you very much for testing!