Dev Call April 6, 2026

CraigElder · April 6, 2026, 11:02pm

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 - [ ] https://github.com/ArduPilot/ardupilot/issues/32689 (4.6.3, not 4.7 yet) - [ ] https://github.com/ArduPilot/ardupilot/issues/32688 - [ ] Terrain downloaded to SD card unnecessarily reloaded in flight? (repoted by TimT in general_dev) - [ ] Realflight quadplanes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/72)) - [ ] 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)) ### Confirmed issues - [ ] 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 ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/28), [issue](https://github.com/ArduPilot/ardupilot/issues/32612), [PR](https://github.com/ArduPilot/ardupilot/pull/32400)) - [x] ArcWaypoints listed as WIP (reported by lthall, [PR](https://github.com/ArduPilot/mavlink/pull/497)) -- @hunt0r handling this - [ ] 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 - None ### 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] 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_NavEKF3: add missing constraints to FuseDragForces

master ← tpwrules:pr/ek3-wind-constrain

opened 02:06AM - 07 Feb 26 UTC

tpwrules

+4 -0

Unsure if this is a major issue since the next EKF loop would likely call some f…usion function which would do the same things. But better safe than sorry, and consistency is good. This creates rather significant replay differences (relatively speaking, this is much more than just float precision noise). But the replay test passes, and so does `test.Copter.BaroWindCorrection` which uses this feature. Probably worth confirming no crazy behavior on a real vehicle but I don't have one set up for it.

github.com/ArduPilot/ardupilot

APM_Control: unifiy fallback airspeed and refacor

master ← IamPete1:AP_FWController_combine

opened 05:49PM - 07 Feb 26 UTC

IamPete1

+47 -61

A couple of changes to bring the roll and pitch controllers together. Current…ly the pitch controller falls back to average of min and max airspeed when no estimate is available where as the roll controller falls back to zero. They now both fall back to the average. This is very unlikely to cause any change in behavior because there is almost always a airspeed estimate of some sort. The previously roll would always be underspeed if no airspeed estimate is available and pitch never would, now neither will be underspeed.

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 - [ ] https://github.com/ArduPilot/ardupilot/issues/32689 (4.6.3, not 4.7 yet) - [ ] https://github.com/ArduPilot/ardupilot/issues/32688 - [ ] Terrain downloaded to SD card unnecessarily reloaded in flight? (repoted by TimT in general_dev) - [ ] Realflight quadplanes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/72)) - [ ] 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)) ### Confirmed issues - [ ] 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 ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/28), [issue](https://github.com/ArduPilot/ardupilot/issues/32612), [PR](https://github.com/ArduPilot/ardupilot/pull/32400)) - [x] ArcWaypoints listed as WIP (reported by lthall, [PR](https://github.com/ArduPilot/mavlink/pull/497)) -- @hunt0r handling this - [ ] 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 - None ### 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] 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

github.com/ArduPilot/ardupilot

Copter: Yaw copter if mount yaw range is limited

master ← Ttl:mnt_yaw

opened 06:30PM - 08 Mar 26 UTC

Ttl

+121 -14

## Summary If mount has limited yaw range, yaw the copter so that mount can s…ee the ROI. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [x] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [x] Autotest included ## Description Currently Copter always points nose towards ROI if there is no mount or it doesn't have pan control. If there is a mount with pan control, the mount is pointed instead. This behaviour is problematic with mount that doesn't have pan control and doesn't point forward or mount with limited yaw range. This PR changes the ROI logic: * No mount: Point nose to ROI (current behavior) * Mount with limited yaw range: Yaw copter so that the mount midpoint points towards ROI and point mount towards ROI. (new in this PR) * Mount with full yaw range: Point only mount towards ROI (current behavior) Tested with real hardware that has fixed camera mounted looking at 90 degree angle (Mount configured as Servo without any servo channels and YAW_MIN = YAW_MAX = 90). See also #28486

github.com/ArduPilot/ardupilot

AC_AttitudeControl: reduce INPUT_TC defaults

master ← rmackay9:atc-input-tc-01

opened 05:16AM - 01 Apr 26 UTC

rmackay9

+2 -2

### Summary This reduces the INPUT_TC parameter defaults for multicopters and… quadplanes: - Multicopter/TradHeli/Sub's ATC_INPUT_TC default reduced from 0.15 to 0.1 - QuadPlane's Q_A_INPUT_TC reduced from 0.2 to 0.15 This has come up during AP-4.7.0 beta testing ([issues list](https://github.com/ArduPilot/ardupilot/issues/32385)) and is a result of PR https://github.com/ArduPilot/ardupilot/pull/31848 This has been lightly tested in SITL. I simply started the two vehicles affected and checked that the xxx_INPUT_TC parameter was the expected value. <img width="462" height="75" alt="image" src="https://github.com/user-attachments/assets/9ee28c4f-ad74-4ee7-bf37-1c1929b00ec2" /> <img width="391" height="44" alt="image" src="https://github.com/user-attachments/assets/7e9793f5-676e-40d3-ad01-bcf6efcd1025" /> ### 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

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: fix DMA buffer allocation for SDMMC1 with USE_ALT_RAM_MAP

master ← Huibean:pr-fix-sdmmc1-axi-alloc-alt-ram-map

opened 01:31AM - 02 Apr 26 UTC

Huibean

+7 -3

### Summary fix DMA buffer allocation for SDMMC1 with USE_ALT_RAM_MAP ### …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) - [ ] Tested manually, description below (e.g. SITL) - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request ### Description To fix a bug that casue SDCard mount failed when enable ```USE_ALT_RAM_MAP``` on H7 board with SDMMC1 `USE_ALT_RAM_MAP` places AXI SRAM as `memory_regions[0]`, but `malloc_flags()` has no fast-path for `MEM_REGION_FLAG_AXI_BUS`, causing SDMMC1's IDMA buffer to be allocated in inaccessible memory. Fix by adding the missing fast-path, mirroring the existing `MEM_REGION_FLAG_DMA_OK` logic. Tested on STM32H743 with `USE_ALT_RAM_MAP`. SDMMC1 SD card mounts successfully. How to reproduce: add ```env USE_ALT_RAM_MAP 1``` in hwdef.dat with H7 board using SDMMC1 for SDCard related issue: - https://discuss.ardupilot.org/t/sdmmc-not-working-on-h7-controller/123375 - https://github.com/ArduPilot/ardupilot/issues/31546 <img width="1996" height="1582" alt="image" src="https://github.com/user-attachments/assets/db2fd63d-6cd7-4da2-b433-156c907082b9" />

github.com/ArduPilot/ardupilot

Tools/scripts: check_branch_conventions: check submodule updates are isolated

master ← peterbarker:pr-claude/submodule-commits-alone-ap

opened 11:41PM - 02 Apr 26 UTC

peterbarker

+73 -0

### Summary Checks that if a submodule is being updated in a commit then that…'s the only thing the commit does ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [x] 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 <img width="1814" height="925" alt="image" src="https://github.com/user-attachments/assets/310ddfa2-bb26-46a2-bec8-c68882a341ad" /> https://github.com/peterbarker/ardupilot/actions/runs/23926896207/job/69785541534?pr=35 ### Description Any commit that updates a submodule pointer must contain no other changed paths — no other files, no other submodules.

github.com/ArduPilot/ardupilot

AP_DroneCAN: add node status logging

master ← IamPete1:DroneCAN_status_logging

opened 12:45PM - 03 Apr 26 UTC

IamPete1

+103 -2

### Summary This adds logging of DroneCAN node status messages, this means th…ings like nodes restarting in flight can be seen in the log. ### 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 ### Description Incoming statuses are added to a linked list which stores the info for logging at 1Hz. Unfortunately the DroneCAN spec says the status message can be sent at anywhere between 1Hz and 500Hz, so we have to store some information in order to rate limit logs incase some nodes send it very aggressively (periph is 1Hz). This stores the whole message in a linked list, so memory usage is proportional to the number of nodes. Alternatively we could just store a last logged time stamp and log directly, in that case we would need 128 timestamps giving 512 bytes. Or I guess we could do a linked list of only timestamps which would reduce the per node memory cost. A future improvement that would be possible because the full status is stored would be to re-trigger a node info request when the uptime resets. Tested in SITL with quadplane-can frame.

github.com/ArduPilot/ardupilot

Allow Mounts defines by AP_Scripting to specify what target types they support

master ← peterbarker:pr/mount-backend-specifies-supported-types

opened 11:27PM - 03 Apr 26 UTC

peterbarker

+121 -87

### Summary Allows scripts to specify just what target types they understand … ### 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 this allows a script which converts ArduPilot targets into a wire protocol to send to a gimbal to tell ArduPilot what sorts of targets the script/gimbal can understand. For example, if the gimbal being controlled can understand a lat/lng/alt, the script can tell ArduPilot that with the new method call.

github.com/ArduPilot/ardupilot

Rover/Tools/CustomBuildServer: fix inclusion of battery watt limiter feature

master ← rmackay9:rover-watt-build-options

opened 07:38AM - 06 Apr 26 UTC

rmackay9

+15 -6

### Summary This resolves https://github.com/ArduPilot/ardupilot/issues/32666… by making the following changes: 1. moves the AP_BattMonitor::get_watt_max from the .h to the .cpp so that its symbol appears in the binary 2. Tools/extract_features checks for the above function instead of the plane specific function 3. Tools/test_build_options is fixed so that it checks the feature is included/excluded for both plane and rover ### 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) - [x] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request I've manually tested that the extract_features.py properly detects whether AP_BATTERY_WATT_MAX_ENABLED is 0 or 1 for Rover. I've had mixed results when testing for Plane which confuses me greatly

github.com/ArduPilot/ardupilot

Logs: many small log files created

opened 11:18AM - 06 Apr 26 UTC

rmackay9

BUG Logging DevCallTopic

# Bug Report We occasionally see reports from users where hundreds of small log… files have been created on the SD card. I've seen this personally while using a CubeOrangePlus running Rover-4.6.2 (or 4.6.3). The issue normally goes away after reformatting the SD card The cause of the issue is unclear but some theories are: - bug leading to accidentally rotating log files too quickly - race condition in the logging code - autopilot is being powered via a USB cable from a PC that doesn't have enough power leading to multiple brown-outs **Version** 4.6.3 (and older), unclear if 4.7.x is affectded **Platform** [x] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine **Hardware type** Seen with CubeOrangePlus but perhaps this is only because it is a popular autopilot **Logs** - none yet!

github.com/ArduPilot/ardupilot

AP_NavEKF3: add missing state normalization to RngBcnFusion

master ← tpwrules:pr/ek3-rng-norm

opened 06:34PM - 06 Apr 26 UTC

tpwrules

+1 -0

### Summary All other fusion functions normalize the quaternion but this one,… so make this one do it. Probably not a massive problem in practice as other fusion functions will also do the normalization. ### 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 - [X] Logs attached - [ ] Logs available on request There are minute replay changes, as expected. But the BeaconPosition test passes and looks good. ``` TOGCS: EKF3 IMU1 initial pos NE = -0.0,0.3 (m) TOGCS: EKF3 IMU1 initial beacon pos D offset = 0.5 (m) TOGCS: EKF3 IMU0 is using range beacons TOGCS: EKF3 IMU0 initial pos NE = -0.0,0.3 (m) TOGCS: EKF3 IMU0 initial beacon pos D offset = -0.5 (m) TOGCS: EKF3 IMU0 MAG0 in-flight yaw alignment complete TOGCS: EKF3 IMU1 MAG0 in-flight yaw alignment complete Replay counts: 14262272 bytes 447977 entries CRB: Running check_replay.py on Replay output log: logs/00000032.BIN Processing log logs/00000032.BIN Mismatch in field XKF1.dPD: -1.9197011624783045e-06 -1.91970138985198e-06 XKF1 {TimeUS : 62939814, C : 1, Roll : -7.34, Pitch : -7.56, Yaw : 48.4, VN : 2.6186347007751465, VE : -2.3593521118164062, VD : 0.008993205614387989, dPD : -1.91970138985198e-06, PN : -6.615180969238281, PE : -14.77216911315918, PD : -19.808935165405273, GX : 0.01, GY : 0.03, GZ : -0.03, OH : 584.06} XKF1 {TimeUS : 62939814, C : 101, Roll : -7.34, Pitch : -7.56, Yaw : 48.4, VN : 2.6186347007751465, VE : -2.3593521118164062, VD : 0.008993205614387989, dPD : -1.9197011624783045e-06, PN : -6.615180969238281, PE : -14.77216911315918, PD : -19.808935165405273, GX : 0.01, GY : 0.03, GZ : -0.03, OH : 584.06} Processed 16968/16977 messages, 1 errors XKF4 2536/2538 2 XKF1 2536/2538 2 XKF2 2536/2537 1 XKF3 2536/2537 1 XKFS 2536/2537 1 XKQ 2536/2537 1 XKV1 254/254 0 XKV2 254/254 0 XKF0 1244/1245 1 CRB: check_replay.py of (logs/00000032.BIN): FAILED ``` ### Description As above.

CraigElder · April 10, 2026, 8:25pm

Attendee count (max): 18

UTC2301 - CI

clog/unclog effect - a bit weird

UTC2305 - release update

How do AltHold and Loiter feel in 4.7 vs 4.6?
Mount scripting update fixes
MissionPlanner fixes
Wiki fixes
We’re seeing people get vast numbers of little files on their SD cards
Passthrough with bad CRC not working
Terrain download to SD card re-downloaded in-flight
- Need to check the tlog
- Particularly check the lat/lng
Quadplanes not working in RealFlight?!
- Tim flies these all the time
Mount POI on RC switch
- Really want this compiled in my default
- Sometimes it is failing?
Beta still going very well
- Attitude controller
  - Jerk limit was added to the exit from the curve
    - Makes the thing slower
    - And maybe a little wobble?!
    - Motor outputs become very less spiky
    - And smoother velocity
    - There’s constant which we will reduce the default for
    - AC_AttitudeControl: reduce INPUT_TC defaults by rmackay9 · Pull Request #32643 · ArduPilot/ardupilot · GitHub
- soaring/autoland thing
  - Other eyes on would be nice
- Nightly link is broken

UTC2333 - common.xml: add COMMAND_ACK.command_opaque_id by peterbarker · Pull Request #2458 · mavlink/mavlink · GitHub

Add an opaque id into the command protocol
Should we use the word “opaque”?
People are in favour!

UTC2339 - MAV_CMD_PAYLOAD_PREPARE_DEPLOY - remove note about MISSION_ITEM (#1993) by peterbarker · Pull Request #496 · ArduPilot/mavlink · GitHub

Sync comment vcs mavlink/malvink/master
Merged!

UTC2341 - Limit PiccoloCAN to custom build server / OEM setups / >2MB boards by peterbarker · Pull Request #30298 · ArduPilot/ardupilot · GitHub

Limit piccolocan to custom build server
9:42 AM]Robert Moore: Argument for PiccoloCAN. I still occasionally hear from folks looking to convert old PCC systems to Cube. And I’d recommend checking with Spektreworks as they make a PCC conversion board to run Cube IIRC
We’d add stuff to the Wiki pages to explain how to add it
Currawong do a lot of support for their own users so the true scale of usage might not be known

UTC2344 - https://github.com/ArduPilot/ardupilot/pull/31656

Add STM IMU
Look at log for any obvious errors:
- e.g.
  - Temperature at 400 degc
  - IMU orientation wrong
  - Bad Gyro update rates
  - EKF innovations dissimilar to other lanes
- None of these present, data looks good
Happy to merge this once the conflicts resolved and header changes made

UTC2352 - AP_NavEKF3: add missing constraints to FuseDragForces by tpwrules · Pull Request #32128 · ArduPilot/ardupilot · GitHub

Add missing constraints to FuseDragForces
Good to merge after CI passes

UTC2358 - APM_Control: unifiy fallback airspeed and refactor by IamPete1 · Pull Request #32133 · ArduPilot/ardupilot · GitHub

Unify fallback airspeed and refactor
Small rework now, not changing numbers
If we get feedback from Paul on the 0.5 difference we might be able to merge a change

UTC0005 - AP_HAL_ChibiOS: update hwdef.dat file for Atlas-Control by AltasFlight · Pull Request #32268 · ArduPilot/ardupilot · GitHub

New uart!
No more bidir on existing boards?
- Could fall back to a throttle-based notch, which might be bad?
Merged!

UTC0009 - Copter: Yaw copter if mount yaw range is limited by Ttl · Pull Request #32394 · ArduPilot/ardupilot · GitHub

Yaw copter when mount yaw range not enough
Some discussion going on on 4.7 release document (link in PR)

UTC0010 - https://github.com/ArduPilot/ardupilot/pull/32434

Add MAV_CMD_DO_ORBIT
Could factor the move-to-circle-edge stuff up into AC_Circle
- Randy will review this and see if we should refactor later or refactor now

UTC0015 - AC_AttitudeControl: reduce INPUT_TC defaults by rmackay9 · Pull Request #32643 · ArduPilot/ardupilot · GitHub

Reduce INPUT_TC defaults
Medium vs crisp naming?
- Because of the jerk limiting changes the meaning here has kind of changed
Will check with Leonard to see what he wants to do with names

UTC0017 - AP_HAL_ChibiOS: fix DMA buffer allocation for SDMMC1 with USE_ALT_RAM_MAP by Huibean · Pull Request #32651 · ArduPilot/ardupilot · GitHub

Fix DMA buffer allocation for SDMMC1 with USE_ALT_RAM_MAP
All boards seem to use SDMMC2 not 1
- Co-incidence?!
Spelunking leads to the question about why this was ever working
Tridge will look at this a bit further as he’s working in the area at the moment and has gdb etc set up

UTC0029 - Tools/scripts: check_branch_conventions: check submodule updates are isolated by peterbarker · Pull Request #32665 · ArduPilot/ardupilot · GitHub

When updating submodule references make sure the commits are clear of other patches
Merged!

UTC0036 - AP_DroneCAN: add node status logging by IamPete1 · Pull Request #32672 · ArduPilot/ardupilot · GitHub

Log node status into dataflash log
Heartbeats and whatever go into the logs
Merged!

UTC0038 - Allow Mounts defines by AP_Scripting to specify what target types they support by peterbarker · Pull Request #32678 · ArduPilot/ardupilot · GitHub

Allow scripts to specify what target types they support
So they could directly handle locations, for example
Currently only does rates and angles but can add an accessor later for the location
merged!

UTC0046 - AP_TECS: add units and mults to all log messages, TEC4 add climb min and max limits by IamPete1 · Pull Request #32686 · ArduPilot/ardupilot · GitHub

Add better logging from TECS
PH might split, might not
TEC4 gets another couple of fields and corrects the logging

UTC0048 - Rover/Tools/CustomBuildServer: fix inclusion of battery watt limiter feature by rmackay9 · Pull Request #32687 · ArduPilot/ardupilot · GitHub

Fix inclusion of batt watt limiter
Will rework to use a regex for the symbol rather than the symbol change

UTC0055 - AP_NavEKF3: add missing state normalization to RngBcnFusion by tpwrules · Pull Request #32693 · ArduPilot/ardupilot · GitHub

Add missing state normalisation to RngBcnFusion
Merged!

UTC0056 - when do we include or exclude features?

When do we include or exclude features?
Do we have a minimum number of bytes?
- Maybe 200 bytes?
Too many options isn’t great
Aux function to reset the EKF?
- Hidden behind a define?
PH thinks no more than two defines
- Mount you have to enable
Transition to a nothing-enabled-by-default?
- Need good integration with GCS and custom build server
[11:11 AM]Thomas: that’s where re-linking could be a good thing instead of a million defines
[11:11 AM]Thomas: also ability to do offline
[11:11 AM]Thomas: hey, nix could do the builds and cache automatically too @Shiv Tyagi
[11:12 AM]Thomas: maybe solving this is what will make 5.0

Attendee count (max): 18

UTC2301 - CI

UTC2305 - release update

UTC2333 - common.xml: add COMMAND_ACK.command_opaque_id by peterbarker · Pull Request #2458 · mavlink/mavlink · GitHub

UTC2339 - MAV_CMD_PAYLOAD_PREPARE_DEPLOY - remove note about MISSION_ITEM (#1993) by peterbarker · Pull Request #496 · ArduPilot/mavlink · GitHub

UTC2341 - Limit PiccoloCAN to custom build server / OEM setups / >2MB boards by peterbarker · Pull Request #30298 · ArduPilot/ardupilot · GitHub

UTC2344 - https://github.com/ArduPilot/ardupilot/pull/31656

UTC2352 - AP_NavEKF3: add missing constraints to FuseDragForces by tpwrules · Pull Request #32128 · ArduPilot/ardupilot · GitHub

UTC2358 - APM_Control: unifiy fallback airspeed and refactor by IamPete1 · Pull Request #32133 · ArduPilot/ardupilot · GitHub

UTC0005 - AP_HAL_ChibiOS: update hwdef.dat file for Atlas-Control by AltasFlight · Pull Request #32268 · ArduPilot/ardupilot · GitHub

UTC0009 - Copter: Yaw copter if mount yaw range is limited by Ttl · Pull Request #32394 · ArduPilot/ardupilot · GitHub

UTC0010 - https://github.com/ArduPilot/ardupilot/pull/32434

UTC0015 - AC_AttitudeControl: reduce INPUT_TC defaults by rmackay9 · Pull Request #32643 · ArduPilot/ardupilot · GitHub

UTC0017 - AP_HAL_ChibiOS: fix DMA buffer allocation for SDMMC1 with USE_ALT_RAM_MAP by Huibean · Pull Request #32651 · ArduPilot/ardupilot · GitHub

UTC0029 - Tools/scripts: check_branch_conventions: check submodule updates are isolated by peterbarker · Pull Request #32665 · ArduPilot/ardupilot · GitHub

UTC0036 - AP_DroneCAN: add node status logging by IamPete1 · Pull Request #32672 · ArduPilot/ardupilot · GitHub

UTC0038 - Allow Mounts defines by AP_Scripting to specify what target types they support by peterbarker · Pull Request #32678 · ArduPilot/ardupilot · GitHub

UTC0046 - AP_TECS: add units and mults to all log messages, TEC4 add climb min and max limits by IamPete1 · Pull Request #32686 · ArduPilot/ardupilot · GitHub

UTC0048 - Rover/Tools/CustomBuildServer: fix inclusion of battery watt limiter feature by rmackay9 · Pull Request #32687 · ArduPilot/ardupilot · GitHub

UTC0055 - AP_NavEKF3: add missing state normalization to RngBcnFusion by tpwrules · Pull Request #32693 · ArduPilot/ardupilot · GitHub

UTC0056 - when do we include or exclude features?

UTC0114 - close