Dev call Aug 5, 2024

Copter: reload takeoff cmd on arm when using AllowTakeOffWithoutRaisi…

ArduPilot:master ← khancyr:feature/#74-takeoff-with-wrong-home

opened 04:52PM - 22 Mar 24 UTC

khancyr

+143 -13

…ngThrottle USING AUTO_OPTIONS 135 we set auto mode and arm from it if we got… a takeoff cmd as first nav cmd. Doing this, the takeoff cmd is loaded when we enter the auto mode and set the target alt relatively to origin https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_auto.cpp#L343 This is never called again. So when we reset the home from the first arming, we don't update the target alt relativly to origin. This leads to a wrong takeoff alt settle due to the alt drift on ground.

AP_Scripting: add REPL applet

ArduPilot:master ← tpwrules:lua-script-repl

opened 02:14AM - 16 Jun 24 UTC

tpwrules

+598 -11

Implements a reasonably comfortable REPL accessible over serial entirely as a lo…adable script. Also accessible using QGroundControl's MAVLink Console feature, if so configured. Removes never-implemented `SERIAL_CONSOLE_DEV_SHELL` handling and saves a few dozen bytes on Cube Orange. Tested in SITL and on the bench with a Cube Orange. Was able to run a couple examples through it.

Support for GEPRCF745BTHD

ArduPilot:master ← YI-BOYANG:master

opened 09:30AM - 08 Jul 24 UTC

YI-BOYANG

+1263 -0

This will be the GEPRC brand's first TAKER F745 BT FC with Ardupilot support. It… already supports Betaflight and INAV, and the target name in BF is GEPRCF745_BT_HD. ![image](https://github.com/ArduPilot/ardupilot/assets/46438966/ec2838b7-0ce7-4fe4-b4d5-6ae274533507) Now we have completed the Ardupilot test and officially submitted the PR. Since this is the first time to support Ardupilot, we may need some assistance, please contact me, thank you. Email: yangboyi@geprc.com discord id: yi_bo_yang https://geprc.com/

Filter: LowPassFilter: split into two classes for constant and varable dt

ArduPilot:master ← IamPete1:filter_split

opened 01:30PM - 27 Jul 24 UTC

+145 -139

This splits our existing `LowPassFilter` class into a class which uses variable …time step and passes the dt in the apply call and a class which uses constant dt. The variable dt class retains the `LowPassFilter` name, the constant dt class is `LowPassFilter_const_dt`. The key thing is to only provide methods that will work together. This found two bugs, copters flow hold `set_cutoff_frequency` call would not work while in the mode, only on init, so a cuttoff frequency param change would not take effect in teal time. Secondly the SITL battery voltage filter is currently none functional because it was using the constant dt methods without setting the sample rate. Where needed the class has been changed to the constant dt version.

ArduCopter: add logging for land detector

ArduPilot:master ← peterbarker:pr/land-detector-logging

opened 08:15AM - 30 Jul 24 UTC

+84 -1

Logging is done whenever either the count or the flags change, but not > 50Hz … This is using `test.Copter.Landing`: ![image](https://github.com/user-attachments/assets/a55140bb-7516-4541-b4e1-dce3aa512b1b) ![image](https://github.com/user-attachments/assets/9f6f5829-75a6-4bcb-b51f-b7f7021a5090) ``` 2024-07-30 17:54:22.905: LDET TimeUS: 178104563 µs Flags: 242 ! LANDED LANDED_MAYBE ! LANDING ! STANDBY_ACTIVE WOW RANGEFINDER_BELOW_2M DESCENT_RATE_LOW ACCEL_STATIONARY ! LARGE_ANGLE_ERROR ! MOTOR_AT_LOWER_LIMIT ! THROTTLE_MIX_AT_MIN Count: 361 2024-07-30 17:54:22.925: LDET TimeUS: 178124555 µs Flags: 242 ! LANDED LANDED_MAYBE ! LANDING ! STANDBY_ACTIVE WOW RANGEFINDER_BELOW_2M DESCENT_RATE_LOW ACCEL_STATIONARY ! LARGE_ANGLE_ERROR ! MOTOR_AT_LOWER_LIMIT ! THROTTLE_MIX_AT_MIN Count: 369 2024-07-30 17:54:22.945: LDET TimeUS: 178144547 µs Flags: 242 ! LANDED LANDED_MAYBE ! LANDING ! STANDBY_ACTIVE WOW RANGEFINDER_BELOW_2M DESCENT_RATE_LOW ACCEL_STATIONARY ! LARGE_ANGLE_ERROR ! MOTOR_AT_LOWER_LIMIT ! THROTTLE_MIX_AT_MIN Count: 377 2024-07-30 17:54:22.965: LDET TimeUS: 178164539 µs Flags: 242 ! LANDED LANDED_MAYBE ! LANDING ! STANDBY_ACTIVE WOW RANGEFINDER_BELOW_2M DESCENT_RATE_LOW ACCEL_STATIONARY ! LARGE_ANGLE_ERROR ! MOTOR_AT_LOWER_LIMIT ! THROTTLE_MIX_AT_MIN Count: 385 2024-07-30 17:54:22.985: LDET TimeUS: 178184531 µs Flags: 242 ! LANDED LANDED_MAYBE ! LANDING ! STANDBY_ACTIVE WOW RANGEFINDER_BELOW_2M DESCENT_RATE_LOW ACCEL_STATIONARY ! LARGE_ANGLE_ERROR ! MOTOR_AT_LOWER_LIMIT ! THROTTLE_MIX_AT_MIN Count: 393 2024-07-30 17:54:23.005: LDET TimeUS: 178204523 µs Flags: 243 LANDED LANDED_MAYBE ! LANDING ! STANDBY_ACTIVE WOW RANGEFINDER_BELOW_2M DESCENT_RATE_LOW ACCEL_STATIONARY ! LARGE_ANGLE_ERROR ! MOTOR_AT_LOWER_LIMIT ! THROTTLE_MIX_AT_MIN Count: 0 2024-07-30 17:54:23.025: LDET TimeUS: 178224515 µs Flags: 19 LANDED LANDED_MAYBE ! LANDING ! STANDBY_ACTIVE WOW ! RANGEFINDER_BELOW_2M ! DESCENT_RATE_LOW ! ACCEL_STATIONARY ! LARGE_ANGLE_ERROR ! MOTOR_AT_LOWER_LIMIT ! THROTTLE_MIX_AT_MIN Count: 0 ```

AP_ICEngine: stop engine in E-Stop

ArduPilot:master ← IamPete1:ICE_Estop

opened 12:41PM - 01 Aug 24 UTC

+8 -1

We already force throttle to 0 in E-Stop, so the engine is unlikely to be idling…. The key thing is to also stop the ignition and prevent the starter from turning over the engine. Just running the starter can be quite dangerous even if the engine is not going to start it gets the motor going fast and gives no warning. I have also added to the `STARTCHN_MIN` description to better describe what it does.

Stop Missions blowing past desired speeds

ArduPilot:master ← peterbarker:pr/scurve-mission-speed-problem

opened 06:10AM - 02 Aug 24 UTC

+56 -5

SCurve navigation plans its segments based off the current vehicle speed, not ta…king into account that the speed can be changed between the next waypoint and the one after it. This has led to a crash where the vehicle accelerated up to its waypoint navigation speed and was travelling too fast for the rise in terrain it was traveling over. i.e. the mission was well-planned but the unexpected velocity caused a crash. The included autotest reproduces this in SITL (assuming you comment-out the actual test in the test, `ensure_low_gps_speed` you can get the log which produced the pre-fix graphs below): Pre-fix: ![image](https://github.com/user-attachments/assets/f59998b2-0b52-44bb-89f7-cb1250311942) Post-fix: ![image](https://github.com/user-attachments/assets/2b689812-d52f-482e-bc6b-5dd6a39ce5d7) This will be a positive change for users who set a speed at the start of their missions and stick to it. This will potentially be a negative change for users who are changing speeds many times as part of their missions. A better fix *might* be to pass the expected speed for the next segment in. However, there may be (a) a delay before we `DO_CHANGE_SPEED` and (b) there may be multiple `DO_CHANGE_SPEED`s. Example of pathological case which makes correct SCurve planning difficult: `MAV_CMD_DO_CONDITION_YAW` followed by `DO_CHANGE_SPEED`. Not actually an unreasonable demand in a mission, but planning your vel/accel profile becomes problematic when you don't *really* know how long that condition might take to become true! This work sponsored by Harris Aerial

ArduPlane: add build_option.py entry for Plane offboard-guided control

ArduPilot:master ← peterbarker:pr/plane-slew-enable-option

opened 12:46AM - 05 Aug 24 UTC

+6 -6

This is already off in minimize_features.inc - so this will allow someone to get… these back on the custom build server on small boards (or take it out on the bigger boards) Saves 16 bytes on the smaller boards because the symbol is going away entirely. Ran it through test_build_options.py (Feature is ~2.2kB)

Rover: remove ENABLE/DISABLE defines

ArduPilot:master ← peterbarker:pr/rover-enabled

opened 01:15AM - 05 Aug 24 UTC

+36 -40

Corrects compilation of the advanced failsafe feature Regularises the define …name of the advanced failsafe feature. Adds an option to `build_options.py` to enable advanced failsafe. It costs 2.2kB No change in compiler output by default (it is not compiled into Rover by default) ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

AP_DroneCAN: DNA_Server: lock all high level database operations

ArduPilot:master ← tpwrules:pr/dna-server-multibus

opened 03:20AM - 05 Aug 24 UTC

tpwrules

+180 -103

This adds a database class which contains the lock over all high level database …operations (as most are read-modify-write) and does the database operations on the storage, and a static instance of it which is shared among all server instances. Please see commits for details. There should be no behavior or logic changes at all to users using only one driver, for better or worse. Users using multiple won't have duplicate IDs assigned when attaching new nodes to different drivers without rebooting in between. They also won't risk corrupting the database due to race conditions, however unlikely that probably was in practice. It doesn't look immediately feasible in Ardupilot right now to have the same ID on two different drivers anyway as the parameters which store the GPS node IDs can't handle that. That work will have to be done too (not sure if there are other places which don't store the driver index), in addition to expanding the storage. I do not plan to do this work; hoping that 120 IDs should be enough for anybody. Fortunately, once that is done, the DNA server will not need any modification except for the instantiation of one database per server. Tested in SITL using a node on each bus. Testing on hardware to come soon.

Autotune: Add switch to test gains after tune is complete

ArduPilot:master ← IamPete1:autotune_test_switch

opened 11:03AM - 05 Aug 24 UTC

+133 -80

This adds a switch allowing the user to test gains in any mode once the autotune… has been completed. If the user has used the switch they can then disarm in any mode and the gains will be saved if they are active. If the user does not use the switch then they must disarm in autotune to save gains per the current behavior. This allows easy testing of the tune in any mode and makes the procedure to save a little simpler. The load test gains functions have been updated to ensure they use the same criteria as the saving of gains for the load. Currently they were not checking if a axis had completed, only that the axis was enabled.

AP_ESC_Telem / AP_DroneCAN: add support for extended ESC status message.

ArduPilot:master ← IamPete1:extended_esc

opened 11:21AM - 05 Aug 24 UTC

+105 -2

This is a rework of https://github.com/ArduPilot/ardupilot/pull/27248. This adds… support for the DroneCAN extended ESC status message. The new fields input duty, output duty and flags are logged in a new message. The extended message also contains motor temperature which is logged in the existing ESC message. This functionality is enabled with `AP_EXTENDED_ESC_TELEM_ENABLED` which is true if DroneCAN is enabled. A number of ESCs from APD and Currawong support this message.

Copter

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.5 testing. The [is…sues list for Copter/Rover-4.4 is here](https://github.com/ArduPilot/ardupilot/issues/23192). [Backport PRs](https://github.com/orgs/ArduPilot/projects/8/views/1). Reports requiring investigation: - [ ] EKF3 altitude slow correction with GPS broken? ([discussion](https://discuss.ardupilot.org/t/ekf3-use-barometer-and-gps-for-altitude-posz/119540), [related PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [ ] Lua scripting binding for "play_tune" not working (reported by muramura in general channel) - [ ] OmnibusF4 lost External Baro support? ([issue](https://github.com/ArduPilot/ardupilot/issues/27315)) - [ ] MR72 CAN rangefinder not adding distances to OA database ([issue](https://github.com/ArduPilot/ardupilot/issues/27216)) - [ ] Alexmos not working ([Plane forum discussion](https://discuss.ardupilot.org/t/plane-4-5-release/115620/19)) - [ ] Auto mode using rangefinder should trigger failsafe if user disables rangefinder (reported by Harris Aerial) - [ ] Custom build server of MatekH743 + flowhold ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/55)) - [ ] DShot 600 jerky movement without being armed ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/21)) -- configuration error (MOT_PWM_TYPE = 0 but SERVO_BLH_MASK non-zero) -- AndyP - [ ] Lua mount:set-angle-target binding doesn't work on Matek H743 mini V3 ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/3)) -- Randy - [ ] CAM messages with Img field "0" appearing in logs without pictures being taken (reported by Randy) -- Randy Confirmed issues: - [ ] **EKF Wind estimates not available when using GPS-for-yaw ([issue](https://github.com/ArduPilot/ardupilot/issues/26650))** - [ ] SCurves internal error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-3-beta1-is-available-for-beta-testing/117962/10)) - [ ] LD06 proximity sensor buffer overflow (reported in Discord Rover channel, [PR](https://github.com/ArduPilot/ardupilot/pull/27059)) - [ ] Rover watchdog on 4.5.1 ([discussion](https://discuss.ardupilot.org/t/rover-4-5-2-beta1-available-for-beta-testing/117186/7)) - [ ] RPLidarS1 erratic distances on Rover ([discussion](https://discuss.ardupilot.org/t/rplidar-s1-erratic-distances/115561), [possible fix](https://github.com/rmackay9/rmackay9-ardupilot/commits/rover-rplidar-update-rate/), [PR](https://github.com/ArduPilot/ardupilot/pull/26835)) -- Randy, Mirkix - [ ] SmartRTL flow of control error ([pre-existing issue](https://github.com/ArduPilot/ardupilot/issues/17416)) -- Randy, PeterB - [ ] APM_Config can't be used to include/exclude features ([issue](https://github.com/ArduPilot/ardupilot/issues/26654)) Enhancements or Issues that may not be resolved before the stable release: - [ ] ESC Telemetry on OSD for Servo9 ([issue](https://github.com/ArduPilot/ardupilot/issues/27064)) -- andy1piper says this is caused by a bug fix and so an enhancement request is required - [ ] DJI RS2 lock/follow not working? ([discussion](https://discuss.ardupilot.org/t/ap-support-for-dji-rs2-rsc2-rs3-gimbals-maybe/91830/39), [issue](https://github.com/ArduPilot/ardupilot/issues/27016)) -- existing issue - [ ] CAM2 using CAM1 servo output ([discussion](https://discuss.ardupilot.org/t/separate-cam1-and-cam2-triggering/117468), [issue](https://github.com/ArduPilot/ardupilot/issues/27015)) - [ ] https://github.com/ArduPilot/ardupilot/issues/26892 - [ ] Rover multiple inclusion fence support ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690/8), [WIP PR](https://github.com/ArduPilot/ardupilot/pull/15550)) - [ ] GPS consistency checks Alt when GPS can't provide alt ([discussion](https://discuss.ardupilot.org/t/incorrect-calculation-of-gps-positions-diffs-during-arming-checks/116033), [issue](https://github.com/ArduPilot/ardupilot/issues/26749)) - [ ] Custom Build server support for CUAV Pixhack v3x with 3 IMUs ([discussion](https://discuss.ardupilot.org/t/ardupilot-custom-firmware-builder-fmuv3-missing-necessary-for-cuav-pixhack-v3x/115823), [product page](https://www.cuav.net/en/pixhack-v3-autopilot/)) - [ ] AP_OSD: Add CRSF link stats display fields ([PR](https://github.com/ArduPilot/ardupilot/pull/25844)) - [ ] Network params not visible for Pixhawk5x ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/13), [issue](https://github.com/ArduPilot/ardupilot/issues/26397)) - [ ] ViewPro does not track GPS location well ([discussion](https://discuss.ardupilot.org/t/viewpro-gimbal-point-camera-here-function/98279/33), known limitation of ViewPro API) Wiki issues/enhancement requests: - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/5916 - [x] Dynamic Notch filter instructions need consolidation ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5878)) - [x] Auto mode LOITER_TURNS does not support CCW? ([discussion](https://discuss.ardupilot.org/t/ccw-loiter-turns/114282)) - [ ] Add vertical position controller tuning instructions ([discussion](https://discuss.ardupilot.org/t/z-oscillation-in-position-hold/113149/4)) - [x] Add warning for AutoTune ESC desync ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5760)) Mission planner issues/enhancement requests: - [ ] add DO_FENCE_ENABLE to Rover (and Copter?) mission command list ([discussion](https://discuss.ardupilot.org/t/change-fence-enable-during-mission/116690)) - [ ] fixup camera gimbal page ([discussion](https://discuss.ardupilot.org/t/question-about-camera-gimbal/101063/7)) - [ ] Loiter turns radius incorrect ([issue](https://github.com/ArduPilot/MissionPlanner/issues/3305)) QGC issues/enhancement requests: - [x] QGC sending invalid roll, pitch, yaw angles ([discussion](https://discuss.ardupilot.org/t/mount-invalid-angle-targets-problem/113885), [QGC issue](https://github.com/mavlink/qgroundcontrol/issues/11215)) Resolved issues: - [x] Guided mode yaw when WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/27317), [PR](https://github.com/ArduPilot/ardupilot/pull/27318)) -- fixed ahead of 4.5.5 - [x] https://github.com/ArduPilot/ardupilot/issues/27171 -- resolved ahead of 4.5.4-rc1 - [x] EKF3 endless climb with EK3_OGN_HGT_MASK ([PR](https://github.com/ArduPilot/ardupilot/pull/26917)) - [x] Kakute buzzer scream ([issue](https://github.com/ArduPilot/ardupilot/issues/27120)) -- custom developmen issue - [x] https://github.com/ArduPilot/ardupilot/issues/27017 ([PR](https://github.com/ArduPilot/ardupilot/pull/27099)) - [x] CubeOrange with Siyi A8 failing to boot 1 in 20 times ([issue](https://github.com/ArduPilot/ardupilot/issues/26852)) -- fixed with Siyi firmware 0.3.7 - [x] Lua rangefinder broken ([discussion](https://discuss.ardupilot.org/t/send-sensor-distance-by-using-serial-in-script/116238), [PR](https://github.com/ArduPilot/ardupilot/pull/26829)) -- resolved for 4.5.3-beta1 - [x] NoopLoop TOFSense-P noise ([discussion](https://discuss.ardupilot.org/t/rangefiner-on-fast-speed-low-altitude-quadcopter/116591/14)) -- not 4.5.0, cannot reproduce (Rishabh) - [x] Jump message missing from telementry? ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/25), [issue](https://github.com/ArduPilot/ardupilot/issues/26802), [PR](https://github.com/ArduPilot/ardupilot/pull/27003)) -- PeterB -- resolved for 4.5.3-beta1 - [x] RC SBus input on Navio2 ([discussion](https://discuss.ardupilot.org/t/rc-channels-stuck-and-not-following-sys-kernel-rcio-rcin-ch/117191)) -- QGC issue - [x] Avoidance backup for Z-axis is unconstrained ([PR](https://github.com/ArduPilot/ardupilot/pull/26858)) -- fixed for 4.5.3-beta1 - [x] Pixhawk 6C SBUS out not working with Tarot gimbal ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/12), [issue1](https://github.com/ArduPilot/ardupilot/issues/26815), [PR](https://github.com/ArduPilot/ardupilot/pull/26825), [issue 2](https://github.com/ArduPilot/ardupilot/issues/26851), [PR](https://github.com/ArduPilot/ardupilot/pull/26898)) -- fixed in 4.5.2-beta1 - [x] Pixhawk6C mini compass disappearing in flight issue ([4.4 issue](https://github.com/ArduPilot/ardupilot/issues/25946), [4.5 discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta2-available-for-beta-testing/113156/3), [PR](https://github.com/ArduPilot/ardupilot/pull/26929)) -- hardware issue, work around ready for 4.5.3-beta1 - [x] Neopixels broken ([discussion](https://discuss.ardupilot.org/t/multiple-neopixels-dont-flash-in-sync/113620), [issue](https://github.com/ArduPilot/ardupilot/issues/26295), [PR-to-blame](https://github.com/ArduPilot/ardupilot/pull/23974), [PR with fix](https://github.com/ArduPilot/ardupilot/pull/26899)) -- fixed for 4.5.3-beta1 - [x] Stabilize mode Internal Error in Land Detector ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/75), [issue](https://github.com/ArduPilot/ardupilot/issues/26864), [code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/land_detector.cpp#L59), [PR](https://github.com/ArduPilot/ardupilot/pull/26873)) -- fixed for 4.5.3-beta1 - [x] Copter-4.6 filter issue ([discussion](https://discuss.ardupilot.org/t/notch-filters-turn-on-with-a-delay/116276/14)) -- not present in 4.5 - [x] 3 of 12 Pixhawk6X display IOMCU error ([discussion](https://discuss.ardupilot.org/t/copter-4-5-1-released/115973/3)) -- AndyP, CUAV -- wrong IOMCU bootloader installed on the board (at factor?) - [x] Gremsy can't be used as 2nd mount ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-does-not-work-if-set-to-mount-2/116127)) -- Randy can't reproduce, assumed ZIO issue, [added warning to wiki](https://github.com/ArduPilot/ardupilot_wiki/pull/5897) - [x] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) -- motor desync probably - [x] EKF loses attitude estimate if COMPASS_LEARN set to 3 (inflight) and GPS-for-yaw used ([PR](https://github.com/ArduPilot/ardupilot/pull/26762)) -- Tridge / PaulR -- resolved for 4.5.2-beta1 - [x] Guide mode using thrust causes internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/26865), [PR](https://github.com/ArduPilot/ardupilot/pull/26866)) -- resolved for 4.5.2-beta1 - [x] [MTF-01 Optical flow sensor](https://robofusion.net/products/mtf-01-integrated-laser-rangefinder-optical-flow-module-for-unmanned-aerial-vehicles-uavs?variant=47234517664063) not working ([discussion](https://discuss.ardupilot.org/t/4-5-0-has-issue-with-connection-to-mtf-01-optical-flow-sensor/116470)) -- set config on sensor to different component id. -- resolved for 4.5.2-beta1 - [x] DAL bug affecting VisualOdometry delay ([issue](https://github.com/ArduPilot/ardupilot/issues/26800), [PR](https://github.com/ArduPilot/ardupilot/pull/26813)) -- resolved for 4.5.2-beta1 - [x] Hereflow requires BRD_BOOTDELAY ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/47), [PR](https://github.com/ArduPilot/ardupilot/pull/26753)) -- resolved for 4.5.2-beta1 - [x] RTL engaged below Home alt and using Terrain alt returning too high? (reported by Tridge and PeterB) -- RTL seems to be acting as expected. It was engaged at 121m above terrain and so that's the altitude it maintained until it returned home. - [x] AP_Mount's default mode being overwritten by RC input ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-released/115614/69), [PR](https://github.com/ArduPilot/ardupilot/pull/26738)) -- resolved for 4.5.2-beta1 - [x] T265 not working ([discussion](https://discuss.ardupilot.org/t/vision-positioning-using-t265-does-not-work/115679), [related PR](https://github.com/ArduPilot/ardupilot/pull/23240)) -- user was using same sysid/compid as autopilot - [x] Developer issues integrating CAN RangeFinder ([discussion1](https://discuss.ardupilot.org/t/issues-with-interegrating-can-sensor-using-lua/115585/5), [discussion2](https://discuss.ardupilot.org/t/help-related-to-dronecan/115874), [issue](https://github.com/ArduPilot/ardupilot/issues/26704)) -- worked at 1Mbps - [x] GPS_TYPE parameter descriptions in MP using 4.4 ([issue](https://github.com/ArduPilot/ardupilot/issues/26681#issuecomment-2034416514), [PR](https://github.com/ArduPilot/ardupilot/pull/26740)) -- resolved for 4.5.2-beta1 - [x] #26811 - [x] Near Fly-away with 4.4.4 (EKF failsafe was disabled, [discussion](https://discuss.ardupilot.org/t/internal-errors-0x400-l-856-cnstring-nan-uncontrollable-behavior-in-rtl-and-loiter/115598)) -- no further communication, likely bad compass cal - [x] KakuteH7 fails to initialise ([discussion](https://discuss.ardupilot.org/t/kakute-h7-gps-and-radio-problem/115931)) -- also failed on 4.4.4 so Randy has concluded that it is a hardware issue - [x] Siyi mount stalls occasionally and bouncing near pitch and yaw limits ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta4-available-for-beta-testing/115149/11)) -- Siyi firmware / hardware mismatch - [x] do-condition-yaw bug (also in 4.4, [PR](https://github.com/ArduPilot/ardupilot/pull/24719)) -- resolved for beta5 (assuming there is a beta5) - [x] Copters turns North in Guided_NoGPS ([issue](https://github.com/ArduPilot/ardupilot/issues/26357), [discussion](https://discuss.ardupilot.org/t/set-attitude-target-with-guided-no-gps-lack-of-documentation/111845/24), [PR](https://github.com/ArduPilot/ardupilot/pull/26407)) -- fixed for beta5 (assuming there is a -beta5) - [x] ViewPro not holding level during hard maneuvers ([PR](https://github.com/ArduPilot/ardupilot/pull/26556)) -- resolved in beta4 (although no confirmation from user) -- fixed for beta5 (assuming there is a -beta5) - [x] altitude jump when GPS/Non-GPS transitions switching altitude source of ExtNav to Baro (reported by Randy) -- should jump when moving from camera->baro, cannot reproduce otherwise. - [x] MP's MAVFtp can't download SYS files ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3309)) -- SITL only issue - [x] Logging removed on some boards? ([issue](https://github.com/ArduPilot/CustomBuild/issues/70), [PR](https://github.com/ArduPilot/ardupilot/pull/26421)) -- needs backport? - [x] Sending unknown message ([issue](https://github.com/ArduPilot/ardupilot/issues/26358), [PR](https://github.com/ArduPilot/ardupilot/pull/26361)) -- resolved for -beta3 - [x] increasing k_format_version does not reset parameters (dev question, [issue](https://github.com/ArduPilot/ardupilot/issues/26336)) -- cannot reproduce, responses stopped - [x] MAV_CMD_DO_SEND_SCRIPT_MESSAGE not working? ([discussion](https://discuss.ardupilot.org/t/is-mav-cmd-do-send-script-message-unsupported-on-copter-4-5/113787)) -- only supported as Mission command - [x] TKOFF_RPM_MIN working? ([4.3.x discussion](https://discuss.ardupilot.org/t/takeoff-blocked-waiting-for-esc-rpm/113256)) -- fixed in 4.4 - [x] Record video while armed broken ([PR](https://github.com/ArduPilot/ardupilot/pull/26217)) -- resolved for -beta3 - [x] Parachute conversion issue ([issue](https://github.com/ArduPilot/ardupilot/issues/26132), [PR](https://github.com/ArduPilot/ardupilot/pull/26151)) -- resolved for beta2 - [x] Siyi running old camera fw message ([discussion](https://discuss.ardupilot.org/t/siyi-a8-camera-fw-version-reporting-issue/112870), [original discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/673), [PR](https://github.com/ArduPilot/ardupilot/pull/26168)) -- resolved for beta2 - [x] Matek H743 watchdog ([discussion](https://discuss.ardupilot.org/t/locally-compiled-arducopter-4-5-0-beta1-fails-on-matekh743-due-to-watchdog/113029)) -- development environment issue - [x] Stuck thread ([discussion](https://discuss.ardupilot.org/t/stuck-thread-and-failed-data-logging-error/112711/2)) -- exists in 4.4.4 as well, two devs say it's fine so concluded it is a hardware failure on the user's autopilot. - [x] AutoTune crash -- ESC de-sync ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta1-available-for-beta-testing/112504/11)) - [x] Here4 does not support GPS-for-yaw (aka Moving baseline) ([discussion](https://discuss.ardupilot.org/t/gps-yaw-moving-baseline-with-dual-dronecan-here4/112357)) -

Plane