Dev Call April 13, 2026

CraigElder · April 13, 2026, 11:00pm

CI Workflows

Release Update

github.com/ArduPilot/ardupilot

ArduPilot 4.7 issues list

opened 12:30AM - 07 Mar 26 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.7 testing. [Issues for 4….6 are here](https://github.com/ArduPilot/ardupilot/issues/28612) ### Reports requiring investigation - [ ] ELRS RC related crash ([issue](https://github.com/ArduPilot/ardupilot/issues/32653)) - [ ] Copter surface tracking altitude error not limited? ([discussion](https://discuss.ardupilot.org/t/surface-tracking-issues/142851/3), 4.6 issue as well) - [ ] TradHeli PID gain multiplier reset issue (4.6 and 4.7 issue reported by Leonard) - [ ] Spool up changes causing spurious errors (reported by AndyP, [PR](https://github.com/ArduPilot/ardupilot/pull/32485)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32688 - [ ] Terrain downloaded to SD card unnecessarily reloaded in flight? (reported by TimT in general_dev) - [ ] Mount POI sometimes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64)) - [ ] Mount POI lock not included in default firmware ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/43)) - [ ] Quadplane QLand over speed ([discussion](https://discuss.ardupilot.org/t/qland-vertical-speed/143366/2)) ### Confirmed issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32724 ([PR](https://github.com/ArduPilot/ardupilot/pull/32730), 4.6 issue as well?) - [ ] Mission Planner SITL gets 4.6.2-beta1 binary ([SITL firmware](https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/Beta/), reported by @tridge) - [ ] https://github.com/ArduPilot/ardupilot/issues/32689 (4.6.3, not 4.7 yet) - [ ] SBF GPS driver issue ([issue](https://github.com/ArduPilot/ardupilot/issues/32631), [PR1](https://github.com/ArduPilot/ardupilot/pull/32633/changes), [PR2](https://github.com/ArduPilot/ardupilot/pull/32642)) - [ ] Loiter/QLoiter feels slower, looks like inaccurate position hold. Likely due to consider how we can make it feel closer to 4.6 automatically. Or provide instructions on parameter changes ([relevant PR](https://github.com/ArduPilot/ardupilot/pull/31848), [PR](https://github.com/ArduPilot/ardupilot/pull/32643), [discussion](https://discuss.ardupilot.org/t/how-do-althold-and-loiter-feel-in-4-7-vs-4-6/143300)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32624 ([PR](https://github.com/ArduPilot/MissionPlanner/pull/3697)) - [ ] Altitude estimate offset when switching between baro and rangefinder source ([discussion1](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/28), [discussion2](https://discuss.ardupilot.org/t/re-baro-alt-reset/143333), [issue](https://github.com/ArduPilot/ardupilot/issues/32612), [PR](https://github.com/ArduPilot/ardupilot/pull/32400)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32491 ### Copter Specific Issues - [ ] Payload place may get stuck based on alt field ([PR](https://github.com/ArduPilot/ardupilot/pull/32634)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### Plane Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32606 - [ ] https://github.com/ArduPilot/ardupilot/issues/32518 -- @IamPete1 or @samuelctabor to resolve ### Rover Specific Issues - [ ] Rover watt limiter not working correctly ([relevant PR](https://github.com/ArduPilot/ardupilot/pull/31285), [discussion](https://discuss.ardupilot.org/t/rover-4-7-0-beta2-available-for-beta-testing/143065/10)) - [ ] Rover custom build server issue ([issue](https://github.com/ArduPilot/ardupilot/issues/32666?reload=1), [relevant PR](https://github.com/ArduPilot/ardupilot/pull/31285), [discussion](https://discuss.ardupilot.org/t/rover-4-7-0-beta2-available-for-beta-testing/143065/10), [PR](https://github.com/ArduPilot/ardupilot/pull/32687)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32444 ### Mission Planner Issues - [ ] Extended Tuning needs updating ([discussion](https://discuss.ardupilot.org/t/speedybee-f405-v4-parameter-not-shown-in-mission-planner/142797/3), [issue](https://github.com/ArduPilot/MissionPlanner/issues/3678), [PR](https://github.com/ArduPilot/MissionPlanner/pull/3685)) ### QGC Issues - None ### Wiki Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32741 ### Enhancements or Issues that may not be resolved before the stable release - [ ] Circle point-mount-at-ROI should only apply when circle radius > 0 (e.g. do not apply during panorama) ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/71), [issue](https://github.com/ArduPilot/ardupilot/issues/32641)) - [ ] Copter's SmartRTL always rises 2m before landing ([discussion](https://discuss.ardupilot.org/t/smartrtl-rises-to-2m-after-reaching-home-before-landing/143126/2)) -- present in 4.6 so not a blocker ### Resolved issues - [x] Realflight quadplanes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/72)) -- could not reproduce the problem, RF evolution seems to work OK - [x] ArcWaypoints listed as WIP (reported by lthall, [PR](https://github.com/ArduPilot/mavlink/pull/497)) -- resolved for 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/7604 -- wiki updated ahead of 4.7.0-beta3 - [x] ARMING_SKIPCHK of 10 not skipping gyro and accel checks? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/86)) -- misunderstanding - [x] https://github.com/ArduPilot/ardupilot/pull/32382 ([PR](https://github.com/ArduPilot/ardupilot/pull/32626)) -- resolved for 4.7.0-beta3 - [x] Circle mode points mount straight down when doing panorama ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64)) -- user misunderstanding - [x] https://github.com/ArduPilot/MissionPlanner/issues/3693 -- resolved in MP ahead of 4.7.0-beta3 release - [x] RC_OPTIONS = 1 (Ignore RC Receiver) is not being respected ([discussion](https://discuss.ardupilot.org/t/rc-options-to-1-make-copter-yaw-spinning/142948), [PR](https://github.com/ArduPilot/ardupilot/pull/32488)) -- resolved for 4.7.0-beta3 - [x] BRD_SAFETY_DFLT = 0 should force BRD_SAFETYOPTION = 0? should update param desc? ([discussion](https://discuss.ardupilot.org/t/rover-4-6-3-arming-issues-when-trying-to-arm-second-time/142747/12)) -- working as expected, not new to 4.7 - [x] https://github.com/ArduPilot/ardupilot/issues/32511 -- could not reproduce, no response from user, created [security wiki page](https://ardupilot.org/dev/docs/security-landing-page.html) and improved [secure firmware instructions](https://github.com/ArduPilot/ardupilot/tree/master/Tools/scripts/signing) - [x] CUAV Pixhawk V3C not detecting IST8310 compass ([discussion](https://discuss.ardupilot.org/t/cuav-pixhawk-v3-ist8310-not-detected-with-4-7beta1/142785), [PR](https://github.com/ArduPilot/ardupilot/pull/32462)) -- resolved for 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot/issues/32506 ([PR](https://github.com/ArduPilot/ardupilot/pull/32508)) -- resolved ahead of 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot/pull/29087 missing from release notes ([discussion](https://discuss.ardupilot.org/t/plane-4-7-0-beta1-available-for-beta-testing/142742/9)) -- @IamPete1 updated the plane 4.7.0-beta1 release notes - [x] Plane Follow's FOLLP_SIM_TlF_FN should have upper case L ([PR](https://github.com/ArduPilot/ardupilot/pull/32456)) -- resolved for 4.7.0-beta2 - [x] UM982 GPS-for-yaw on CUAV V6X not working ([discussion](https://discuss.ardupilot.org/t/ardurover-4-7-0-new-issues-with-um982-moving-baseline/142916)) -- resolved by updating the UM982 firmware - [x] https://github.com/ArduPilot/ardupilot/issues/31584 -- resolved for 4.7.0-beta2 - [x] QGC altitude slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed for daily build on 18Mar2026 - [x] QGC takeoff slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed in QGC 14148 - [x] QGC Parameters need updating (@rmackay9 and @DonLakeFlyer discussed if dev-team channel, [PR](https://github.com/mavlink/qgroundcontrol/pull/14148)) -- fixed in QGC daily on 17-Mar-2026 - [x] EKF's use of rangefinder and baro never switches back to rangefinder after switching to baro ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- user error - [x] update PSC_ACCZ_I and PSC_ACCZ_P tuning advice https://ardupilot.org/copter/docs/initial-tuning-flight.html#test-althold ([PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7482)) -- wiki updated ahead of 4.7.0-beta2 - [x] https://github.com/ArduPilot/ardupilot/pull/32381 -- resolved for 4.7.0-beta2 - [x] ATC_ACC conversion didn't work ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/8)). Should we remove the "configured" checks ([code](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp#L1161)). Caused by installing 4.7.0-dev prior to release of beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/32428 -- resolved for 4.7.0-beta2

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_Radar: Nearby-craft OSD addition for formation flying

master ← t413:radar

opened 11:50PM - 28 Feb 26 UTC

t413

+214 -13

# Summary See the original PR #25684 [here](https://github.com/ArduPilot/ardu…pilot/pull/25684) by @MUSTARDTIGERFPV! This is to add support for [FormationFlight](https://formationflight.org/) to Ardupilot. It's an open-source inter-UAS positioning & telemetry for FPV pilots. It lets FPV pilots find each other in the air through beacons sent with positioning information over LoRa or ESPNOW. ## Details This commit: - Adds a new AP_Radar library implementing the MSP radar protocol (MSP2_SET_RADAR_POS, 0x100B), for aided formation FPV flights. Each aircraft broadcasts its 3D location to peers over MSP - The system is enabled by setting OSD1_RADAR_EN=1 - AP_OSD_Screen additions: displays bearing arrow, horizontal distance, and vertical distance to the current peer, cycling through healthy peers every 2 seconds. Peer tracking state (_radar_peer_id, _radar_last_peer_change) is held as screen instance members. Changes from original PR - fixed all merge conflicts - updated outdated API calls - now matching class/struct naming styles - added null checks that caused crashes - removed unused AP_Radar::_log_bit ## Testing - [x] Entirely written by human programmers. Code-reviewed by AI. - [x] Tested in SITL: Simulation tested using the _fomationflight_ simulated contacts - [x] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Examples <img width="696" height="507" alt="287487159-24ba21cd-d345-4f41-bc82-bdc997bbb839" src="https://github.com/user-attachments/assets/534a8f98-1399-4ffc-8a9b-da14582fc72b" />

github.com/ArduPilot/ardupilot

SITL: use SITL::Aircraft methods for barometer data

master ← peterbarker:pr/sim-baro-fixes

opened 04:05AM - 05 Mar 26 UTC

peterbarker

+59 -38

# Summary Reduce the places in SITL where we reach across the divide into the… vehicle code to fetch temperature and pressure data from the AP_Barometer library. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description This is a poor pattern, where the simulation depends on the vehicle code. In preparation for inverting this so that the simulating of temperature happens in the simulated aircraft and is then fetched from the simulation by AP_Baro_SITL. Also splits things up a little better so the EFI / generator simulators are using a method which should return a more-appropriate temperature to what they're expected. Currently the manifold intake temperature they present be adjusted by the simulated IMU heaters, which isn't great.

github.com/ArduPilot/ardupilot

Spoolup reporting

master ← andyp1per:pr-spoolup-reporting

opened 07:50PM - 18 Mar 26 UTC

andyp1per

+49 -20

Some timing changes in the spool-up code and refactoring of the spool-up block m…ean that we get spurious errors on arming. This PR changes the checks to only start happening once spin min is reached which is the point at which the motors are ready to go unlimited. The timeout has also been changed to start timing from that point giving the motors a little time to settle before erroring to the user. ## Testing (more checks increases chance of being merged) - [X] Checked by a human programmer - [X] Tested in SITL - [X] Tested on hardware

github.com/ArduPilot/ardupilot

GCS_MAVLink: FTP: burst_complete and NAK bug

master ← robertlong13:pr/fix-mavftp-eof-nak

opened 10:29AM - 19 Mar 26 UTC

robertlong13

+258 -11

## Summary Fixes a rare edge case which could lead to truncated files without… the GCS realizing there was a missing chunk at the end. Also a drive-by improvement for the file size reporting for mission.dat (which I'm happy to drop if there's any objection). ## Testing - [x] Checked by a human programmer - [x] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [x] Autotest included ## Description When a file is an integer multiple of burst packets long, NAK returns the wrong EOF offset (it reports one burst packet length too short) and `burst_complete` never sets (that last part doesn't strictly cause an issue with MAVProxy, but it is wrong). Log output from the autotest before the fix ``` AT-0001.2: Testing burst EOF offset with file_size=717 AT-0001.2: FTP TX: seq=0 op=ResetSessions sz=0 ofs=0 bc=0 AT-0001.2: FTP RX: seq=1 op=Ack sz=0 ofs=0 bc=0 req=ResetSessions AT-0001.2: FTP TX: seq=1 op=OpenFileRO sz=19 ofs=0 bc=0 AT-0001.2: FTP RX: seq=2 op=Ack sz=4 ofs=0 bc=0 req=OpenFileRO fileSz=717 AT-0001.2: FTP TX: seq=2 op=BurstReadFile sz=0 ofs=0 bc=0 AT-0001.2: FTP RX: seq=3 op=Ack sz=239 ofs=0 bc=0 req=BurstReadFile AT-0001.2: FTP RX: seq=4 op=Ack sz=239 ofs=239 bc=0 req=BurstReadFile AT-0001.2: FTP RX: seq=5 op=Ack sz=239 ofs=478 bc=0 req=BurstReadFile AT-0001.2: FTP RX: seq=6 op=Nack sz=1 ofs=478 bc=0 req=BurstReadFile err=EndOfFile AT-0001.2: FTP TX: seq=6 op=TerminateSession sz=0 ofs=0 bc=0 AT-0001.2: FTP RX: seq=7 op=Ack sz=0 ofs=0 bc=0 req=TerminateSession AT-0001.2: Exception caught: file_size=717: EOF NACK offset wrong: got 478 expected 717 ``` This is important, because there is no other reliable source of truth for the end of a file than the NAK: - The file size for `OpenFileRO`, for virtual files like `param.pck` and `mission.dat` is only an estimate (though I've fixed that on the latter, there's no good way to fix it for the former). - The largest received byte isn't reliable if tail-end packets get lost. Gap fillers need to know the file size. So the gap filling logic may not realize the last packet of the burst was lost: - for files exactly N*239 bytes long, - on a lossy link where the last burst packet is lost, - but the EOF NAK *does* arrive [MAVProxy will drop the last 239 bytes of the file and not realize anything went wrong.](https://github.com/ArduPilot/MAVProxy/blob/80ad79eb54be86f2da9cd34e6e90ef000fb659cd/MAVProxy/modules/mavproxy_ftp.py#L435-L440) I found this by accident when I was testing a new MAVFTP implementation with a longish mission via `mission.dat`, which I arbitrarily chose 200 waypoints. This makes a file that is 7648 bytes long. My naive new implementation was trusting the NAK offset entirely (stupidly not also counting the highest byte received), and so was reliably truncating the file every time. I've fixed that, but there's still the open edge case outlined above. Was a hell of a time figuring this out. For the drive-by, I notice that `mission.dat`'s size is entirely deterministic and trivial to calculate. If we decide it's too fragile though, and would rather blindly report it as 1MB, I'm fine to drop it.

github.com/ArduPilot/ardupilot

Kinematic limit no compiler change

master ← lthall:20260330_Kinematic_Limit_no_compiler_change

opened 02:22AM - 30 Mar 26 UTC

lthall

+97 -46

## Summary AP_Math: Clarify kinematic_limit behaviour and improve naming `…`` Board,antennatracker,blimp,bootloader,copter,heli,plane,rover,sub CubeOrange,*,*,*,*,*,*,*,* ``` ## Testing (more checks increases chance of being merged) - [X] Checked by a human programmer - [X] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description Refactored kinematic_limit comments and variable names to improve clarity and reduce confusion around its behaviour. - Documented function as a direction-preserving anisotropic limiter - Clarified that inputs represent direction ratios, not magnitudes - Improved internal comments to explain slope-based limit selection - Renamed variables: - segment_length_xy → dir_xy - segment_length_z → dir_z - length → dir_length - Reduced duplication by making Vector3f overload reference scalar version No functional changes.

github.com/ArduPilot/ardupilot

AP_ADSB: correct copying of callsign in Sagetech XP ADSB driver

master ← peterbarker:pr/sagetech-xp-fix

opened 08:38AM - 02 Apr 26 UTC

peterbarker

+1 -1

## Summary this appeared to be overwriting all of the data at the start of th…e mavlink packet, rather than overwriting the callsign within the packet. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [ ] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description This appears to have been DOA. This issue was responsibly disclosed to the ArduPilot development team by [secmate.dev](https://secmate.dev/).

github.com/ArduPilot/ardupilot

AP_Math: kinematic limit clean up

master ← lthall:20260403_Kinematic_Limit_Clean_Up

opened 10:35PM - 02 Apr 26 UTC

lthall

+95 -54

This PR has a couple code improvements from feedback in #32607 ### Classifica…tion & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] Non-functional change (as used) - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description Only minor changes that improve the efficiency and readability of the code. Only change in behaviour is we no longer accept negative limits and convert to a magnitude.

github.com/ArduPilot/ardupilot

Plane: copter tailsitter: ensure none masked motors shutdown in forward flight.

master ← IamPete1:copter_tailsitter_motor_shutdown_fix

opened 09:41PM - 04 Apr 26 UTC

IamPete1

+21 -2

This is a bit of a hacky fix to ensure copter tailsitter motors shutdown correct…ly in forward flight. Currently they will just stick at there last active output. The thing that makes this particularity hard is that the tailsitter motor backed outputs to the throttle left and right functions that plane uses. However the motor backend does a PWM write which will not be overridden by a set scaled later in the loop. Because of this we cannot call motors output at all for "normal" tailsitters in forward flight. In the longer term I would like to move the tailsitter backend over to using motor functions like everything else to allow us to clean up the code. This is a alternate to https://github.com/ArduPilot/ardupilot/pull/32168, @Georacer do you think its worth pulling in the test from your PR? I have tested with a copter tailsitter in realflight. "Normal" tailsitters are unaffected due to the tailsitter motor backend change.

github.com/ArduPilot/ardupilot

AP_NavEKF3: make fusion update more consistent

master ← tpwrules:pr/ek3-update-state-first

opened 07:20PM - 06 Apr 26 UTC

tpwrules

+27 -31

### Summary Update `stateStruct` before calling `ConstrainVariances` as the l…atter can change `stateStruct` in rare cases. Some functions do this already so not all needed to be updated. Mainly this is to make all the fusion functions look the same, it is unlikely this has a meaningful runtime benefit. ### Classification & Testing (check all that apply and add your own) - [X] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [X] Automated test(s) verify changes (e.g. unit test, autotest) - [X] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request No replay change. ### Description As above.

github.com/ArduPilot/ardupilot

Move copter motor test estop and safety checks into motors to share with plane.

master ← IamPete1:plane_motor_test_checks

opened 09:13PM - 07 Apr 26 UTC

IamPete1

+17 -13

Moves the checks so plane can share. ### Classification & Testing (check all …that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request No change for copter, plane gains the estop and safety check before allowing vtol motor test.

github.com/ArduPilot/ardupilot

AP_Arming: arm_check: always check for estop

master ← IamPete1:estop-arm-check

opened 09:33PM - 07 Apr 26 UTC

IamPete1

+7 -0

If someone setups the arm - emergency stop aux function and you arm another way …its very easy to get confused as to why the motors don't work. In the pre-arm checks we don't check for estop if the arm-estop function is assigned because it would always fail. https://github.com/ArduPilot/ardupilot/blob/ecb7568eed8b9637b29dd7be10ab0364ec9fe6ce/libraries/AP_Arming/AP_Arming.cpp#L1661-L1669 In the arm check itself that aux function will no longer be in the e-stop position if it has been used to trigger the arming attempt. If your trying to arm some other way you will see the message. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request Tested in SITL that the arm - emergency stop aux function still works as expected but now we get the arm check if arming using another method.

github.com/ArduPilot/ardupilot

Add sanity check that a submodule update references a commit which exists in AP repo

master ← peterbarker:pr-claude/CI-submodule-reference-must-exist

opened 02:17AM - 08 Apr 26 UTC

peterbarker

+169 -13

### Summary Third part of PRs showing a CI job which ensures that if you are …updating a submodule that the commit exists in the AP repo. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description This is a PR against my own repo, which contains the hash being referenced - the new test is *skipped* as the PR is not against AP master: https://github.com/peterbarker/ardupilot/pull/36 This is the same branch PR'd against ArduPilot master, which fails because the commit does not exist in the AP repo: https://github.com/ArduPilot/ardupilot/pull/32708

github.com/ArduPilot/ardupilot

Allow mission jump counters to be reset without changing waypoint

master ← peterbarker:pr/MAV_CMD_DO_SET_MISSION_CURRENT-fixes

opened 01:43AM - 09 Apr 26 UTC

peterbarker

+74 -8

### Summary Allows resetting the jump counters without resetting the current …waypoint. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description Previously it wasn't possible to reset the jump counters without also setting the waypoint, meaning you're stuck with a race condition. This understands new meanings given in the mavlink message where "-1" for your waypoint number means "ignore". ArduPilot MAVLink PR is here: https://github.com/ArduPilot/mavlink/pull/498

github.com/ArduPilot/ardupilot

SCurve: fix calculate_path bugs and add comprehensive tests

master ← lthall:20260410_FixSCurveCalc

opened 04:09AM - 10 Apr 26 UTC

lthall

+273 -44

### Summary Fix three bugs in SCurve::calculate_path and set_speed_max, add t…ests that cover all code paths, and clean up float literal consistency. Fixes #32724 Bug fixes: - Fix sign error in path length acceleration constraint: (L + 4*V0*tj) should be (L - 4*V0*tj). The old formula inflated the allowed acceleration when V0 > 0, producing invalid motion profiles. - Add early return when At <= 0. After the sign fix, At can go negative when the path is too short for the initial velocity. - Fix integer division in set_speed_max: powf(x, 1/3) evaluated the exponent as 0, making powf always return 1.0 instead of the cube root. This disabled the velocity-based jerk time limit. - Guard against divide-by-zero where dP is divided by segment[SEG_CONST].end_vel in four places. Tests: - 32 test cases covering all 8 code paths in calculate_path with 4 inputs per path near transitions and midpoints. - Constraint validation replicating the add_segments path structure to verify total distance, final velocity, final acceleration, and that velocity, acceleration, and jerk limits are not exceeded. Cleanup: - Replace double literals with float literals throughout to avoid implicit double-to-float conversions. - Fix misleading comment, whitespace, and operator spacing. ``` Board,antennatracker,blimp,bootloader,copter,heli,plane,rover,sub CubeOrange,*,*,*,128,128,136,136,128 ``` ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request

github.com/ArduPilot/ardupilot

Replace vehicle (e.g.) FLTMODE_CH=8 with RC8_OPTION

master ← peterbarker:pr/fltmode-to-rc-option

opened 04:41AM - 12 Apr 26 UTC

peterbarker

+120 -179

### Summary Changes the way ArduPilot vehicles nominate their flight mode cha…nnel. Instead of having a vehicle-level parameter specifying an RC channel option we use and understand a new RCn_OPTION which nominates the flight mode channel. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request Upgrade was tested like this: ``` #!/bin/bash set -e set -x # test the case where someone has set their mode channel explicitly: for i in arducopter blimp ardusub arduplane; do ./Tools/autotest/test_param_upgrade.py --vehicle=$i --param "FLTMODE_CH=11->RC11_OPTION=250" done # rover is MODE_CH not FLTMODE_CH ./Tools/autotest/test_param_upgrade.py --vehicle=rover --param "MODE_CH=11->RC11_OPTION=250" # test the case where the default mode channel is being used. We use # GPS1_TYPE simply as a dummy value to make the tool happy - it is not # relevant to the test. for i in rover arduplane; do ./Tools/autotest/test_param_upgrade.py --vehicle=$i --param "GPS1_TYPE=1->RC8_OPTION=250" done for i in arducopter blimp; do ./Tools/autotest/test_param_upgrade.py --vehicle=$i --param "GPS1_TYPE=1->RC5_OPTION=250" done ``` Some SITL testing was also done, including setting `MODE_CH` to a silly value (no RCn_OPTION becomes set) ### Description Changes all vehicles to use an RCn_OPTION to specify flight mode. Parameter conversion is done. We have lots of tests for these.

github.com/ArduPilot/ardupilot

Issue with throttle mix and quadplane hard landings

opened 05:55AM - 13 Apr 26 UTC

tridge

VTOL-Plane DevCallTopic

We have a log from a partner with a very hard landing (vertical speed about 6 m/…s) after a long flight. It is a complex log, but the key issue may be related to how the slew is handled for the throttle mix. Quadplanes often have very poor estimates of the hover throttle. A typical flight profile never has a steady hover, so the automatic hover throttle learning often doesn't trigger at all, even over many flights. Additionally when it does do learning the lift from the wings (or downforce if nose is down a bit) can cause very poor hover throttle estimates. During VTOL landing we control the throttle mix using QuadPlane::update_throttle_mix(). During the initial descent we force the desired throttle mix to 1.0. Then when we hit Q_LAND_FINAL we force Q_A_THT_MIX_MIN, which is usually 0.1. What we are seeing is the MOTB.ThrAvMx staying high, despite the desired value being 0.1. In the example crash log the mix stayed at 1.0. With a high value for the mix we are prioritizing attitude over height control. The problem is that a high descent rate on a quadplane often leads to attitude instability, so we really do need to slow our descent in order to get the attitude under control. This logic in the AC_AttitudeControl library prevents the desired mix from being applied <img width="883" height="477" alt="Image" src="https://github.com/user-attachments/assets/bc92b250-dfd5-42db-97c8-b9c8227c385a" /> at low battery voltage at the end of the long flight the actual throttle is very high while it is trying to slow the descent rate. The MIN/MAX logic thus prevents the used mix from slewing down from the current 1.0 value down to the desired 0.1 value. This means the descent rate stays high, and attitude control stays bad and the plane descends hard into the ground. Here is an example with SITL, although the effect is not as bad in this SITL log as it was on the real aircraft. <img width="1080" height="535" alt="Image" src="https://github.com/user-attachments/assets/f36f6cc2-61db-47d1-9e0c-1e601c6d5a0f" /> when QPOS.State went to 7 we should have started slewing the mix towards 0.1, but in fact it rose up to 0.95 SITL log here: https://uav.tridgell.net/tmp/00000004.BIN

github.com/ArduPilot/ardupilot

test.CopterTests2b.MultipleGPS flaky

opened 04:19PM - 13 Apr 26 UTC

Ryanf55

DevCallTopic CI

We get 10 satellites instead of 13 sometimes. The test is flaky on master and no…t caused by a recent PR to support SIM_GPSx_FIXTYPE > @Ryanf55 the merged uBlox SITL changes - could they cause the test failure in here? > > https://github.com/ArduPilot/ardupilot/actions/runs/24311650113/job/70986599160?pr=32669 I don't see how. I just changed a ternary to if/else. I don't ever set the satellite count to 10 instead of 13. https://github.com/ArduPilot/ardupilot/pull/32706/changes I reproduced the failure locally on `master`. Repeat testing of the test case shows the test is flaky. ``` ./Tools/autotest/autotest.py build.Copter test.CopterTests2b.MultipleGPS ``` I also found it flaky on commit `6fff5e57f7827b5dcbf875d5596f5337b2e3b6af`, which was before my PR. Logs for failed test. <details> ``` AT-0001.3: ################################################################################## AT-0001.3: ########## MultipleGPS (check ArduPilot behaviour across multiple GPS units) ########## AT-0001.3: ################################################################################## AT-0001.3: Doing timesync roundtrip AT-0001.3: Received: TIMESYNC {tc1 : 5360446000, ts1 : 142250} AT-0001.3: Received TIMESYNC response after 0.000000s AT-0001.3: AP: EKF3 IMU1 tilt alignment complete AT-0001.3: AP: EKF3 IMU0 tilt alignment complete AT-0001.3: AP: EKF3 IMU1 MAG0 initial yaw alignment complete AT-0001.3: AP: EKF3 IMU0 MAG0 initial yaw alignment complete AT-0001.3: RC values good AT-0001.3: Drained 12 messages from mav (20076.445154/s) AT-0001.3: Changing mode to STABILIZE AT-0001.3: Sending COMMAND_LONG to (1,1) (MAV_CMD_DO_SET_MODE=176) (p1=1.000000 p2=0.000000 p3=0.000000 p4=0.000000 p5=0.000000 p6=0.000000 p7=0.000000) AT-0001.3: Got mode STABILIZE AT-0001.4: AP: GPS 1: probing for u-blox at 230400 baud AT-0001.4: AP: GPS 1: detected u-blox AT-0001.7: AP: EKF3 IMU1 origin set AT-0001.7: AP: Field Elevation Set: 584m AT-0001.7: AP: EKF3 IMU0 origin set AT-0001.9: GPS2_RAW count after 24.000000 seconds: 0 AT-0001.9: GPS2_RAW: Want=0.000000 got=0.000000 AT-0001.9: - AT-0001.9: ---------- Get GPS2_RAW as soon as we're configured for a second GPS ---------- AT-0001.9: - AT-0001.9: set_parameters: ({'GPS2_TYPE': 1}) AT-0001.9: GPS2_TYPE want=1.000000 autopilot=None (attempt=1/10) AT-0001.9: Requesting (GPS2_TYPE) AT-0001.9: Received wanted PARAM_VALUE GPS2_TYPE=0.000000 AT-0001.9: GPS2_TYPE want=1.000000 autopilot=0.0 (attempt=2/10) AT-0001.9: Sending set (GPS2_TYPE) to (1.000000) (old=0.000000) AT-0001.9: Received wanted PARAM_VALUE GPS2_TYPE=1.000000 AT-0001.9: GPS2_TYPE want=1.000000 autopilot=1.0 (attempt=3/10) AT-0001.9: GPS2_TYPE is now 1.000000 AT-0002.2: AP: EKF3 IMU0 is using GPS AT-0002.2: AP: EKF3 IMU1 is using GPS AT-0002.4: GPS2_RAW count after 20.200000 seconds: 102 AT-0002.4: GPS2_RAW: Want=5.000000 got=5.000000 AT-0002.4: - AT-0002.4: ---------- Ensure correct fix type when no connected GPS ---------- AT-0002.4: - AT-0002.4: 2026-04-13 09:52:42.75: GPS2_RAW (id=124) (seq=176) (src=1/1) (in-link=None) (signed=No) time_usec: 0us fix_type: 0 (GPS_FIX_TYPE_NO_GPS) lat: 0.0deg lon: 0.0deg alt: 0mm eph: 65535 epv: 65535 vel: 0cm/s cog: 0.0deg satellites_visible: 0 dgps_numch: 0 dgps_age: 0ms yaw: 0.0deg alt_ellipsoid: 0mm h_acc: 0mm v_acc: 0mm vel_acc: 0mm/s hdg_acc: 0.0deg AT-0002.4: - AT-0002.4: ---------- Ensure detection when sim gps connected ---------- AT-0002.4: - AT-0002.4: set_parameters: ({'SIM_GPS2_TYPE': 1}) AT-0002.4: SIM_GPS2_TYPE want=1.000000 autopilot=None (attempt=1/10) AT-0002.4: Requesting (SIM_GPS2_TYPE) AT-0002.4: Received wanted PARAM_VALUE SIM_GPS2_TYPE=1.000000 AT-0002.4: SIM_GPS2_TYPE want=1.000000 autopilot=1.0 (attempt=2/10) AT-0002.4: SIM_GPS2_TYPE is now 1.000000 AT-0002.4: set_parameters: ({'SIM_GPS2_ENABLE': 1}) AT-0002.4: SIM_GPS2_ENABLE want=1.000000 autopilot=None (attempt=1/10) AT-0002.4: Requesting (SIM_GPS2_ENABLE) AT-0002.4: Received wanted PARAM_VALUE SIM_GPS2_ENABLE=0.000000 AT-0002.4: SIM_GPS2_ENABLE want=1.000000 autopilot=0.0 (attempt=2/10) AT-0002.4: Sending set (SIM_GPS2_ENABLE) to (1.000000) (old=0.000000) AT-0002.4: Received wanted PARAM_VALUE SIM_GPS2_ENABLE=1.000000 AT-0002.4: SIM_GPS2_ENABLE want=1.000000 autopilot=1.0 (attempt=3/10) AT-0002.4: SIM_GPS2_ENABLE is now 1.000000 AT-0002.4: Drained 0 messages from mav (0.000000/s) AT-0002.4: Rebooting SITL AT-0002.4: Sending param_request_read for (STAT_RESET) AT-0002.5: get_parameter(STAT_RESET): PARAM_VALUE {param_id : STAT_RESET, param_value : 1.0, param_type : 6, param_count : 1405, param_index : 65535} AT-0002.5: Sending param_request_read for (STAT_BOOTCNT) AT-0002.5: get_parameter(STAT_BOOTCNT): PARAM_VALUE {param_id : STAT_BOOTCNT, param_value : 2.0, param_type : 4, param_count : 1405, param_index : 65535} AT-0002.5: Sending reboot command AT-0002.5: Sending COMMAND_LONG to (1,1) (MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246) (p1=1.000000 p2=1.000000 p3=0.000000 p4=0.000000 p5=0.000000 p6=0.000000 p7=0.000000) AT-0002.5: Sending param_request_read for (STAT_BOOTCNT) AT-0002.5: While awaiting reboot received (COMMAND_ACK {command : 246, result : 0, progress : 0, result_param2 : 0, target_system : 250, target_component : 250}) EOF on TCP socket Attempting reconnect [Errno 111] Connection refused sleeping AT-0003.5: get_parameter(STAT_BOOTCNT): None AT-0003.5: Sending param_request_read for (STAT_BOOTCNT) AT-0003.5: get_parameter(STAT_BOOTCNT): PARAM_VALUE {param_id : STAT_BOOTCNT, param_value : 3.0, param_type : 4, param_count : 1395, param_index : 65535} AT-0003.5: current=3.0 required=3 AT-0003.5: Doing timesync roundtrip AT-0003.5: AP: RCInput: decoding UDP (Pulses) AT-0003.5: Received: TIMESYNC {tc1 : 200844000, ts1 : 148250} AT-0003.5: Received TIMESYNC response after 0.000027s AT-0003.5: Calling initialise-after-reboot AT-0003.5: Drained 0 messages from mav (0.000000/s) AT-0003.5: AP: Calibrating barometer AT-0003.5: Doing timesync roundtrip AT-0003.5: Received: TIMESYNC {tc1 : 1057168000, ts1 : 149250} AT-0003.5: Received TIMESYNC response after 0.000033s AT-0003.5: AP: Barometer 1 calibration complete AT-0003.5: AP: Barometer 2 calibration complete AT-0003.5: AP: ArduPilot Ready AT-0003.5: AP: AHRS: DCM active AT-0003.5: Reboot complete AT-0003.5: set_parameters: ({}) AT-0003.5: Simstate Close to startup location: dist=0.000000 max=1.000000 (simstate: lat=-35.362938,lon=149.165085,alt=0.0 start-loc: lat=-35.362938,lon=149.165085,alt=584.1) AT-0003.5: Waiting for text : gps 1: detected u-blox AT-0003.5: statustext got=(RCInput: decoding UDP (Pulses)) want=(GPS 1: detected u-blox) AT-0003.5: statustext got=(Calibrating barometer) want=(GPS 1: detected u-blox) AT-0003.5: statustext got=(Barometer 1 calibration complete) want=(GPS 1: detected u-blox) AT-0003.5: statustext got=(Barometer 2 calibration complete) want=(GPS 1: detected u-blox) AT-0003.5: statustext got=(ArduPilot Ready) want=(GPS 1: detected u-blox) AT-0003.5: statustext got=(AHRS: DCM active) want=(GPS 1: detected u-blox) AT-0003.5: AP: RC7: SaveWaypoint MIDDLE AT-0003.6: AP: EKF3 IMU0 initialised AT-0003.6: AP: EKF3 IMU1 initialised AT-0003.6: AP: AHRS: EKF3 active AT-0003.6: AP: EKF3 IMU1 tilt alignment complete AT-0003.6: AP: EKF3 IMU0 tilt alignment complete AT-0003.6: AP: EKF3 IMU1 MAG0 initial yaw alignment complete AT-0003.6: AP: EKF3 IMU0 MAG0 initial yaw alignment complete AT-0003.7: AP: GPS 1: probing for u-blox at 230400 baud AT-0003.7: AP: GPS 2: probing for u-blox at 230400 baud AT-0003.7: AP: GPS 1: detected u-blox AT-0003.7: Received expected text: gps 1: detected u-blox AT-0003.7: Waiting for text : gps 2: detected u-blox AT-0003.7: statustext got=(RCInput: decoding UDP (Pulses)) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(Calibrating barometer) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(Barometer 1 calibration complete) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(Barometer 2 calibration complete) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(ArduPilot Ready) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(AHRS: DCM active) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(RC7: SaveWaypoint MIDDLE) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(EKF3 IMU0 initialised) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(EKF3 IMU1 initialised) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(AHRS: EKF3 active) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(EKF3 IMU1 tilt alignment complete) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(EKF3 IMU0 tilt alignment complete) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(EKF3 IMU1 MAG0 initial yaw alignment complete) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(EKF3 IMU0 MAG0 initial yaw alignment complete) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(GPS 1: probing for u-blox at 230400 baud) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(GPS 2: probing for u-blox at 230400 baud) want=(GPS 2: detected u-blox) AT-0003.7: statustext got=(GPS 1: detected u-blox) want=(GPS 2: detected u-blox) AT-0003.7: AP: GPS 2: detected u-blox AT-0003.7: Received expected text: gps 2: detected u-blox AT-0003.7: 2026-04-13 09:52:44.05: GPS2_RAW (id=124) (seq=7) (src=1/1) (in-link=None) (signed=No) time_usec: 9963000us (9.963s) fix_type: 6 (GPS_FIX_TYPE_RTK_FIXED) lat: -35.362938deg lon: 149.165085deg alt: 584090mm eph: 121 epv: 200 vel: 0cm/s cog: 0.0deg satellites_visible: 10 dgps_numch: 0 dgps_age: 0ms yaw: 0.0deg alt_ellipsoid: 584090mm h_acc: 300mm v_acc: 300mm vel_acc: 0mm/s hdg_acc: 0.0deg AT-0003.7: - AT-0003.7: ---------- Check parameters are per-GPS ---------- AT-0003.7: - AT-0003.7: Sending param_request_read for (SIM_GPS1_NUMSATS) AT-0003.7: get_parameter(SIM_GPS1_NUMSATS): PARAM_VALUE {param_id : SIM_GPS1_NUMSATS, param_value : 10.0, param_type : 2, param_count : 1405, param_index : 65535} AT-0003.7: SIM_GPS1_NUMSATS has expected value 10.000000 AT-0003.7: set_parameters: ({'SIM_GPS1_NUMSATS': 13}) AT-0003.7: SIM_GPS1_NUMSATS want=13.000000 autopilot=None (attempt=1/10) AT-0003.7: Requesting (SIM_GPS1_NUMSATS) AT-0003.7: Received wanted PARAM_VALUE SIM_GPS1_NUMSATS=10.000000 AT-0003.7: SIM_GPS1_NUMSATS want=13.000000 autopilot=10.0 (attempt=2/10) AT-0003.7: Sending set (SIM_GPS1_NUMSATS) to (13.000000) (old=10.000000) AT-0003.7: Received wanted PARAM_VALUE SIM_GPS1_NUMSATS=13.000000 AT-0003.7: SIM_GPS1_NUMSATS want=13.000000 autopilot=13.0 (attempt=3/10) AT-0003.7: SIM_GPS1_NUMSATS is now 13.000000 AT-0003.7: Exception caught: Expected 13 sats, got 10 Traceback (most recent call last): File "/home/ryan/Dev/ardupilot/Tools/autotest/vehicle_test_suite.py", line 9153, in run_one_test_attempt test_function(**test_kwargs) File "/home/ryan/Dev/ardupilot/Tools/autotest/vehicle_test_suite.py", line 14689, in MultipleGPS self.assert_gps_satellite_count("GPS_RAW_INT", 13) File "/home/ryan/Dev/ardupilot/Tools/autotest/vehicle_test_suite.py", line 14585, in assert_gps_satellite_count raise NotAchievedException("Expected %u sats, got %u" % vehicle_test_suite.NotAchievedException: Expected 13 sats, got 10 AT-0003.7: log list: ['logs/00000001.BIN', 'logs/00000002.BIN', 'logs/00000003.BIN'] AT-0003.7: Most recent logfile: logs/00000003.BIN AT-0003.7: Drained 8 messages from mav (15556.064905/s) AT-0003.8: set_parameters: ({'GPS2_TYPE': 0.0, 'SIM_GPS2_TYPE': 1.0, 'SIM_GPS2_ENABLE': 0.0, 'SIM_GPS1_NUMSATS': 10.0}) AT-0003.8: GPS2_TYPE want=0.000000 autopilot=None (attempt=1/40) AT-0003.8: Requesting (GPS2_TYPE) AT-0003.8: SIM_GPS2_TYPE want=1.000000 autopilot=None (attempt=1/40) AT-0003.8: Requesting (SIM_GPS2_TYPE) AT-0003.8: SIM_GPS2_ENABLE want=0.000000 autopilot=None (attempt=1/40) AT-0003.8: Requesting (SIM_GPS2_ENABLE) AT-0003.8: SIM_GPS1_NUMSATS want=10.000000 autopilot=None (attempt=1/40) AT-0003.8: Requesting (SIM_GPS1_NUMSATS) AT-0003.8: Received wanted PARAM_VALUE GPS2_TYPE=1.000000 AT-0003.8: Received wanted PARAM_VALUE SIM_GPS2_TYPE=1.000000 AT-0003.8: Received wanted PARAM_VALUE SIM_GPS2_ENABLE=1.000000 AT-0003.8: Received wanted PARAM_VALUE SIM_GPS1_NUMSATS=13.000000 AT-0003.8: GPS2_TYPE want=0.000000 autopilot=1.0 (attempt=2/40) AT-0003.8: Sending set (GPS2_TYPE) to (0.000000) (old=1.000000) AT-0003.8: SIM_GPS2_TYPE want=1.000000 autopilot=1.0 (attempt=2/40) AT-0003.8: SIM_GPS2_TYPE is now 1.000000 AT-0003.8: SIM_GPS2_ENABLE want=0.000000 autopilot=1.0 (attempt=2/40) AT-0003.8: Sending set (SIM_GPS2_ENABLE) to (0.000000) (old=1.000000) AT-0003.8: SIM_GPS1_NUMSATS want=10.000000 autopilot=13.0 (attempt=2/40) AT-0003.8: Sending set (SIM_GPS1_NUMSATS) to (10.000000) (old=13.000000) AT-0003.8: Received wanted PARAM_VALUE GPS2_TYPE=0.000000 AT-0003.8: Received wanted PARAM_VALUE SIM_GPS2_ENABLE=0.000000 AT-0003.8: Received wanted PARAM_VALUE SIM_GPS1_NUMSATS=10.000000 AT-0003.8: GPS2_TYPE want=0.000000 autopilot=0.0 (attempt=3/40) AT-0003.8: GPS2_TYPE is now 0.000000 AT-0003.8: SIM_GPS2_ENABLE want=0.000000 autopilot=0.0 (attempt=3/40) AT-0003.8: SIM_GPS2_ENABLE is now 0.000000 AT-0003.8: SIM_GPS1_NUMSATS want=10.000000 autopilot=10.0 (attempt=3/40) AT-0003.8: SIM_GPS1_NUMSATS is now 10.000000 AT-0003.8: Doing implicit context-pop reboot AT-0003.8: Drained 0 messages from mav (0.000000/s) AT-0003.8: Rebooting SITL AT-0003.8: Sending param_request_read for (STAT_RESET) AT-0003.8: get_parameter(STAT_RESET): PARAM_VALUE {param_id : STAT_RESET, param_value : 1.0, param_type : 6, param_count : 1371, param_index : 65535} AT-0003.8: Sending param_request_read for (STAT_BOOTCNT) AT-0003.8: get_parameter(STAT_BOOTCNT): PARAM_VALUE {param_id : STAT_BOOTCNT, param_value : 3.0, param_type : 4, param_count : 1371, param_index : 65535} AT-0003.8: Sending reboot command AT-0003.8: Sending COMMAND_LONG to (1,1) (MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246) (p1=1.000000 p2=1.000000 p3=0.000000 p4=0.000000 p5=0.000000 p6=0.000000 p7=0.000000) AT-0003.8: Sending param_request_read for (STAT_BOOTCNT) AT-0003.8: While awaiting reboot received (COMMAND_ACK {command : 246, result : 0, progress : 0, result_param2 : 0, target_system : 250, target_component : 250}) ``` </details> I'll look at this in time for dev call. _Originally posted by @Ryanf55 in https://github.com/ArduPilot/ardupilot/issues/32669#issuecomment-4237750986_

CraigElder · April 15, 2026, 3:33am

Agenda: Dev Call April 13, 2026

Attendee count (max): 19

UTC2301 - pre-agenda

Discussions of hard Plane landing (#32759)
Motor mix may not be appropriate for quadplanes

UTC2301 - CI

Reasonably stable
Dds tests don’t seem to be blowing up
GPS numsats flaky, bug filed, not caused by recent SIM_GPSx_FIXTYPE
The set-origin autotest seems to be randomly failing for Henry when he runs it locally
General complaints around flakey autotest suite

UTC2319 - vehicle release update

Arc waypoints no longer WIP
- Surrounding issues resolved
More new issues than issues cleared off
ELRS RC-related crash
Surface tracking
- Can get far away and doesn’t look like it is responding to throttle commands
Spool-up changes spurious errors
Terrain download issue
- Tridge will work with Tim on this one
Quadplane overspeed issues
- PH is waiting to hear back from people
Flood of Wiki issues and PRs finding mismatches between code and Wiki
- Thanks for the people doing these checks!

UTC2333 - AP_VideoTX: force maximum power output at maximum level by andyp1per · Pull Request #31500 · ArduPilot/ardupilot · GitHub

Force maximum power output at maximum level
Merged!

UTC2339 - hwdef: add ADC2 and ADC3 map to scripts of STM32H755xx by n-ito2222 · Pull Request #31654 · ArduPilot/ardupilot · GitHub

Add ADC2 and ADC3 to STM32H755
Merged!

UTC2340 - AP_Radar: Nearby-craft OSD addition for formation flying by t413 · Pull Request #32333 · ArduPilot/ardupilot · GitHub

AP_Radar nearby-craft OSD for formation flying
Reviews left

UTC2349 - SITL: use SITL::Aircraft methods for barometer data by peterbarker · Pull Request #32372 · ArduPilot/ardupilot · GitHub

Factor SITL code to avoid calling into AP_Baro in fewer places
Merged

UTC2352 - Spoolup reporting by andyp1per · Pull Request #32485 · ArduPilot/ardupilot · GitHub

Spool-up reporting
Bill thinks this seems a lot of additional code at the vehicle level that should be at the motors level
No Leonard on the call
All of this is handled in motors for Heli
If it’s in motors then we can have it in QuadPlane
Bill will talk with Leonard about it

UTC2355 - GCS_MAVLink: FTP: burst_complete and NAK bug by robertlong13 · Pull Request #32490 · ArduPilot/ardupilot · GitHub

FTP burst_complete bug
Testing confirmed!
merged!

UTC2356 - https://github.com/ArduPilot/ardupilot/pull/32538

Disentangle SITL::Frame, SITL::Aircraft and SITL::Battery
Merged!

UTC0004 - Kinematic limit no compiler change by lthall · Pull Request #32607 · ArduPilot/ardupilot · GitHub

More dnu issues
Peter will tidy this up this-arvo

UTC0019 - AP_ADSB: correct copying of callsign in Sagetech XP ADSB driver by peterbarker · Pull Request #32655 · ArduPilot/ardupilot · GitHub

Fix for the SageTech driver
Thanks to secmate.dev!
Merged!
We decided to patch the SDK ourselves for the buffer over-runs

UTC0028 - AP_Math: kinematic limit clean up by lthall · Pull Request #32664 · ArduPilot/ardupilot · GitHub

Kinematic limit clean-up
0-change
Reads more nicely
INTERNAL_ERROR?
Not for now
Rebase and merge!

UTC0036 - Plane: copter tailsitter: ensure no masked motors shutdown in forward flight. by IamPete1 · Pull Request #32684 · ArduPilot/ardupilot · GitHub

Ensure none-masked motors shutdown in forward flight
Different to partner proposal and George’s PR
- Which would have effectively reverted a tailsitter fix
Merged!

UTC0042 - Ignore cached local content by hunt0r · Pull Request #32691 · ArduPilot/ardupilot · GitHub

Ignore .cache directories
Merged!

UTC0043 - AP_NavEKF3: make fusion update more consistent by tpwrules · Pull Request #32695 · ArduPilot/ardupilot · GitHub

Make fusion update more consistent
Thomas will keep working to get Paul to discuss
Or try to cross this code

UTC0046 - Move copter motor test estop and safety checks into motors to share with plane. by IamPete1 · Pull Request #32704 · ArduPilot/ardupilot · GitHub

Nothing works with arm/estop on Plane
Merged!

UTC0050 - AP_Arming: integrate safety switch into system by rmackay9 · Pull Request #32713 · ArduPilot/ardupilot · GitHub

Integrate safety switch into system
arming with safety on is a thing!
Moving arming stuff elsewhere?
- We put thresholds all over the place now!
- I.e. not having a centralised “skip check”
Important to retain the ability to have safety switches
- Can we change the default?
- Yes, but it would take time
- When first setting up the multi rotor and have the PWM ranges wrong propos can spin
Reverse thrust, too!
Different setup for Copter vs Plane
- And what about Heli jamming the collective?
We’ve decided we shouldn’t break people’s workflow by merging these bits
Safety doesn’t go off until after an entire main loop run
- Fixes some nasty race conditions
Speedboat with reversible ESC?
- Have to be really careful not to spin that prop up on the bench
Ctrl-f in MissionPlanner - hidden action
Think about simplifying ArduPilot if there’s a safe and reasonable way to do it
- This was supposed to be some of that

UTC0105 - AP_Arming: arm_check: always check for estop by IamPete1 · Pull Request #32705 · ArduPilot/ardupilot · GitHub

Always check for estop during arming
Merged!
Marked for 4.7

UTC0112 - Add sanity check that a submodule update references a commit which exists in AP repo by peterbarker · Pull Request #32709 · ArduPilot/ardupilot · GitHub

Double-shuffle sanity check
Merged!

UTC0116 - autotest: Sub: create UpsideDown test by Williangalvani · Pull Request #32640 · ArduPilot/ardupilot · GitHub

Allow -1 for waypoint number
One change and can then be merged

UTC0121 - SCurve: fix calculate_path bugs and add comprehensive tests by lthall · Pull Request #32730 · ArduPilot/ardupilot · GitHub

Fix three bugs in scurve calculate_path

UTC0130 - Replace vehicle (e.g.) FLTMODE_CH=8 with RC8_OPTION by peterbarker · Pull Request #32749 · ArduPilot/ardupilot · GitHub

Replace vehicle FLTMODE_CH
Vast agreement that this is good
- But tridge is not keen
Herelink doesn’t use flightmode channels for changing flight mode?!
- Camera knob is channel 5!
- Uses mavlink to change channels

UTC0150 - test.CopterTests2b.MultipleGPS flaky · Issue #32767 · ArduPilot/ardupilot · GitHub

Flakey tests!
PR incoming

UTC0154 - couple of attempts at redux

UTC0154 - close

LupusTheCanine · April 15, 2026, 10:25am

It is only a recomendation, some use cases couldn’t be realized with MAVLink due to Herelink software limitations.

CraigElder · April 15, 2026, 11:09pm

I don’t understand your comment. There is no software limitation in Herelink.

LupusTheCanine · April 16, 2026, 12:16am

It was about having different modes under short and long press IIRC.