Dev Call Apr 27, 2020

Spektrum SRXL2 support incl. telemetry

ArduPilot:master ← andyp1per:pr-srxl2

opened 02:34PM - 29 Mar 20 UTC

+5159 -308

Full support for SRXL2 and Spektrum Telemetry when using SRXL2. Protocol is h…alf-duplex, non-inverted. Setup is identical to that for FrSky passthrough. The protocol *requires* half-duplex and therefore will not work on the IOMCU or with soft serial. Flight test on a KakuteF7 Mini with these options: ``` BRD_ALT_CONFIG=1 SERIAL6_PROTOCOL=23 SERIAL6_OPTIONS=12 RSSI_TYPE=3 ```

FFT Enhancements

ArduPilot:master ← andyp1per:pr-filtered-harmonic-detection

opened 10:03PM - 05 Mar 20 UTC

+1750 -647

This PR fixes several issues in the in-flight FFT support: - The in-flight FF…T support has support for "harmonic matching". This is where on larger copters the motor rpm peak has less energy than the second harmonic and so the code attempts to detect this. The problem is that the signal picked up by the FFT varies a lot and it's possible to pick up the harmonic above the peak rather than below causing spikes in the detected frequency. This PR fixes this by tracking all three peaks (the three highest), filtering the frequency and then doing a comparison between the detected peaks. The user can optionally select which peak to track by setting ```FFT_HMNC_PEAK``` - In addition to tracking three peaks this change now biases which peak is which based on the last few cycles, thus if one peak is tracking 50Hz another 100Hz and they suddenly switch places in energy and then back again the algorithm will correctly assign the new values to maintain a smoothly changing frequency. This not only makes harmonic matching much more accurate, it also results in much more accurate FFT matching in general. Physically you can see why this might be - the FFT is only on a short window and you only have to miss a few samples for one run to look very different to another. - Fixes a bug with gyro sampling whereby we were dropping two out of three sets of samples for any given axis. We now process all axes and samples independently leading to more accurate FFT analysis - Fixes a bug with gyro sampling whereby if we got too far behind we ended up analyzing a discontinuous set of samples - Fixes an error in gyro sampling for FFT lengths >= 256 - Allows the harmonic matching to be switched off by setting ```FFT_HMNC_FIT = 0``` - Separates out the gyro sampling from fft initiation, this allows the fft initiation to run at a lower loop rate. All of the gyro buffers have been converted to RingeBuffers to virtually eliminate locking and allow all of the FFT steps to run in the FFT thread. - Always runs the self-test for all window lengths. Fixed several problems where the self-test would never complete under some circumstances. - Added a dedicated arming check for the self-test which can be disabled - Fixed a problem where we were sleeping too long or too short in the FFT thread resulting in dropped cycles or the logging thread not getting any airtime - Added a measure of health based on when the engine last cycled successfully and how many peaks were detected for the cycle. If the engine is unhealthy for too long fall back to throttle-based estimation. Fixes https://github.com/ArduPilot/ardupilot/issues/13736

Add support for custom compass rotation via COMPASS_CUS_{ROLL,PIT,YAW}

ArduPilot:master ← andyp1per:pr-compass-pitch-offset

opened 04:14PM - 16 Feb 20 UTC

+61 -3

I have a mini-quad where the compass sits at an angle on top of the camera cage …at about 20 degrees. I suspect this situation is not uncommon given some of the issues I have seen raised. This PR allows you to specify ROTATION_CUSTOM as your compass rotation (100) and then specify the rotation in degrees along each axis. Tested on a KakuteF7Mini with a QMC5883L external compass.

Double-notch harmonic notch

ArduPilot:master ← andyp1per:pr-double-harmonic-notch

opened 04:44PM - 27 Dec 19 UTC

+147 -47

This PR optionally allows the creation of double notches instead of single harmo…nic notches for the dynamic harmonic notch. The notches in a double notch can have a higher Q and thus less delay while targetting the noise spread across the centre frequency more effectively. This takes a single notch performance like this: ![image](https://user-images.githubusercontent.com/2893260/74558491-4d415680-4f5a-11ea-9edc-be22e5086919.png) to this: ![image](https://user-images.githubusercontent.com/2893260/74558522-592d1880-4f5a-11ea-99dc-3419720fdd02.png) 1/32 spread is the key, but works very effectively. @lthall has reviewed the code and designed the filter spread. This includes https://github.com/ArduPilot/ardupilot/pull/13169 which could either be merged separately or as part of this

GPS: add enum GPS_AUTO_SWITCH=4 choose WORST receiver

ArduPilot:master ← krausaerospace:pr/GPS_failure

opened 08:31PM - 27 Apr 20 UTC

magicrub

+30 -5

add enum GPS_AUTO_SWITCH=4 choose WORST receiver. That includes status=0. Thi…s is useful when you want to be able "disable" the gps in-flight and feed that inferior, or absent, value into the system but still want to log true gps values for later analysis. Helpful to show behavior of actual aircraft gps loss during flight and easier to see improvements when adding additional sensors like airspeed, flow and SLAM. This should give a similar effect as SIM_GPS_DISABLE but with the added benefit that it will also work on real vehicles. To test in SITL: SIM_GPS2_ENABLE 1 GPS_TYPE2 1 AUTO_SWITCH 4 (arm, takeoff, fly around) SIM_GPS2_ENABLE 0 (things go nuts) SIM_GPS2_ENABLE 1 (aircraft resumes whatever it was doing)

Fix bug preventing use of user specified declination

ArduPilot:master ← priseborough:pr-fixCompassAutoDec

opened 10:25PM - 25 Apr 20 UTC

priseborough

+4 -2

Fixes the case whee manually specifying the declination via the COMPASS_AUTODEC …and COMPASS_DEC parameters would result in the DCM using the specified declination and the EKF's starting with the specified declination, but switching to using the WMM table value when GPS checks passed. Longer term we should not be providing declination data via two libraries. The ability to manually set the declination and other magnetic model properties would be better specified in the AP_Declination library which would better be named AP_Geomagnetism

EKF: Miscellaneous yaw estimator improvements

ArduPilot:master ← priseborough:pr-yawEstFix

opened 11:49PM - 24 Apr 20 UTC

priseborough

+239 -154

Fixes the one frame delay in processing velocity measurements. Updates EKF2_MAG…_CAL param description to remove ambiguity when flying without compass use. Eliminates unnecessary reset operations and state variables and uses more descriptive reset function name and description. Reduces post takeoff EKF-GSF yaw drift due to large yaw gyro bias. Fixes https://github.com/ArduPilot/ardupilot/issues/14654 Result from SITL test to verify yaw estimator operation with second reset induced by land, disarm, arm and takeoff again. Yaw estimates: <img width="1007" alt="Screen Shot 2020-04-25 at 10 19 17 am" src="https://user-images.githubusercontent.com/3596952/80266469-634c5f80-86df-11ea-8720-5785cc02afd6.png"> Weights: <img width="1043" alt="Screen Shot 2020-04-25 at 10 20 15 am" src="https://user-images.githubusercontent.com/3596952/80266473-6b0c0400-86df-11ea-86a1-81a410f240aa.png"> Velocity innovations: <img width="1021" alt="Screen Shot 2020-04-25 at 10 21 17 am" src="https://user-images.githubusercontent.com/3596952/80266480-74956c00-86df-11ea-83b2-e0c35b570973.png"> <img width="1012" alt="Screen Shot 2020-04-25 at 10 21 55 am" src="https://user-images.githubusercontent.com/3596952/80266483-765f2f80-86df-11ea-9e05-816f84c856ee.png"> Also

EKF2 fix skipping magnetometer axes upon other axis failure

ArduPilot:master ← priseborough:pr-ekfMagFuseFix

opened 01:04AM - 29 Mar 20 UTC

priseborough

+337 -386

Addresses https://github.com/ArduPilot/ardupilot/issues/13912 Ensures that if… fusion checks for an axis fails, fusion will not be performed for all axes. The only exceptions are if the failure is at the covariance update step due to a badly conditioned covariance matrix, in which case fusion for that and not completed axes will be aborted, however this is an extremely rare occurrence.

AP_AHRS: get_position obeys always_use_EKF

ArduPilot:master ← rmackay9:ahrs-get-pos-obeys-always-ekf

opened 10:01AM - 24 Apr 20 UTC

+6 -2

This resolves issue https://github.com/ArduPilot/ardupilot/issues/14181 by ensur…ing that AP_AHRS_NavEKF::get_position() method will obey the "always_use_EKF" flag and return the response from EKF2 or EKF3. I believe this is a good change because: 1. If external navigation fails, the EKF is no longer able to return a position estimate good enough for navigation (so the getLLH returns false) but it can provide the last known location. DCM on the otherhand just returns false with no lat/lon. This means that in Copter, when external navigation fails, the vehicle disappears from the map. This is inconsistent with what happens when GPS is lost (the vehicle remains on the map in its last known location). 2. this (probably) restores the behaviour to what it was before PR https://github.com/ArduPilot/ardupilot/pull/11681 went in in July 2019 This is a relatively small change but with a potentially large impact for Copter because DCM's position won't be used during startup and some failures. Note1: [Copter's read_inertia() method](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/inertia.cpp#L10) is odd in that it uses the Location even if get_position() returns false. This could also potentially be changed although that could lead to current_loc being inconsistent with ahrs.get_position(). Note2: PR https://github.com/ArduPilot/ardupilot/pull/14183 which fixes EKF's getLLH() should go in before this PR is merged.

Simplify hwdef for clock trees and replace UART_ORDER with SERIAL_ORDER

ArduPilot:master ← tridge:pr-hwdef-simplify

opened 07:35AM - 24 Apr 20 UTC

tridge

+14268 -4689

This removes the need to specify clock tree details in each hwdef.dat, which mak…es life a lot easier for new boards builds on top of #14180 With this PR I can build all STM32 boards with --Werror enabled This PR also replaces UART_ORDER in hwdef.dat with SERIAL_ORDER, which is a lot easier to understand

Copter: DCM position is used if EKF's getLLH returns false

opened 07:03AM - 24 Apr 20 UTC

closed 12:32AM - 28 Apr 20 UTC

BUG Copter EKF

PR https://github.com/ArduPilot/ardupilot/pull/11681 changed Copter to use ahrs'…s get_position() function which leads to Copter falling back to [the DCM position if the EKF cannot provide one](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp#L492) or more accurately if [EKF's getLLH method](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp#L321) returns false. In fact the EKF will actually always return its best guess of the position even if it returns false. This is important especially when doing non-GPS navigation which only the EKF2/3 can do. In these cases we want the position from the EKF because DCM has no idea where it is and will return all zeros. In general in Copter we never want to use DCM.

AP_Compass: Skip rotating the mag data when the board orientation is none

ArduPilot:master ← WickedShell:wickedshell/skip-rotate-none

opened 05:55AM - 22 Apr 20 UTC

WickedShell

+3 -1

The general case is that `MAG_BOARD_ORIENTATION` is `ROTATION_NONE` which means …we aren't benefiting by calling rotate. On CubeBlack (and similiar boards) this shrinks the build by 8 bytes (and more significantly saves us from actually stepping into the function/switch), on CrazyFlie2 (which does actually define an orientation) it doesn't change the build product.

AP_AHRS/Sub: set_alt_measurement_noise replaces direct calls to EKF2/EKF3

ArduPilot:master ← rmackay9:sub-set-baro-alt-noise

opened 01:17AM - 22 Apr 20 UTC

+20 -15

This non-functional change replaces Sub's calls to EKF2/3's set_baro_alt_noise m…ethods with calls to AP_AHRS::set_alt_measurement_noise. This PR also removes Sub's include of the EKF2 and EKF3 libraries which are no longer required. This small issue came to light as part of a [review of any dependencies we have on the EKF2](https://github.com/ArduPilot/ardupilot/issues/14148) as we move towards making EKF3 our default EKF. This has been tested in SITL by enabling EKF2 and EKF3 and ensuring that the EK2/3_ALT_M_NSE parameters were updated.

AP_BattMonitor: NeoDesign battery driver

ArduPilot:master ← WickedShell:wickedshell/neodesign-batt-update

opened 03:58AM - 21 Apr 20 UTC

WickedShell

+102 -1

This replaces #13301. Key changes are that it removes the use of `read_block_bar…e`, enables PEC support, and fixed an error with the reporting of the pack current. This was tested with a real battery and a green cube. (A back port to Copter-4.0.3 was also test flown with a black cube and was fine (44a8702d94f472fd4b407d876a12483d08aee4a6 is required to do the backport). @rmackay9 there is a request from the end user if this could be considered for back porting as they are trying to fly on the stable releases.

AP_NavEKF3: add support for external navigation (aka vision-position-estimates)

ArduPilot:master ← rmackay9:prise-ekf3-extnav4

opened 04:23AM - 16 Apr 20 UTC

+342 -48

This PR adds support for EKF3 to accept external position estimates from a vicon… or vision system like the T265. This feature already exists in EKF2 so this is mostly a port of the EK2 feature to EKF3 with some changes to account for how the EKF3 accepts external yaw estimates. I've tested this in SITL and it works. A flight test on a real-vehicle will be done in the near future. This is a replacement of PRs https://github.com/ArduPilot/ardupilot/pull/10374 and https://github.com/ArduPilot/ardupilot/pull/8730. It might be best/fair to get some of @priseborough's PRs in first including the emergency yaw reset PR: https://github.com/ArduPilot/ardupilot/pull/13776 Resolved issues with this PR: - [x] The external nav yaw does not seem to be being consumed. When COMPASS_USE = 0 the EKF3 will not initialise it's yaw heading and if it's initialised by momentarily setting COMPASS_USE = 1 (and then switching it back to zero) the heading is not updated with the external nav's yaw's provided value. -- FIXED. We need to set EK3_MAG_CAL = 5 (external yaw) - [x] the Copter.VisionPositionEKF3 test is failing near the end of the test with a "Should not be called on invalid location" message displayed on the console. The test mostly works, the vehicle flies using the external position estimate but when it comes time to land and disarm this failure message is displayed. -- FIXED. The issue was related to the autotest changing between EKF2 and EKF3 which leads to a panic in SITL but this is not related to the change. - [x] Position resets do not work correctly ([same issue as EKF2](https://github.com/ArduPilot/ardupilot/issues/14046)) -- FIXED - [x] EKF3 is missing the EKx_EXTNAV_DELAY parameter but instead of adding this parameter to EKF3 I'm going to move the parameter to be part of the AP_VisualOdom library similar to how the AP_GPS library holds the expected GPS delay. -- This will be handled in a follow-up PR

Tools: Implement better scrimmage support

ArduPilot:master ← araneg:master

opened 05:12PM - 28 Jan 20 UTC

araneg

+282 -149

This change provides better scrimmage support by allowing a single scrimmage pro…cess to connect to multiple ArduPilot processes. - sim_vehicle.py can now spawn multiple vehicles at once (prior behavior is maintained if the user decides not to use this feature) - Users can specify multiple instances to spawn through either the -n or -i flags. Each instance executes in its own directory (<use_dir>/<instance_id>) - The responsibility of spawning scrimmage has now been delegated to sim_vehicle.py instead of libraries/SITL/SIM_Scrimmage.cpp - The mission.xml file which scrimmage expects is generated from a template, wherein each ardupilot instance corresponds to a scrimmage entity. - All together, this allows for a single scrimmage simulator to connect to multiple instances of ardupilot, which in turn allows multiple ardupilot entities to interact with one another in scrimmage. Prior to this change, each ardupilot process was connected to its own scrimmage process. - Misc. changes: * find_location_by_name() and find_new_spawn() have been rewritten such that a base location and coordinate offsets (specified by swarminit.txt) are maintained separately. This is necessary because scrimmage expects these values separately ({latitude,longitude,altitude}_origin vs {x,y,z}) * find_autotest_dir() and find_root_dir() are now calculated only once. Issues were encountered when calling find_autotest_dir() after calling os.chdir() Also, this change addresses some of the concerns presented in: https://github.com/ArduPilot/ardupilot/pull/11887

Plane

Copter

Copter: 4.0 issues list

opened 10:33PM - 12 Oct 19 UTC

Copter

This is a list of issues discovered during Copter-4.0 testing: Common support… problems: - [ ] users can't figure out which barometer is being used ([discussion](https://discuss.ardupilot.org/t/external-baro-sensor-on-can/51390/6)) - [ ] users can't figure out if Oneshot or DShot are working ([discussion](https://discuss.ardupilot.org/t/oneshot125-42-blhelis/51462), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2474), [discussion2](https://discuss.ardupilot.org/t/pixhawk-4-holybro-arducopter-3-6-9-4-0-1rc3-no-control-over-two-motors-in-an-x8-with-dshot/51480), [possible improvement](https://github.com/ArduPilot/ardupilot/pull/13409)) - [ ] two reports of barometer glitches on CubeOrange ([discussion](https://discuss.ardupilot.org/t/barometer-glitch-inducing-ekf-primary-change/51345)), one report on Pixhawk-2.4.8 ([discussion](https://discuss.ardupilot.org/t/copter-instantly-released-itself-from-30m/53368)) Regressions from 3.6.x: - [ ] autotune method for testing gains has changed ([discussion](https://discuss.ardupilot.org/t/has-there-been-a-change-to-autotune-procedure/51058)) - [ ] logging is skipping messages ([issue](https://github.com/ArduPilot/ardupilot/issues/13810)) - [ ] performance regressions which lead to more long loops ([timings](http://uav.tridgell.net/tmp/perf_regression.txt)) - [ ] speedybee telem5 not working? ([discussion](https://discuss.ardupilot.org/t/speedybee-f4-aio-board/50907)) - [ ] sparky2 doesn't work with UAVCAN? ([discussion](https://discuss.ardupilot.org/t/no-uavcan-communication/50858)) - [ ] kakutef7 not working with px4flow sensor ([discussion](https://discuss.ardupilot.org/t/kakute-f7-mini-and-kakute-f7-aio-px4flow-not-working-in-copter-4-0/51000), [issue](https://github.com/ArduPilot/ardupilot/issues/10105)) - [ ] DCM yaw inconsistent pre-arm message ([discussion](https://discuss.ardupilot.org/t/dcm-yaw-inconsistent-by-68-deg-after-battery-change/50813/22), [discussion2](https://discuss.ardupilot.org/t/ekf2-yaw-inconsistent/51701), [PR](https://github.com/ArduPilot/ardupilot/pull/14334)) New for 4.0.4: - [x] PreArm failure if UAVCAN compass removed ([issue](https://github.com/ArduPilot/ardupilot/issues/14686)) - [x] LIS3MDL missing ([PR](https://github.com/ArduPilot/ardupilot/pull/14649)) - [ ] NeoPixel causes EKF instability ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc2-available-for-beta-testing/57916/2)) - [ ] CubePurple has no heater but still has BRD_IMU_TARGTEMP param ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/64)) - [x] Compass ordering issue found by HenryW, AndyP (i.e. "unstable sort" of unused compass offsets) ([possible fix](https://github.com/ArduPilot/ardupilot/pull/14529)) - [x] AP_Proximity ignore zones incorrect ([PR with fix](https://github.com/ArduPilot/ardupilot/pull/14496)) Other issues: - [ ] MAVFTP with MP locks up creating or deleting new folders ([AP issue](https://github.com/ArduPilot/ardupilot/issues/14643), [MP issue](https://github.com/ArduPilot/MissionPlanner/issues/2413)) - [ ] watchdog reset on Copter-4.0.3 ([issue](https://github.com/ArduPilot/ardupilot/issues/14582)) - [ ] DShot on KakuteF7 ([issue](https://github.com/ArduPilot/ardupilot/issues/14475)) - [ ] param download stuck using MP is lua scripts enabled on CubeBlack ([discussion](https://discuss.ardupilot.org/t/activated-lua-scripting-parameter-download-problems/55830)) - [ ] MAVFTP still locking up? ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [ ] Watchdog reset not creating log files ([issue](https://github.com/ArduPilot/ardupilot/issues/14054)) - [ ] TFMiniPlus Glitches ([issues](https://github.com/ArduPilot/ardupilot/issues/13411), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13765)) - [ ] dual CAN compass order changing ([discussion](https://discuss.ardupilot.org/t/can-compasses-selection/53153/9)) - [ ] can't flash kakutef7 aio from QGC ([issue](https://github.com/mavlink/qgroundcontrol/issues/8431)) - [ ] BLHeli passthrough still not reliable on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2))? - [ ] vibration failsafe unable to bring down vehicle? ([discussion](https://discuss.ardupilot.org/t/quadcopter-fly-away/52948)) - [ ] blended mRo LocationOne GPSs (using AP_Periph, UAVCAN) produce internal error 400 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/79), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2557), [issue](https://github.com/ArduPilot/ardupilot/issues/14879)) - [ ] neopixel sync loss ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/74), [issue](https://github.com/ArduPilot/ardupilot/issues/13563)) - [ ] UAVCAN ESCs keep spinning even if vehicle is disarmed ([discussion](https://discuss.ardupilot.org/t/in-what-section-in-log-can-i-find-uavcan-escs-telemetry/51613), [issue](https://github.com/ArduPilot/ardupilot/issues/13394)) - [ ] kakutef7 not detecting external bmp280 baro? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/10)) - [ ] [baro temp compensation](https://ardupilot.org/copter/docs/common-baro-temp-comp.html) not working? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/11)) - [ ] neopixels not working on some boards at least? ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/18)) - [ ] kakutef7 aio doesn't detect hmc5883 ([discussion](https://discuss.ardupilot.org/t/compass-type-hmc5883-in-copter-4-0-0-tricopter-frame/50621)) - [x] durandal buzzer ([discussion](https://discuss.ardupilot.org/t/buzzer-on-durandal/50637)) - [ ] frsky passthrough not working on some H7 boards ([discussion](https://discuss.ardupilot.org/t/orange-cube-frsky-passthrough-and-mot-pwm-type-issues/48564/5)) - [ ] twitch when "IMU yaw alignment complete" is displayed while vehicle is moving (3.6.12) ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/24)) - [ ] LIS3MDL driver not enabled on KakuteF7 ([discussion](https://discuss.ardupilot.org/t/kakute-f7-aio-enable-compass-greyed-out/41338), [issue](https://github.com/ArduPilot/ardupilot/issues/12512)) - [ ] Object Avoidance issues: - [ ] Dijkstra's doesn't support spline waypoints (issue: https://github.com/ArduPilot/ardupilot/issues/12691) - [ ] MP complex fence support is not complete - [ ] dshot600 is not working on MatekF765 ([rover discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804)) - [ ] dshot125 is not working on Navio2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] autotune gets stuck while tuning yaw if ATC_RAT_YAW_FLTE = 0 (reported by leonard) - [ ] motor emergency stop RC channel range changed ([discussion](https://discuss.ardupilot.org/t/motor-kill-switch-behavior/48797/8)) - [ ] log download slows down when CAN enabled? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [ ] navio2 LEDs not lighting up ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] drift-away with WPNAV_ALT_MIN ([issue](https://github.com/ArduPilot/ardupilot/issues/12888), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13695)) Resolved in Copter-4.0.4: - [x] Hott telemetry not working ([issue](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/45), [possible fix PR](https://github.com/ArduPilot/ardupilot/pull/14525)) - [x] Loiter-Turns mission command does not face towards center ([issue](https://github.com/ArduPilot/ardupilot/issues/14031), [possible fix](https://github.com/ArduPilot/ardupilot/pull/14038)) - [x] Dijkstra memory issue ([possible fix](https://github.com/ArduPilot/ardupilot/pull/13820)) - [x] extra RC input channel (actually Copter-3.6.12, [issue](https://github.com/ArduPilot/ardupilot/issues/13709)) -- RFD900x software issue - not AP. - [x] parameters wiped occasionally (happens on 3.6.x as well) ([issue](https://github.com/ArduPilot/ardupilot/issues/13134), [fix](https://github.com/ArduPilot/ardupilot/pull/13780)) - [x] landing gear retract after takeoff mission command completes ([discussion](https://discuss.ardupilot.org/t/landing-gear-retract-on-auto-mission-start/51978), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13638)) - [x] Mavlink Gimbal limits not being applied? ([discussion](https://discuss.ardupilot.org/t/gimbal-limits-with-storm32-backend-mavlink-not-applied-correctly/51438/4), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13646)) - [x] Object Avoidance issues: - [x] re-visit object database sizes: https://github.com/ArduPilot/ardupilot/issues/12661 (fixed in master) - [x] BendyRuler cannot maintain altitude (Randy found this during tests) (fixed in master) Resolved in Copter-4.0.3: - [x] BLHeli passthrough doesn't work on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13487)) and pixhawk mini? - [x] watchdog on 1st SBUS RC input ([discussion](https://discuss.ardupilot.org/t/crash-following-rcinput-decoding-sbus/52290), [issue](https://github.com/ArduPilot/ardupilot/issues/13615), [fix](https://github.com/ArduPilot/ardupilot/pull/13619)) - [x] zigzag motors don't spin when landed ([issue](https://github.com/ArduPilot/ardupilot/issues/13471), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13501)) and lurching ([issue](https://github.com/ArduPilot/ardupilot/issues/13472))? - [x] CUAVv5+ autopilot cannot connect using USB port? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/30), [discussion2](https://discuss.ardupilot.org/t/copter-4-0-2-rc4-available-for-beta-testing/52008/37), [driver solution](https://ardupilot.org/copter/docs/common-connect-mission-planner-autopilot.html#loading-composite-usb), [solution to fix usb ids](https://github.com/ArduPilot/ardupilot/pull/13179)) - [x] allow do-set-servo commands to affect at least some non-motor channels ([discussion](https://discuss.ardupilot.org/t/do-set-servo-in-spray-function-does-not-work-in-4-0-0/51950), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13481)) Resolved in Copter-4.0.2: - [x] MAVFTP causes reboot ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [x] Spektrum DX8 not working on pixracer ([discussion](https://discuss.ardupilot.org/t/spektrum-dx8-radio-incompatible-not-recognized-with-arducopter-v-4-all-flavors/50702), [issue](https://github.com/ArduPilot/ardupilot/issues/13458)) - [x] RTL may return at incorrect alt ([issue](https://github.com/ArduPilot/ardupilot/issues/13441), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13444)) - [x] log file reliability on non-SD card boards like open-revo, omnibus ([discussion](https://discuss.ardupilot.org/t/tuning-the-harmonic-notch/48836/9)) - [x] SBUS lag ([discussion](https://discuss.ardupilot.org/t/urgent-s-bus-input-on-4-0-1-is-stuttering-often-100-300ms-up-to-500ms/51591), fixed along with ESC sync issues) - [x] ESC sync issues ([discussion](https://discuss.ardupilot.org/t/esc-sync-problem-with-update-from-3-6-9-to-3-6-10/48261/5), [issue](https://github.com/ArduPilot/ardupilot/issues/13310), [issue2](https://github.com/ArduPilot/ardupilot/issues/13374)) - [x] AutoTune incorrectly restores yaw acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/13344), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13345)) - [x] px4flow doesn't work on CubeBlack ([discussion](https://discuss.ardupilot.org/t/px4flow-not-working-with-copter-4-0/51018), [fix](https://github.com/ArduPilot/ardupilot/pull/13391)) - [x] AP_RangeFinder PWM driver not using OFFSET parameter ([discussion](https://discuss.ardupilot.org/t/rngfnd1-offset-not-working-for-pwm-and-i2c-lidarlite/51125), [issue](https://github.com/ArduPilot/ardupilot/issues/13252), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13293)) Resolved in Copter-4.0.1: - [x] need to update [tuning process guide](https://ardupilot.org/copter/docs/tuning-process-instructions.html) with new filter params ([discussion](https://discuss.ardupilot.org/t/what-should-i-use-for-atc-rat-pit-flt-values/49768/10)) - [x] spectrum 22ms broken? (https://discuss.ardupilot.org/t/mro-r15-pixracer-incompatible-with-arducopter-v-4/50702) - [x] optical flow output not being sent to GCS ([discussion](https://discuss.ardupilot.org/t/cheerson-cx-of-low-cost-optical-flow-sensor-testing/35598/154), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13182)) - [x] onboard SSD1306 not working with CubeOrange ([discussion](https://discuss.ardupilot.org/t/cube-orange-4-0-0-i2c-ssd1306-problem/50561), [issue](https://github.com/ArduPilot/ardupilot/issues/13127)) - [x] kakutef7mini watchdog resets ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x800-watchdog-reset-reboot-with-kakute-f7-mini-logging-issue/50789)) (resolved with FrSky Telemetry Status Text fix) Resolved in Copter-4.0.0-rc5: - [x] RM3100 compass not enabled (it's on a DroTek F9P Sirius GPS unit) ([PR](https://github.com/ArduPilot/ardupilot/pull/10581), [discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-available-for-beta-testing/50250/19)) - [x] Arming with Here2 CAN GPS fails due to bad HDOP ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/8), [fix](https://github.com/ArduPilot/ardupilot/pull/12916)) -- fixed in -rc3 - [x] autopilot is not booting up sometimes ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-rc4-available-for-beta-testing/50250/45), [fix](https://github.com/ArduPilot/ardupilot/commit/6b0252b44f4cf8bc71425345d918cb98e75937ff)) - [x] GPS not working on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/aad45986444f79444081b221045d9f2aea8eb90c)) - [x] missing serial ports on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/cac1cc0d9b6de101e7f4f275961331fe49d49b07)) Resolved in Copter-4.0.0-rc3: - [x] sysid needs enable param ([issue](https://github.com/ArduPilot/ardupilot/issues/12927), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12955)) - [x] user can force arming in Loiter with no position estimate ([issue](https://github.com/ArduPilot/ardupilot/issues/11435), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12928)) - [x] rangefinder parameters not being copied from 3.6. to 4.0 ([issue](https://github.com/ArduPilot/ardupilot/issues/12921), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12922)) - [x] neopixel not working ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580)) - [x] altitude hold oscillation with CubeOrange ([discussion](https://discuss.ardupilot.org/t/alt-hold-issues-in-copter-4-0/48604), [fix](https://github.com/ArduPilot/ardupilot/pull/12898#event-2838474162)) - [x] rename RangeFinder_TYPE "25:Benewake TFmini Plus” to “Benewake TFmini Plus IIC” or “Benewake Plus IIC” ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [x] LandingGear: RETRACTED message where then are not gear setup ([issue](https://github.com/ArduPilot/ardupilot/issues/12815)) - [x] Auto may become stuck on Takeoff command if range finder is enabled and large altitude error ([issue](https://github.com/ArduPilot/ardupilot/issues/12818)) - [x] "Geofence breached" messages when no polygon fences available. Potential Fixed: https://github.com/ArduPilot/ardupilot/pull/12724 - [x] can't calibrate compasses ([discussion](https://discuss.ardupilot.org/t/compass-not-calibrated/48583/12)) -- older Here GPS with longer boot time, resolved by setting BRD_BOOT_DELAY = 400. Resolved in Copter-4.0.0-rc2: - [x] Sparky2 build is broken, overflows flash by1084 bytes. This can be seen in the autotest output. Fixed with https://github.com/ArduPilot/ardupilot/pull/12678 - [x] PSC_ACCZ_FILT should be converted to PSC_ACCZ_FLTE on upgrade. Fixed with https://github.com/ArduPilot/ardupilot/pull/12687 - [x] QGC upload of fences is rejected because of mav frame (qgc issue: https://github.com/mavlink/qgroundcontrol/issues/7960, AP fix:https://github.com/ArduPilot/ardupilot/pull/12665) - [x] blank PreArm message on newly setup vehicles: https://github.com/ArduPilot/ardupilot/issues/11800. Fixed:https://github.com/ArduPilot/ardupilot/pull/12690 - [x] loss motor detection bug (reported by leonard) fixed:https://github.com/ArduPilot/ardupilot/pull/12697 - [x] loss of yaw control on fast descent ([from Sergey here](https://github.com/ArduPilot/ardupilot/issues/12695)). Fixed: https://github.com/ArduPilot/ardupilot/pull/12696, https://github.com/ArduPilot/ardupilot/pull/12700 - [x] fly away caused by high gains and mot-mix-max set too high (reported by leonard). Fixed:https://github.com/ArduPilot/ardupilot/pull/12701 - [x] BLHeli telemetry causes internal error 0x8000 (https://github.com/ArduPilot/ardupilot/issues/12542) potentially fixed by PR #12677 - [x] Shaky copter due to filtering changes - [x] Garmin LidarLite PWM interface doesn't work: https://github.com/ArduPilot/ardupilot/issues/10111#issuecomment-546627151. User settings were non-standard, updated [wiki page](https://github.com/ArduPilot/ardupilot/issues/10111) Could not be verified OR not a problem: - [x] Emlid CAN compass not found with CubeOrange ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc3-available-for-beta-testing/51295/6)) unless BRD_BOOT_DELAY = 5000. Only affected one user, waiting for more reports. - [x] blue screen of death on Windows machines when using usb2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/18)). Affects only this user, could not be reproduced. - [x] MiniPix current sensing not working ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/4)). User worked it out. - [x] constant GCS failsafes because crossfire telem sends heartbeat at 0.2hz ([discussion](https://discuss.ardupilot.org/t/failsafe-changes/48910)) -- telemetry system issue - [x] rm3100 not found ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/6)) - [x] DJIX quad motor order is CCW instead of CW ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/20)) - [x] benewake jumps to 0.3m when actually 19m ~ 20m ([discussion](https://discuss.ardupilot.org/t/issue-with-lgr-deploy-and-or-rangefinder/51041)) -- benewake suggests a sensor setting change to resolve - [x] complaints that RNGFND and BATT_MONITOR param conversions not working but cannot be reproduced ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc2-available-for-beta-testing-critical-fix-included/50940/16), [issue](https://github.com/ArduPilot/ardupilot/issues/13239)) - [x] omnibus f4pro can't write wp or parameters on serial1 ([discussion](https://discuss.ardupilot.org/t/omnibus-f4-pro-gps/50394/2)) - [x] rangefinder can't be used as EKF_ALT_SOURCE? ([issue](https://github.com/ArduPilot/ardupilot/issues/12991), [discussion](https://discuss.ardupilot.org/t/bug-in-ap-navekf2-posvelfusion-cpp/49919)) -- Randy tested and found EK2_ALT_SOURCE worked if EK2_RNG_USE_HGT was set to 70. - [x] can't get IBUS RC to work ([discussion](https://discuss.ardupilot.org/t/am-i-doing-something-wrong-with-ibus/48789)) - [x] compass1,2 not used but still checked as part of pre-arm consistency? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/20))

Rover

Rover: 4.0 issues list

opened 05:28AM - 07 Oct 19 UTC