I am running ardupilot on a pocketpilot cape for the pocketbeagle arm board. i would like to use Copter 4.0.3 due to the advancements that have been made over 3.6 as well as being able to test my dji hd fpv goggles that I purchased with the intent of using this board with. when running Copter-4.0.3 it is able to start and initialize sensors etc and connects the ground station initially and disconnects and will not reconnect. what i do notice is that when sshing into the board and running the arducopter binary manually is that I am unable to kill the process with ctr+c and if it does kill it it is minutes later. this doesnt happen in 3.6. the ground station issue is a big one as I am not able to set the quad up to verify that 4.0.3 is working on the board. It compiles fine with no issues. Any help is appreciated. not sure if this would have been better off as an issue on github for ardupilot.
so there seems to be a change in copter from 3.6 with device discovery. modifying the i2c .cpp file ap_hal_linux got it so i can build and run 4.0.4 rc3 on my quad. need to re tune as quad is not flying like it did on 3.6