Dev Call Aug 24, 2026

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/34126 - [ ] https://github.com/ArduPilot/ardupilot/issues/34106 - [ ] Holybro Tekko AM32 ESC errors ([discussion](https://discuss.ardupilot.org/t/esc-errors-on-logs-and-what-can-i-do-to-reduce-the-errors/145157)) - [ ] https://github.com/ArduPilot/ardupilot/pull/34070 (also in 4.6) - [ ] https://github.com/ArduPilot/ardupilot/pull/33942 - [ ] https://github.com/ArduPilot/ardupilot/issues/33722 - [ ] Rover throttle failsafe interferes with GCS failsafe? ([discussion](https://discuss.ardupilot.org/t/rover-gcs-failsafe/144533/6)) - [ ] https://github.com/ArduPilot/ardupilot/issues/28876 (4.6 issue) ### Confirmed issues - [ ] https://github.com/ArduPilot/ardupilot/pull/34027 - [ ] Add back QMC5883P compass by default? ([issue](https://github.com/ArduPilot/ardupilot/issues/33892) [master PR](https://github.com/ArduPilot/ardupilot/pull/34101), [PR](https://github.com/ArduPilot/ardupilot/pull/34101)) - [ ] https://github.com/ArduPilot/ardupilot/issues/33954 ([related PR](https://github.com/ArduPilot/ardupilot/pull/32171), [PR](https://github.com/ArduPilot/ardupilot/pull/34093)) -- seems hardware specific - [ ] https://github.com/ArduPilot/ardupilot/issues/33926 ([PR1](https://github.com/ArduPilot/ardupilot/pull/33933), [PR2](https://github.com/ArduPilot/ardupilot/pull/34099)) - [ ] https://github.com/ArduPilot/ardupilot/pull/33878 - [ ] https://github.com/ArduPilot/ardupilot/issues/33826 ([PR](https://github.com/ArduPilot/ardupilot/pull/31355)) - [ ] https://github.com/ArduPilot/ardupilot/issues/33783 ([master PR](https://github.com/ArduPilot/ChibiOS/pull/107), [4.7 PR](https://github.com/ArduPilot/ChibiOS/pull/108)) - [ ] QuikTune Lua script should restrict which modes it operates in ([PR](https://github.com/ArduPilot/ardupilot/pull/33025)) ### Copter Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/31021 ([issue2](https://github.com/ArduPilot/ardupilot/issues/21534), [PR1](https://github.com/ArduPilot/ardupilot/pull/31038), [PR2](https://github.com/ArduPilot/ardupilot/pull/32029), [PR3](https://github.com/ArduPilot/ardupilot/pull/33863)) - [ ] Copter crash while using AutoTune with fast rates ([discussion](https://discuss.ardupilot.org/t/crash-during-autotune-uncommanded-pitch-movement-during-roll-tuning-arducopter-4-7-0-beta3/143598), [PR](https://github.com/ArduPilot/ardupilot/pull/32404)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### Tradheli Specifc Issues - None ### Plane Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/33720 ([PR](https://github.com/ArduPilot/ardupilot/pull/33736)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32606 - [ ] https://github.com/ArduPilot/ardupilot/issues/32518 -- @IamPete1 or @samuelctabor to resolve ### Rover Specific Issues - None ### Sub Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/33810 (also in 4.6) ### Mission Planner Issues - [ ] https://github.com/ArduPilot/MissionPlanner/issues/3751 ### QGC Issues - None ### Wiki Issues - [ ] QuadPlane tuning process instructions need updating (reported in "documentation" channel by Ep, Bob Long) ### Enhancements or Issues that may not be resolved before the stable release - [ ] https://github.com/ArduPilot/ardupilot/issues/34074 -- known issue, also in 4.6, handle through documentation - [ ] https://github.com/ArduPilot/ardupilot/issues/1311 <-- enhancement re-requested on facebook release announcement - [ ] Copter PosHold/Loiter/PosControl not handling yaw resets completely? ([discussion](https://discuss.ardupilot.org/t/new-beta-fly-away/144128)) - [ ] Rover home position saved to storage at 1hz ([discussion](https://discuss.ardupilot.org/t/learning-ardupilot-starting-with-esp32/115834/36), [issue](https://github.com/ArduPilot/ardupilot/issues/33602)) - [ ] https://github.com/ArduPilot/ardupilot/issues/33125 (4.6 issue as well) - [ ] SpeedyBeeF405AIO not detecting Adafruit MMC56x3 compass ([discussion](https://discuss.ardupilot.org/t/adafruit-mmc56x3-with-speedybeef405aio/143395), also not working with 4.6) - [ ] https://github.com/ArduPilot/ardupilot/issues/32444 (also present in 4.6 and earlier) - [ ] https://github.com/ArduPilot/ardupilot/issues/32862 - [ ] https://github.com/ArduPilot/ardupilot/issues/32689 (4.6.3, not 4.7 yet) - [ ] 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/pull/34061 ([master PR](https://github.com/ArduPilot/ardupilot/pull/34062)) -- resolved for 4.7.**2**-beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/33974 -- resolved for 4.7.**2**-beta1 - [x] https://github.com/ArduPilot/ardupilot/issues/33871 ([PR](https://github.com/ArduPilot/ardupilot/pull/33972)) -- resolved for 4.7.**1**-beta1 - [x] https://github.com/ArduPilot/ardupilot/issues/33936 ([PR](https://github.com/ArduPilot/ardupilot/pull/33947)) -- resolved for 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/issues/33895 ([PR](https://github.com/ArduPilot/ardupilot/pull/33908)) -- resolved ahead of 4.7.1-beta1 - [x] Mount POI sometimes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64), [PR](https://github.com/ArduPilot/ardupilot/pull/33396)) -- user needed to set gimbal's yaw range to zero - [x] Rover jump after 8+ hours with RTK GPS ([discussion](https://discuss.ardupilot.org/t/large-position-jumps-after-sitting-indoors-for-several-hours/144094), [issue](https://github.com/ArduPilot/ardupilot/issues/33388), [PR](https://github.com/ArduPilot/ardupilot/pull/33392), also 4.6) - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/7943 -- red herring (msg removed in 4.7) - [x] https://github.com/ArduPilot/ardupilot/issues/33892 - [x] https://github.com/ArduPilot/ardupilot/pull/33136 -- not sure why closed by community developer - [x] https://github.com/ArduPilot/ardupilot/issues/33859 ([PR](https://github.com/ArduPilot/ardupilot/pull/33928)) -- resolved ahead of 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/33890 -- resolved ahead of 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/33904 -- resolved ahead of 4.7.1-beta1 - [x] Copter PSC_JERK_NE/D should be PSC_NE/D_JERK? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-released/144650/9), [PR](https://github.com/ArduPilot/ardupilot/pull/33843)) -- resolved ahead of 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/33803 (also in 4.6) -- resolved ahead of 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/issues/33327 ([PR](https://github.com/ArduPilot/ardupilot/pull/33362)) fix https://github.com/ArduPilot/terraingen/pull/29 -- resolved shortly after 4.7.0 was released - [x] Copter yaw oscillation using Spline waypoints ([discussion](https://discuss.ardupilot.org/t/yaw-oscillations-in-auto-spline-waypoints/144688)) -- user error, should have set WP_YAW_BEHAVIOR = 2 (the default) - [x] FlywooF405HD-AIOv2 - Onboard barometer not detected ([discussion](https://discuss.ardupilot.org/t/flywoof405hd-aiov2-onboard-barometer-not-detected-baro1-devid-0-on-two-different-boards/144589), [PR](https://github.com/ArduPilot/ardupilot/pull/33779)) -- resolved ahead of 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/issues/33538 ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta7-is-available-for-beta-testing/144197/25), [discussion2](https://discuss.ardupilot.org/t/potential-incomplete-initialization-on-ap-flashstorage/144440), [PR](https://github.com/ArduPilot/ardupilot/pull/33640)) -- resolved (we think) ahead of 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/32381 -- resolved for 4.7.0-beta2 - [x] Custom Build Server compile error when AP_COMPASS_IST8310 disabled ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta8-released-for-beta-testing/144555/7), [PR](https://github.com/ArduPilot/ardupilot/pull/32696)) -- resolved ahead of 4.7.1-beta1 - [x] Skyviper-v2450 build broken ([issue](https://github.com/ArduPilot/ardupilot/issues/33725), [PR](https://github.com/ArduPilot/ardupilot/pull/32696)) -- resolved ahead of 4.7.1-beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/33715 -- resolved ahead of 4.7.1 - [x] set-target-angle-and-climbrate used by scripting has climbrate scaling issue ([PR](https://github.com/ArduPilot/ardupilot/pull/33692)) -- resolved ahead of 4.7.0-beta8 - [x] follow init bug affecting yaw ([PR](https://github.com/ArduPilot/ardupilot/pull/33652)) -- resolved ahead of 4.7.0-beta8 - [x] https://github.com/ArduPilot/ardupilot/issues/33451 ([PR](https://github.com/ArduPilot/ardupilot/pull/33607), also in 4.6) -- resolved ahead of 4.7.0-beta8 - [x] https://github.com/ArduPilot/ardupilot/issues/33612 ([PR](https://github.com/ArduPilot/ardupilot/pull/33613)) -- resolved ahead of 4.7.0-beta8 - [x] Copter PosHold start-stop during acceleration ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0b7-strange-behaviour-in-poshold-mode/144301), [issue](https://github.com/ArduPilot/ardupilot/issues/33588), [PR](https://github.com/ArduPilot/ardupilot/pull/33590), [related PR](https://github.com/ArduPilot/ardupilot/pull/30358)) -- resolved ahead of 4.7.0-beta8 - [x] GPS-for-yaw fails to fuse if delay set too long ([PR](https://github.com/ArduPilot/ardupilot/pull/33643), also in 4.6) -- resolved ahead of 4.7.0-beta8 - [x] https://github.com/ArduPilot/MissionPlanner/issues/3743 -- fixed with MP beta release on 03Jul2026 - [x] Loiter braking essentially disabled by coordinated turns ([PR](https://github.com/ArduPilot/ardupilot/pull/33631)) -- resolved for -beta8 - [x] broken COMPASS_DISBLMSΚ for hwdef-ed compasses ([master PR](https://github.com/ArduPilot/ardupilot/pull/33562), [AP4.7 PR](https://github.com/ArduPilot/ardupilot/pull/33553), [related PR](https://github.com/ArduPilot/ardupilot/pull/31591)) -- resolved ahead of 4.7.0-beta8 - [x] crash with harmonic notch logging showing NaN ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta7-is-available-for-beta-testing/144197/3)) -- assumed AIO ESC hardware issue - [x] Loiter mode drifts agressively ([discussion](https://discuss.ardupilot.org/t/loiter-mode-drone-drifts-aggressively-after-releasing-sticks-to-neutral-regression-in-4-8-0dev-works-fine-on-4-6/144203), [issue](https://github.com/ArduPilot/ardupilot/issues/33454)) -- user was not expecting coordinated turns - [x] plane transitions worse? ([discussion](https://discuss.ardupilot.org/t/arduplane-4-7-0-beta-4-vtol-attitude-problem/144037)) -- no response to request for logs - [x] EKF using GPS-for-yaw loses attitude estimate after 2 hours ([discussion](https://discuss.ardupilot.org/t/large-position-jumps-after-sitting-indoors-for-several-hours/144094/15)) - [x] https://github.com/ArduPilot/ardupilot/issues/33403 -- fixed before 4.7.0-beta8 (or official release) - [x] Pre-arm stick arming issues ([issue](https://github.com/ArduPilot/ardupilot/issues/33386), [PR](https://github.com/ArduPilot/ardupilot/pull/33402)) -- resolved for 4.7.0-beta7 - [x] 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), [PR](https://github.com/ArduPilot/ardupilot/pull/33372)) -- resolved ahead of 4.7.0-beta7 - [x] Quadplane QLand over speed ([discussion](https://discuss.ardupilot.org/t/qland-vertical-speed/143366/2)) -- no response from user - [x] still GCC 10? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta6-is-available-for-beta-testing/144106/3)) -- yes - [x] https://github.com/ArduPilot/MissionPlanner/issues/3731 ([PR](https://github.com/ArduPilot/MissionPlanner/pull/3732)) -- resolved ahead of 4.7.0-beta6 but not a flight code issue - [x] https://github.com/ArduPilot/ardupilot/issues/33230 ([PR](https://github.com/ArduPilot/ardupilot/pull/33232), also in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33161 ([PR](https://github.com/ArduPilot/ardupilot/pull/33275) also in 4.6) - [x] LIS2MDL / IIS2MDC found to be duplicate parts, consolidation required ([PR](https://github.com/ArduPilot/ardupilot/pull/33140)) -- **blocker** - [x] https://github.com/ArduPilot/ardupilot/issues/32624 ([PR](https://github.com/ArduPilot/MissionPlanner/pull/3697)) -- resolved ahead of 4.7.0-beta6 (but not an AP flight code issue anyway) - [x] 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)) -- resolved ahead of 4.7.0-beta6 (but not an AP flight code issue anyway) - [x] https://github.com/ArduPilot/ardupilot/pull/33156 -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33168 ([PR](https://github.com/ArduPilot/ardupilot/pull/33169), also in 4.6) -- resolved ahead 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33083 ([PR](https://github.com/ArduPilot/ardupilot/pull/33093), also exists in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33165 ([discussion](https://github.com/ArduPilot/ardupilot/issues/33165)) -- user error - [x] https://github.com/ArduPilot/ardupilot/issues/32977 ([PR](https://github.com/ArduPilot/ardupilot/pull/33016), also exists in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] Copter follow mode alt overshoot bug ([PR](https://github.com/ArduPilot/ardupilot/pull/33109)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32491 ([PR](https://github.com/ArduPilot/ardupilot/pull/33005), 4.6 issue) -- resolved ahead of 4.7.0-beta6 - [x] Spool up changes causing spurious errors (reported by AndyP, [PR](https://github.com/ArduPilot/ardupilot/pull/32955)) -- resolved ahead of 4.7.0-beta6 - [x] buffer overflow related to CAN logging (reported by PeterB, [PR](https://github.com/ArduPilot/ardupilot/pull/33031)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32811 ([PR1](https://github.com/ArduPilot/ardupilot/pull/33020)) -- resolved ahead of 4.7.0-beta6 - [x] Copter follow mode bug ([PR](https://github.com/ArduPilot/ardupilot/pull/33038)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32942 ([PR](https://github.com/ArduPilot/ardupilot/pull/32943), also present in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] plane when enabling safety surfaces to to full deflection on tridge's hero, need to look with saleae, fixed in https://github.com/ArduPilot/ardupilot/pull/32979 -- included in 4.7.0-beta5 - [x] Payload place may get stuck based on alt field ([PR](https://github.com/ArduPilot/ardupilot/pull/32634)) -- resoled ahead of -4.7.0-beta5 - [x] copter-circle-speed script not working correctly ([issue](https://github.com/ArduPilot/ardupilot/issues/32799)) -- could not reproduce, appears to work fine - [x] Terrain downloaded to SD card unnecessarily reloaded in flight? ([issue](https://github.com/ArduPilot/ardupilot/issues/32773), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7690)) - [x] 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/32931)) -- resolved for 4.7.0-beta4 - [x] ELRS RC related crash ([issue1](https://github.com/ArduPilot/ardupilot/issues/32653), [issue2](https://github.com/ArduPilot/ardupilot/issues/32862), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7701)) -- existing issue, workaround added to wiki, covered by [issue 32862](https://github.com/ArduPilot/ardupilot/issues/32862) - [x] TradHeli PID gain multiplier reset issue ([PR](https://github.com/ArduPilot/ardupilot/pull/32725)) -- resolved ahead of 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/pull/32892 -- resolved ahead of 4.7.0-beta4 - [x] Copter surface tracking altitude error not limited? ([discussion](https://discuss.ardupilot.org/t/surface-tracking-issues/142851/3), [issue](https://github.com/ArduPilot/ardupilot/issues/32740), [PR](https://github.com/ArduPilot/ardupilot/pull/32789), 4.6 issue as well) -- resolved in 4.8, not immediately planning to backport unless there is demand for it - [x] 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), [PR](https://github.com/ArduPilot/ardupilot/pull/32788)) -- resolved for 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/issues/32741 - [x] crash dump on custom FC ([discussion](https://discuss.ardupilot.org/t/watchdog-crash-dump-bin-arducopter-4-7-0-dev-on-custom-flight-controller/143475)) -- unsupported board, can't help - [x] https://github.com/ArduPilot/ardupilot/issues/32688 -- user error - [x] Mission Planner SITL gets 4.6.2-beta1 binary ([SITL firmware](https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/Beta/), [should be fixed by this job](https://github.com/ArduPilot/ardupilot/actions/runs/24375398698/job/71187757542), reported by @tridge) -- fixed ahead of 4.7.0-beta3 - [x] 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)) -- resolved for 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/issues/32724 ([PR](https://github.com/ArduPilot/ardupilot/pull/32730), 4.6 issue as well?) -- resolved ahead of 4.7.0-beta4 - [x] 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)) -- resolved for 4.7.0-beta3 - [x] 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)) -- resolved for 4.7.0-beta3 - [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] 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

Plane: gradual RTL altitude descent in QRTL approach (#33786)

master ← Hwurzburg:qrtl-gradual-rtl-alt-descent

opened 06:04PM - 21 Jul 26 UTC

Hwurzburg

+327 -9

### Summary Changes how QRTL's approach phase handles altitude when the vehicle… is well above `RTL_ALTITUDE` when the return leg starts — the target altitude now ramps down gradually instead of snapping straight to `RTL_ALTITUDE`. ### Classification & Testing (check all that apply and add your own) - [ ] 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 `./waf plane` builds cleanly. Added `QRTLGradualAltDescent` SITL autotest (`Tools/autotest/quadplane.py`, run via `test.QuadPlane.QRTLGradualAltDescent`), which flies out ~900m, triggers QRTL, and asserts the vehicle does not shed more than 15m of altitude in the first 15 seconds, then completes a normal VTOL landing. Verified the test fails without the fix (drop of 17m in 7s reverting `mode_qrtl.cpp`/`mode.h`) and passes with it. ### Description Previously, once QRTL's approach phase began, the target altitude snapped straight to `RTL_ALTITUDE` regardless of how much higher the vehicle actually was, causing an immediate steep descent while still far from home. The target now ramps down gradually from the vehicle's actual altitude at the start of the leg down to `RTL_ALTITUDE`, reaching it at the same distance-from-home threshold where the existing `RTL_ALTITUDE -> Q_RTL_ALT` approach ramp already begins — so the two ramps join continuously. If the vehicle is at or below `RTL_ALTITUDE` at that point, behaviour is unchanged. This is now the standard QRTL behaviour (no `Q_OPTIONS` bit needed). 🤖 Generated with [Claude Code](https://claude.com/claude-code), with an adversarial second-opinion review pass from OpenAI Codex.

CIRCLE (LOITER_TURNS) mission item using S-curves (#33837)

master ← lthall:20260726_CircleModeSCurve

opened 02:27PM - 26 Jul 26 UTC

lthall

+850 -153

### Summary Flies Copter's CIRCLE mission item (MAV_CMD_NAV_LOITER_TURNS) as …a single jerk-limited S-curve orbit leg on the waypoint engine, instead of the separate AC_Circle controller, so a circle accelerates, cruises and decelerates with the same S-curve profile as straight, arc and spline waypoints. ### Classification & Testing (check all that apply and add your own) - [ ] 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 SITL: mission_NAV_LOITER_TURNS and mission_NAV_LOITER_TURNS_off_center pass (fly-to-edge and start-on-edge entry). Standalone Circle mode is unchanged and regression-clean: ModeCircle, SuperSimpleCircle, CircleSpeed. Straight/arc/spline waypoint regression also clean: CopterMission, WPArcs, SplineLastWaypoint. New AP_Math gtest SCurveCircle.geometry checks the orbit holds radius, respects the centripetal speed limit, closes, and sweeps the correct direction across full/fractional/multi-turn/climbing/CW/CCW cases. ### Description Replaces AC_Circle for the Auto CIRCLE mission item with a single S-curve waypoint leg, in three layers: - AP_Math (SCurve): calculate_circle_track() builds one closed arc leg about a center for a signed number of turns (may exceed 2*pi) with an optional net climb, reusing the existing arc projection (a circle is just an arc that sweeps >= 360 deg). Also factors the shared setup into set_arc_geometry/set_straight_geometry/generate_path/finalise_path, used by both the chord-derived (calculate_track) and center-derived (calculate_circle_track) paths. - AC_WPNav: set_circle_destination_NED_m()/_loc() set up the orbit leg (origin taken as the current destination, which lies on the circle) and expose the orbit center for yaw. - ArduCopter (ModeAuto/AutoYaw): after the existing move-to-edge step, the orbit runs through wp_run() and verify_circle() completes on reached_wp_destination(). Yaw faces the circle center via an AutoYaw::Mode::CIRCLE fallback that reads the wp_nav orbit center, honoring CIRCLE_OPTIONS FACE_DIRECTION_OF_TRAVEL. AC_Circle and the standalone CIRCLE flight mode are unchanged; Auto still uses circle_nav only as the move-to-edge geometry/parameter store. move_vehicle_on_ekf_reset() now groups CIRCLE with WP (MoveVehicle) since the orbit is a wp_nav leg. Builds on the S-curve climbing-arc fixes (submitted separately): arc kinematic limits from arc length not chord, the velocity/acceleration projection fix, and removal of the unreachable arc degeneracy guard.

Add renode MCU emulation support (#33975)

master ← tridge:tools-renode

opened 02:58AM - 07 Aug 26 UTC

+22636 -0

### Summary Adds Renode MCU emulation support for running unmodified ArduPilo…t STM32/ChibiOS firmware. Board platforms are generated from the production application and bootloader hwdefs rather than maintained as separate board copies, and the PR now includes an end-to-end CubeOrange mission CI test. ### 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 - [x] Logs attached - [ ] Logs available on request Automated testing: - The [Renode CubeOrange mission job](https://github.com/tridge/ardupilot/actions/runs/32317697228/job/96273383362) tests Sim-on-Hardware by building the required Renode branch and CubeOrange ArduCopter firmware, flies an AUTO mission, downloads the DataFlash log over MAVLink, and validates the recorded mode, position, altitude, landing, and dropped-message count. - That run completed successfully and uploaded the `renode-cubeorange-mission` artifact containing the Renode output and mission test artifacts. - The generator audit covers 397 STM32 targets, including all 109 STM32 AP_Periph hwdefs. Manual validation documented in `Tools/renode/README.md` includes flight-controller boots and MAVLink operation on representative F4, F7, H7, and G4 targets, including KakuteF4, CubeOrange, CubeBlack, Pixhawk4, CubeOrangePlus, and Pixhawk6X, plus DroneCAN operation on HolybroG4_GPS AP_Periph firmware. ### Description The implementation runs production ArduPilot ChibiOS firmware under Renode and derives the emulated target from the normal `hwdef.dat` and `hwdef-bl.dat` inputs. Current generated platform support spans STM32 F1, F3, F4, F7, G4, H7, and L4 families for both flight controllers and AP_Periph targets. The modeled environment includes: - hwdef-derived MCU, flash layout, serial, timer, bus, DMA, sensor, chip-select, and SDMMC configuration - representative IMU, barometer, GPS, airspeed, rangefinder, battery, IOMCU, RAMTRON, flash, and SD-card behavior - persistent internal flash, FRAM/RAMTRON, crash data, and microSD state across restarts - UART/MAVLink, DroneCAN multicast, and H7 Ethernet/TAP connectivity - ChibiOS-aware GDB thread inspection, bounded reverse execution, crashdump testing, Sigrok capture, and runtime performance controls - automated target generation/validation and a CubeOrange mission workflow for GitHub Actions Renode models are intentionally functional rather than high-fidelity physical simulations. The bootloader is not emulated yet; application ELF files are loaded directly. Building currently uses .NET 10 and the ArduPilot Renode branch at https://github.com/ArduPilot/renode/tree/pr-arudpilot-am32-perf. This work has already reproduced and helped fix an ArduPilot issue in https://github.com/ArduPilot/ardupilot/pull/33933.

Plane flap speed rework (#33995)

master ← IamPete1:plane_flap_speed_rework

opened 07:50PM - 08 Aug 26 UTC

+125 -19

### Summary A re-work of the flap speed threshold currently it does some slig…htly odd things. ### 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

AP_OSD: use vehicle method to get correct yaw (#34007)

master ← IamPete1:osd_yaw

opened 06:48PM - 10 Aug 26 UTC

+66 -24

### Summary Currently the existing vehicle attitude getter is not used for al…l ahrs uses and its missing yaw. This updates OSD to use it in all cases and adds yaw. The difference only exists on plane for FW vs VTOL flight, tailsitter being the largest change in reported attitude. ### 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description

AP_NavEKF3: Drag fusion don't wait for mag alignment when using GPS for yaw. (#34027)

master ← IamPete1:EK3_GPS_yaw_windestimation

opened 12:30PM - 11 Aug 26 UTC

+58 -1

### Summary Currently drag fusion is gated on having done the yaw alignment. …However, if your not using compass that alignment never happens, consequently drag fusion never works. The fix is to only wait for alignment if using a compass. This is a bit outside of my area, this needs checking by someone who know what there doing. I have tested in the sim. ### 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) - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request ### Description

AP_HAL_SITL: do not truncate the stack dump on a short write (#34077)

master ← peterbarker:pr-claude2/pr/dumpstack-short-write

opened 11:58PM - 15 Aug 26 UTC

+25 -2

### Summary Overlook short writes when taking stack traces (system is perfect…ly entitled to do that) ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] 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 ### Description dump_stack_trace() and dump_core_file() both run a script on our own pid and copy its output to stderr a block at a time. The copy ended on any write() which did not place the whole block: if (write(2, buf, ret) != ret) { // *sigh* break; } write() is entitled to do that. stderr is a pipe when SITL runs under autotest, so a full pipe shortens a write, and a timer signal can cut one short with EINTR. Either way the copy stopped silently, part-way through, with no "end dumpstack.sh output" line to show that anything was missing. Seen in CI: a backtrace ended at frame #8, in the middle of the frame which would have named the caller - the one thing the dump exists to provide. A truncated core dump goes the same way and is even easier to miss. Keep writing until the block is out, retry EINTR on both the read and the write, and say so if a write really does fail.

Plane: tiltrotor: vectoring: correct roll sign and always apply throttle scale (#34086)

master ← IamPete1:fixTiltrotorVectoringRoll

opened 01:35AM - 17 Aug 26 UTC

+5 -6

### Summary fixes https://github.com/ArduPilot/ardupilot/issues/34041 It seem…s that vectoring for roll is backwards for tiltrotors. This only has significant effect at high tilt angles (but not at max tilt where there is no room left for vectoring). Think of the front left motor in vtol flight. It would tilt forwards for CW (positive) yaw. If it were tilted forward then it should tilt up for right (positive) roll. Forward for yaw and up for roll are opposite so the sign in the existing calculation is incorrect. This also applies the throttle scale factor to both roll and yaw, previously it was applied to yaw only. ### 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description I attempted to come up with a auto test with this and failed. This really needs testing in realflight or IRL.

AP_HAL_ChibiOS: add reboot to USB mass storage mode (#34087)

master ← tridge:pr-microsd-mount

opened 02:08AM - 17 Aug 26 UTC

+436 -51

### Summary Adds a reboot-to-USB-mass-storage mode that exports the flight cont…roller's microSD card as a USB block device. This provides much faster access to logs and other files than MAVLink file transfer. It should be particularly good for uploading and checking terrain data. The mode runs as an early application service, before the normal scheduler and filesystem users start. It remains in mass-storage mode until power is removed, preventing the flight firmware and USB host from accessing the filesystem concurrently. What the user sees is their normal USB interfaces to the flight controller disappear and an ArduPilot mass storage device appears and should auto-mount. To get back to the normal flight controller mode you need to power cycle. Depends on ArduPilot/ChibiOS#110 and https://github.com/ArduPilot/mavlink/pull/517 ### 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) - [x] Tested on hardware - [ ] Logs attached - [ ] Logs available on request Hardware testing performed: - CubeOrange running Plane: built and uploaded over USB; verified the MAVLink reboot request, USB block-device enumeration, mounting and file transfers. - CubeBlack running Copter: built with mass storage enabled and uploaded over USB; verified reboot into mass-storage mode and microSD access. - MatekF405-STD running Copter with SPI microSD: built with `--enable-MASS_STORAGE`, uploaded and tested from a disarmed Copter. The 15.9 GB card remained stable as a USB disk. A 32 MiB transfer measured approximately 692 kB/s write and 869 kB/s read, with a successful byte-for-byte comparison. A final 8 MiB write test measured 726 kB/s and also passed comparison. - Follow-up MatekF405-STD testing at `95b16c24` exercised the custom-build `define AP_REBOOT_MASS_STORAGE_ENABLED 1` path. The firmware built, uploaded and verified byte-for-byte; reboot action 5 entered mass-storage mode and enumerated the 14.8 GiB FAT card. An existing 2 MiB file read at 851 kB/s. After a clean unmount and full USB power cycle, the one-shot request was consumed and the board did not re-enter mass-storage mode; an explicit bootloader handoff restored a normal Copter heartbeat on `95b16c24`. ### Description Builds on: - https://github.com/ArduPilot/mavlink/pull/517 - https://github.com/ArduPilot/ChibiOS/pull/110 - https://github.com/mavlink/mavlink/pull/2572 The reboot request uses `REBOOT_SHUTDOWN_ACTION_REBOOT_TO_MASS_STORAGE` (`param1=5`) with `MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN`. It is rejected while the vehicle is armed, including when the normal forced-reboot magic value is supplied. The request is stored in the existing persistent watchdog data using a spare bit alongside the armed flag. After reboot, the flag is consumed once and startup enters the early USB mass-storage service instead of the normal flight application. The service initializes the microSD block device directly and continually services the watchdog. The ChibiOS changes add multi-block SCSI transfers and double-buffer pipelining so SD-card I/O can overlap USB transfers. Both read and write paths track outstanding operations and drain them on error. The feature requires an STM32F4, F7 or H7 board with USB and microSD support. It is enabled by default on normal STM32H7 builds whose `HAL_PROGRAM_SIZE_LIMIT_KB` is at least 2048. It can be selected explicitly for other compatible builds with: ```sh ./waf configure --board <board> --enable-MASS_STORAGE ``` It can be removed from a build with `--disable-MASS_STORAGE`. To test with MAVProxy, first disarm the vehicle and run: ```text long PREFLIGHT_REBOOT_SHUTDOWN 5 ``` The USB connection will re-enumerate as a mass-storage disk containing the microSD filesystem. Safely unmount/eject the disk on the host and fully power-cycle the flight controller to return to normal operation. We will need MissionPlanner and qgroundcontrol updates for this feature as well - MissionPlanner PR: https://github.com/ArduPilot/MissionPlanner/pull/3756 - MAVProxy https://github.com/ArduPilot/MAVProxy/pull/1732 ### AI assistance Codex was used to inspect review feedback, implement and test follow-up fixes, and obtain an independent Claude review. The human author remains responsible for the contribution.

AP_HAL_ChibiOS: add full-memory crash dumps to microSD (#34094)

master ← tridge:pr-crashdump-fatfs

opened 08:48AM - 17 Aug 26 UTC

+4238 -756

### Summary Add full-memory ChibiOS crash dumps to microSD using a preallocat…ed file and fault-safe raw block access, so the hard-fault handler does not depend on FatFs or scheduler services. Crashdump-enabled boards now default to microSD when they have a supported interface and retain flash as the default backend when they do not. Crash dumps remain disabled for AP_Periph. ### 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) - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request Automated Renode crash/reboot/extraction tests covered: - STM32H7 SDMMCv2 and SPI microSD; - STM32F7 SDMMCv1 using SDMMC1 and SDMMC2, plus SPI microSD; - STM32F4 SDIOv1 and SPI microSD; - STM32L4+ SDMMCv2; - hard faults and monitor-thread lockups; - contiguous and fragmented FAT32 and exFAT reserve files; - retained SPI dumps participating in the `ARMING_CRSDP_IGN` pre-arm check; - SD remount and reserve-file retry behavior, including a forced `BRD_SD_SLOWDOWN=1` remount before the fault; and - SD-only, flash-only and AP_Periph builds. Selecting both storage backends produces the intended build error. Physical crash/reboot/download testing was performed on Pixhawk6X, CubeOrange, CubeOrangePlus, Pixhawk5X, CubeBlack and MatekF405-STD. This included hard faults and monitor-thread lockups, FAT32 and exFAT cards, repeated crashes, deletion and recreation of the reserve file, firmware identity verification, and GDB inspection of all saved ChibiOS threads. A full-memory Pixhawk6X SD write completed in under 0.3 seconds. Representative builds completed with `-Werror`, and extracted dumps were checked against their matching ELF using the embedded git hash, firmware CRC and firmware size. ### Description The existing flash backend can retain only a small selection of memory because it is limited by spare internal flash. That makes some failures difficult to diagnose, particularly when useful state is in another thread or memory region. This change allows CrashCatcher to save all configured RAM regions to microSD while keeping the crash-to-reboot interval short. At boot, the SD backend: 1. creates and preallocates `APM/CD_Reserved.DAT`; 2. records its physical sector extents using normal FatFs access; 3. allocates a compact extent map and reuses the SD bounce buffer for large transfers; and 4. records the firmware git hash, CRC32 and size. The hard-fault handler writes directly to the recorded sectors using bounded polling SDIO/SDMMC/SPI operations. It does not call FatFs, allocate memory, take normal driver locks or depend on scheduler threads. Long operations pat the watchdog. On the next boot, a complete dump is validated and renamed to `APM/CrashDump.DAT`, then a new reserve file is created. An incomplete dump is rejected rather than published. Failed reserve-file initialization is retried after disarm, and crashdump state is rebuilt after an SD remount. Other changes include: - split the former ChibiOS `crashdump.c` into common, SD and flash C++ backends; - add independent `CRASHDUMP_FATFS` and `CRASHDUMP_FLASH` build options, with `AP_CRASHDUMP_ENABLED` derived internally from the selected backend; - reject simultaneous SD and flash backends at build time; - default supported crashdump-enabled boards to SD, use flash for boards without supported microSD, and disable crash dumps for AP_Periph; - support STM32H7/F7/F4/L4 SD controller variants and STM32H7/F7/F4/L4 SPI microSD where the MCU and board transport are usable; - keep `@SYS/crash_dump.bin` exclusive to the memory-mapped flash backend; - publish `CrashDump.DAT` only after a valid dump exists, leaving the preallocated file named `CD_Reserved.DAT` during normal operation; - add dump trailer inspection and ELF identity verification tools; - replace the platform-specific CrashDebug executables with a portable Python GDB interface that exposes saved ChibiOS threads; - bring the small CrashCatcher core and ARMv7-M handler into AP_HAL_ChibiOS and remove the CrashDebug submodule; and - remove the unused serial crashdump backend and its serial capture tooling. Boards using the SD backend intentionally do not fall back to flash at runtime. If the card is absent, full, unmountable, too fragmented or otherwise unusable, no dump is retained. Flash dumping can instead be explicitly selected at configure time. SD dumps are retrieved as `APM/CrashDump.DAT`; the flash-only `@SYS/crash_dump.bin` auto-fetch path does not expose them.

hwdef: add Tustin MACH flight controller support (#34097)

master ← msli-dev:hwdef-tustin-mach

opened 05:58PM - 17 Aug 26 UTC

msli-dev

+2992 -0

### Summary Adds ArduPilot support for the Tustin MACH STM32H743 flight contr…oller, including the application hwdef, bootloader configuration and binaries, board defaults, documentation, and a board photograph. ### 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 - [ ] Logs available on request Static checks completed: - `Tools/scripts/check_branch_conventions.py --base-branch origin/master` - New-board README, image, defaults, and prebuilt-bootloader checks - Bootloader `.bin` and decoded `.hex` compared byte-for-byte - Bootloader USB VID/PID verified as `16D0:1542` Before marking this PR ready for merge, the final firmware should be built and the following hardware functions verified: - USB and bootloader firmware upload - Both IMU axes and temperature readings - Barometer and compass orientation - FRAM parameter persistence - MicroSD logging and offline `.abin` update - PWM/DShot output order on M1-M8 - Bidirectional DShot telemetry - CAN, RC input, analog OSD, and MSP DisplayPort - Battery voltage and current calibration ### Description The Tustin MACH is based on the STM32H743 with 2 MiB of internal flash and an 8 MHz external resonator. This PR adds support for: - BMI088 and ICM-45686 dual IMUs - ICP-20100 barometer - IST8310 magnetometer - FM25V02A SPI FRAM - AT7456E analog OSD - Four-bit SDMMC storage - Eight PWM/DShot outputs with bidirectional DShot capability - Seven serial ports - CAN1 with onboard termination - External I2C - RGB status LED - Analog battery monitoring - USB and STM32 ROM DFU The application reserves a 128 KiB bootloader region and uses the alternate H743 RAM map required for compatibility with the PX4 H7 bootloader. The ArduPilot bootloader supports USB and TELEM1 firmware upload, ROM DFU reboot, and offline updates from `/ardupilot.abin` on the microSD card. The documentation includes connector mappings and warnings for shared UART signals, fixed CAN termination, USB-powered peripherals, ESC current/telemetry connections, and the non-hot-pluggable microSD socket. This contribution was developed with AI assistance for schematic and PX4 BSP cross-checking, hwdef drafting, and documentation. The submitter remains responsible for reviewing, testing, and maintaining the contribution.

Correct AC_Fence pre-arm check for alts-in-different-frame (#34098)

master ← peterbarker:pr-claude2/pr/fence-alt-frame-compare

opened 10:54PM - 17 Aug 26 UTC

+117 -2

### Summary Corrects pre-arm check comparing min-alt and max-alt in different… frames ### 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 FENCE_ALT_MIN and FENCE_ALT_MAX each carry their own reference frame, but pre_arm_check() compared their raw values. Those values are measured from different datums whenever the frames differ, so the comparison is between unlike quantities: a floor 20m above home, held as an absolute 604.09, read as being above a 100m ceiling which is also 20m above the floor, and the vehicle refused to arm with PreArm: FENCE_ALT_MAX < FENCE_ALT_MIN The FENCE_MARGIN check immediately below subtracts the same two values and had the same problem. Add get_alt_limits_in_common_frame_m(), which converts the minimum into the maximum's frame and hands back both values and the frame they are now in. Where the frames already match it converts nothing, so a comparison which used to work without home, an origin or terrain data still does. Where the conversion is not possible - an above-terrain limit with no terrain height, or above-home with no home - the check reports that rather than comparing regardless. Found by an autotest: ArduCopter's MinAltFence sets an absolute floor in its first sub-case and takes off again in the second, and whether it failed depended on the fence still being enabled at that moment. This does include a new failure path - if the alts are in different frames we can fail to convert (e.g. one is terrain, one is not). Flying when you're expecting a fence and don't have one is probably worse than not being able to arm.

AP_BLHeli: reject stale motor output mappings (#34099)

master ← tridge:pr-fix-blheli-race

opened 11:42PM - 17 Aug 26 UTC

+112 -32

### Summary Reject stale BLHeli passthrough output mappings before they can sel…ect an output whose serial/DMA state was not initialized. Preserve passthrough on frames with non-contiguous or non-`MotorN` output functions. ### Classification & Testing (check all that apply and add your own) - [ ] 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 - [x] Logs available on request - [x] Built for SITL Plane - [x] Built for BlitzWingH743 Plane with `-Werror` - [x] Built for BlitzWingH743 Copter, Heli, Plane/QuadPlane, and Rover - [x] Tested nine vehicle/frame configurations under Renode Build commands: ```text ./waf configure --board sitl ./waf plane ./waf configure --board BlitzWingH743 ./waf plane # Final Renode firmware build, with a default-parameter file enabling # MAVLink on SERIAL3 for the emulator: ./waf configure --board BlitzWingH743 --enable-APJ_TOOL_PARAMETERS \ --default-parameters=<Renode-MAVLink-defaults.parm> ./waf copter heli plane rover ``` The Renode default-parameter file contained: ```text SERIAL3_PROTOCOL 2 SERIAL3_BAUD 115 ``` Renode testing used the patched Renode 1.16.1 build and `BlitzWingH743` model from the ArduPilot Renode tree. Each case booted the relevant vehicle and frame, enabled one representative DShot/BLHeli output, requested `SERVO_BLH_TEST=1`, and verified the physical output selected by `BL_ConnectEx`: | Vehicle/frame | Expected output | Observed output | |---|---:|---:| | Copter Quad X | 1 | 1 | | Copter Tri X (sparse) | 4 | 4 | | Copter Single | 5 | 5 | | Copter Dodeca with Motor1 remapped above the first eight physical outputs | 9 | 9 | | Heli Single RSC | 8 | 8 | | QuadPlane Quad X | 5 | 5 | | QuadPlane Tri X (sparse) | 8 | 8 | | Rover standard | 3 | 3 | | Rover Omni3/Mecanum | 2 | 2 | All nine mappings matched. Every case completed five BLHeli connection attempts through the serial/DMA send and receive-attempt path without a HardFault, UsageFault, BusFault, MemManage fault, panic, or fatal error. The Renode model does not emulate an electrically connected ESC, so the connection test ends with the expected `ESC: Test FAILED` after the mapping and serial/DMA paths have been exercised. Enabling an entire multi-output DShot motor group also exceeds the current H743 Renode model's validated timing envelope and can stall the emulator during initialization. The frame tests therefore use one representative explicit DShot output per case; they do not claim end-to-end ESC communication or full-group DShot validation. The mapping algorithm was additionally model-checked across all 65,536 low-16-bit masks, high-bit boundary cases including output 32, and 100,000 deterministic randomized 32-bit masks. Every result was bounded to eight ESCs, contained only initialized outputs, had no duplicate channels, and preserved every available preferred MotorN mapping. `Tools/scripts/check_branch_conventions.py` and `git diff --check` both passed on the final commit. ### Description This is a minimal cause-level fix for #33926, kept separate from #33933 so it can be considered for a 4.7 backport. BLHeli cached its enabled output mask at initialization but could resolve passthrough motor functions again after a runtime parameter change. If the resolved output was outside the cached mask, `serial_setup_output()` selected its output group without initializing that group's DMA handle. The subsequent serial write could then HardFault through the missing DMA state. The passthrough mapping and associated servo function are now cached at initialization. A later `SERVO_BLH_MASK` change, or a `SERVOn_FUNCTION` change while using automatic motor mapping, invalidates the mapping, rejects the passthrough request, and emits a one-time reboot-required warning. When a frame does not use contiguous `MotorN` functions, the initialized motor map is retained, preserving tricopter, traditional-helicopter, and rover passthrough behavior. This change is limited to MSP/4-way passthrough mapping. ESC telemetry continues to use `motor_map[]` directly, so bidirectional-DShot RPM attribution, harmonic-notch input, ESC health, and ESC logging are unchanged. ### AI assistance This change was developed and reviewed with AI assistance from Codex and Claude. The human submitter remains responsible for validating the code and testing it on appropriate hardware.

AP_Compass: Config: re-enable QMC5883P on 1M boards by default (#34101)

master ← IamPete1:AP_COMPASS_QMC5883P_ENABLED_default

opened 12:04AM - 18 Aug 26 UTC

+1 -1

### Summary We have has a few users asking why this compass no longer works, …we have been able to help them to use the custom build server to get it working. But it seems like we might be better to include it by default. Both reports were from users with the [HGLRC M100-5883 GPS](https://www.hglrc.com/products/m100-5883-gps?srsltid=AfmBOooIsKo0gJyTsXSwO89mJo5z-LBQgouccCjkvNA_SwuOMBo26Pzr). ### 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description

remove customrotations parameter conversion (#34124)

master ← peterbarker:pr/remove-customrotations-parameter-conversion

opened 02:35AM - 20 Aug 26 UTC

+6 -191

### Summary Removes code which converted from 4.1-style custom rotations to m…odern style ### 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * * Durandal -336 -336 * -344 -344 -336 -344 -344 Hitec-Airspeed * * KakuteH7-bdshot -336 -344 * -336 -336 -344 -336 -344 MatekF405 -344 -344 * -344 -336 -336 -344 -336 Pixhawk1-1M-bdshot -344 -344 -344 -344 -344 -344 -344 SITL_x86_64_linux_gnu 4024 -72 -72 4024 -72 4032 -72 YJUAV_A6SE -344 -344 * -344 -352 -344 -352 -344 f103-QiotekPeriph * * f303-MatekGPS * * f303-Universal * * iomcu * revo-mini -344 -336 * -336 -344 -344 -336 -336 skyviper-v2450 -344 speedybeef4 -336 -336 * -344 -344 -344 -344 -344 ``` ### Description Removes some ancient conversion code. Past this, someone moving from ArduPilot 4.1 to 4.8 who was using custom rotations will not get their new values transferred over to the new running firmware. Also see https://github.com/ArduPilot/ardupilot_wiki/pull/7981

Add lockstep scheduling for simulated peripherals (#34125)

master ← peterbarker:pr-claude2/pr/sitl-periph-isolation

opened 05:20AM - 20 Aug 26 UTC

+458 -68

### Summary Block the main process from continuing until fdm-consumers acknow…ledge each timestamp. ### 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description ``` strict simulated-peripheral lockstep: do not return (and so do not advance the simulation) until every registered peripheral has acknowledged consuming the state packet with this timestamp. A peripheral which stops responding for a wall-clock second is presumed dead (the harness SIGTERMs them with no notice) and is evicted; it re-registers on its next ack ``` Also pins the multicast traffic to the loopback address when running in autotest. We can change the default to this - I'm worried we might break people's existing test setups, 'though. Also tidies and fixes cleanup for supplementary peripherals. Also fixes the battmon peripheral which was dead since merge (missing file) Also fixes fixed-port issues. Also removes speed constraints on the peripheral autotests.

Fix starting conditions for various tests (#34127)

master ← peterbarker:pr-claude2/pr/tests-independent-of-startup-location

opened 11:18AM - 20 Aug 26 UTC

+8 -0

### Summary Clean up some starting conditions for various tests to make them …relaibly pass after other tests ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] 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 ### Description We state various assumptions for tests but aren't always giving them. Ans sometimes they're not sufficient as there's state in the autopilot which hasn't cleared. Fix them to make the tests more resilient to when they run and after what.

SITL: add Unix domain socket UART transport (#34129)

master ← tridge:pr-sitl-uds

opened 10:21PM - 20 Aug 26 UTC