Dev Call Dec 13, 2021

CraigElder · December 13, 2021, 10:48pm

Issues & Pull Request

github.com/ArduPilot/ardupilot

Allow up-to 32 servos

ArduPilot:master ← IamPete1:32_servos

opened 02:08AM - 12 Jan 21 UTC

IamPete1

+326 -115

This allows up to 32 servo outs, it also adds logging for servos 15-32. Tested i…n SITL by assigning functions and looking in at the new log. No doubt I have missed some bitmasks somewhere, unfortunately since we have no hardware that supports more than 16 direct outs atm its hard to test the HAL changes. Main use case would be for CAN/Sbus servos (although we need to add a second sbus out range for this) so you can free up the physical servo outs.

github.com/ArduPilot/ardupilot

AP_HAL: Add serial option to not override streamrates

ArduPilot:master ← stephendade:nostream

opened 07:23AM - 22 Nov 21 UTC

stephendade

+20 -14

This PR adds an option to SERIALn_OPTIONS (4096) for ArduPilot to _not_ process …any ``REQUEST_DATA_STREAM`` messages. This is useful where the vehicle is operating over a low-datarate telemetry link and the ``SRn_*`` parameters are deliberately set to reduce the vehicle's telemetry traffic. In this case, a GCS configured (by default) with a streamrate of 4 will then override the ``SRn_*`` parameters via the ``REQUEST_DATA_STREAM`` message and potentially flood the telemetry link. Of course, all GCS's can be configured to _not_ set any streamrates, but this PR makes it explicit and lowers this risk of any human error in (mis)configuring their GCS. This PR also includes a small fix to AP_HAL_ChibiOS that fixes the UART get_options() to use the correct variable type. Tested in SITL and a Pixhawk1-1M

github.com/ArduPilot/ardupilot

AP_Periph: correct compilation when both periph-adsb and GCS enabled

ArduPilot:master ← peterbarker:pr/compilation-correction-adsb

opened 03:33AM - 24 Nov 21 UTC

peterbarker

+3 -0

Get lots of these otherwise: ``` /home/pbarker/gcc/gcc-arm-none-eabi-10.3-20…21.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: lib/libAP_Periph_libs.a(GCS_MAVLink.cpp.0.o): in function `mavlink_parse_char': GCS_MAVLink.cpp:(.text.mavlink_parse_char+0x0): multiple definition of `mavlink_parse_char'; Tools/AP_Periph/adsb.cpp.41.o:adsb.cpp:(.text.mavlink_parse_char+0x0): first defined here /home/pbarker/gcc/gcc-arm-none-eabi-10.3-2021.07/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: lib/libAP_Periph_libs.a(GCS_MAVLink.cpp.0.o): in function `put_bitfield_n_by_index': GCS_MAVLink.cpp:(.text.put_bitfield_n_by_index+0x0): multiple definition of `put_bitfield_n_by_index'; Tools/AP_Periph/adsb.cpp.41.o:adsb.cpp:(.text.put_bitfield_n_by_index+0x0): first defined here ```

github.com/ArduPilot/ardupilot

Copter: Guided Mavlink Target Input loosen force_set restriction only for acceleration commands

ArduPilot:master ← hendjoshsr71:pr/guided_forceset_accel_only

opened 06:24AM - 10 Dec 21 UTC

hendjoshsr71

+6 -4

#18720 was a bit too restrictive considering how much pre-existing code is out …there utilizing Force_Set `True` when acceleration targets aren't being commanded. See this comment https://github.com/ArduPilot/ardupilot/issues/19462#issuecomment-989863780 This only rejects commands for when force_set is true & accelerations are to be commanded. Tested in SITL with: `mode guided` `module load message` `arm throttle` `takeoff 10` `message SET_POSITION_TARGET_LOCAL_NED 0 1 0 1 4039 0 0 0 2 -2 -1 0 0 0 0 0` Note above TYPE_MASK: sets ignore POS, ACCEL, Yaw, & Yaw Rate. Sets Force_Set TRUE and allows Velocity commands

github.com/ArduPilot/ardupilot

AP_BattMonitor: use SOC 127 as an invalid SOC flag

ArduPilot:master ← hendjoshsr71:pr/batt_uav_can_soc_error_state

opened 10:55PM - 10 Dec 21 UTC

hendjoshsr71

+3 -2

As discussed here, https://github.com/ArduPilot/ardupilot/pull/19404#discussion_…r763693256 Using soc = 101 for an invalid soc is pre-existing, but I'm not a fan of it. Technically, of course the battery can never get above 100 soc by definition both in current UAVCAN standard and of course reality. But if the system is misconfigured (wrong voltages, capacity, etc.) it could end up above 101 SOC. I just looked some code for a UAVCAN battery monitor and it just sends out 100 if it computes SOC above 100. Instead IMO a device should send a "hey this is isn't right state using 127". Just a thought as we look to future DroneCan messages. Since we can't really change the in-use UAVCAN standard I didn't propose that. I imagine the change would look like this in `1092.BatteryInfo.UAVCAN` ```cpp # # Relative State of Charge (SOC) estimate, in percent. # http://en.wikipedia.org/wiki/State_of_charge # uint7 STATE_OF_CHARGE_INVALID = 127 # Use this constant if SOC cannot be estimated or if the SOC estimation is in an error state uint7 state_of_charge_pct # Percent of the full charge [0, 100]. This field is required uint7 state_of_charge_pct_stdev # SOC error standard deviation; use best guess if unknown ```

github.com/ArduPilot/ardupilot

Compass: per instance params take 2

ArduPilot:master ← IamPete1:compass_rename_take_2

opened 01:37PM - 11 Dec 21 UTC

IamPete1

+764 -714

This reinstated the per instance params and fixes the bug that cause the revert.… https://github.com/ArduPilot/ardupilot/pull/19429 Fix is to convert the dev id param. https://github.com/ArduPilot/ardupilot/commit/a037cfd99e53650ee91374b9e9706c344050f8d3 I had omitted the conversion because I misunderstood how the dev id stuff worked. In my testing everything worked as expected, because the compasses were still in the default order, so the dev id's came up and were auto populated in the same order. If the compass were in a different order the omitted dev id caused the compass priority stuff to swap the other params round. I have tested the fix with @tridge 's eeperom example from the revert PR.

github.com/ArduPilot/ardupilot

BTN_FUNC maintenance nightmare

opened 03:16PM - 11 Dec 21 UTC

Hwurzburg

DevCallTopic

The aux function feature of buttons presents a maintenance nightmare currently..…...every addition/change in an RCx_OPTION must be reflected in the four BTN_FUNCx param metadata fields.....they are always forgotten possible solutions: 1. eliminate those declarations in BTN_FUNCx and simply refer to RC1_OPTIONS , ie "\@Value: For a list of auxiliary function values see the RC1_OPTION parameter values list" 2. create a script that generates/duplicates the RC1_OPTION \@Value metadata lists in each of the four BTN_FUNCx params at build time 3. ????? **Platform** [x] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

github.com/ArduPilot/ardupilot

GCS_MAVLink: Don't start with MAVLink1 messages on a MAVLink2 connection

ArduPilot:master ← stephendade:mav20new

opened 01:24AM - 13 Dec 21 UTC

stephendade

+1 -12

Currently, ArduPilot will default to MAVLink1 messages on a ``SERIALn_PROTOCOL=2…``, until a valid MAVLink2 message is received from the GCS. Then AP will switch to sending MAVLink2 messages. Note that if MAVLink signing is enabled, ArduPilot will send MAVLink2 messages from the beginning anyway. This PR makes this behaviour more consistent, so ArduPilot will in all cases (where ``SERIALn_PROTOCOL=2``) send MAVLink2 messages from the beginning. Looking at the comments around the code, it seems this came from the time period where MAVLink2 was new, and provided a fallback to ensure a GCS could always communicate with ArduPilot. Given how long we've been using MAVLink2 without issues, I suspect this is no longer an issue. I recently encountered this whilst troubleshooting a custom GCS, where the GCS would auto-detect the MAVLink version by looking at the incoming protocol markers. So the GCS always auto-detected MAVLink1, despite ``SERIALn_PROTOCOL=2``. This will also be an issue for any GCS links over high-latency/low-bandwidth connections, where the GCS may not be sending packets often. I've tested this PR against MAVProxy, QGC and Mission Planner with no problems. I note this is a change to how ArduPilot interacts with GCS's and related systems, so I'd be interested in any cases where this breaks any existing functionality _and_ it's not fixable via setting ``SERIALn_PROTOCOL=1``.

github.com/ArduPilot/ardupilot

Minimise cross track error

ArduPilot:master ← lthall:20211213_Minimise_Crosstrack_Error

opened 12:11PM - 13 Dec 21 UTC

lthall

+49 -34

This PR addresses a problem where a strong wind can overwhelm the aircrafts abil…ity to hold the track. The problem is the aircraft does not divert a large enough proportion of the available lean angle away from forward speed to hold the track. This PR results in the aircraft using 100% of the available lean angle to say on the track to the point the aircraft will stop moving along the track. This PR should not impact normal operation. The key changes are: - providing access to accel limiting that prioritises cross track acceleration, - limit the final acceleration of the position controller to prioritise acceleration in the cross track direction, - allow the 2D PID loop I term to change direction, but not grow, when limited. Master: 50m cross track error and growing: ![MasterMission4](https://user-images.githubusercontent.com/100896/145809885-25fc3799-e112-4c83-9d4e-eb6dae0cb7ea.PNG) PR: 2.5m and stable: ![PRMission4](https://user-images.githubusercontent.com/100896/145809913-b2b91c58-81dc-46c1-b74e-6a9fa49452a6.PNG) Master: Square in wind: ![MasterMission1](https://user-images.githubusercontent.com/100896/145809990-afd3446a-42c4-462c-aedb-5f9806ddf315.PNG) PR: Square in wind: ![PRMission1](https://user-images.githubusercontent.com/100896/145810016-f33ac64d-360d-44e5-9929-ac6575ce8b43.PNG)

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.1.0 issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.1 release - [ ] option t…o not weathervane on auto takeoff - [x] primary airspeed needs to switch with EKF lane when enabling airspeed affinity - [ ] need auto test for this issue: https://discuss.ardupilot.org/t/plane-losing-position-and-drifts-away-ekf-gps-failure/78461 - [ ] internal error on camera feedback trigger: https://discuss.ardupilot.org/t/plane-4-1-stable/76507/180 - [x] transition to approach for VTOLLand too close to landing point. Log from Tim French - [x] land steering control bug: https://discuss.ardupilot.org/t/the-plane-turn-to-one-side-as-soon-as-touch-down-with-nose-wheel-setting-ground-streering/77346/2 - [ ] FPort issue of loss of comms after a few minutes: https://discuss.ardupilot.org/t/plane-4-1-stable/76507/92 - [x] RC protocol re-detected incorrectly in flight due to FLOAT RCININT: https://discuss.ardupilot.org/t/plane-crash-with-no-chance-to-save-at-all/76706 - [x] bug in saving in AUTOTUNE mode: https://github.com/ArduPilot/ardupilot/pull/18883 - [ ] NaN in set_throttle_avg_max() for tri-tilt quadplane https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/242 - [x] report of poor wind estimation on takeoff with no compass: https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/179?u=tridge #18718 - [x] new quadplane landing system #14938 - [ ] asymmetric qlanding speed/accel limits - [x] new ACPID for fixed wing PIDs #15377 - [ ] disable SMAX when in QAUTOTUNE twitch - [x] EKF3 long distance issue - [x] investigate GPS lag issue - [ ] hybrid landing with RTL/QRTL from high alt #10559 - [ ] need fence status on MissionPlanner - [x] fix log listing stopping logging, which corrupts replay logs - [x] on quadplane land adjust pos for change in EKF position reset to cope with GPS change - [x] clarify GPS pos as vs CoG or vs IMU - [ ] obey primary sensors with EK3_AFFINITY - [ ] rangefinder offset applied twice (#17424) - [ ] ~interrupt storm with misconfigured camera (#17465)~ (not a blocker as it was caught and a misconfiguration) - [x] add API for lock-step detection to suppress panic in pos controller init check - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] main loop stuck when arming MatekF405-STD with soaring enabled - [x] test VTOL approach option for loiter to alt landing - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [x] fuse sideslip when airspeed enabled - [ ] surface control while booting not working: #17966 Pending quadplane features from Kris: - [x] When the safety switch is disabled, the Tilt servos may oscillate considerably once when connected to the battery. This causes the propeller to strike the wing and damage it. Possible solution: Move BoardConfig.init_safety() in system.cpp to run BoardConfig.init_safety() 2 seconds after init has finished. Update: fixed in #15942 - [ ] In some cases, failsafe will change the flight mode before entering failsafe, which results in the AUTO mode not continuing. Need example log Features for later 4.1.x releases: - [ ] ship landing code #14888 - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter: 4.1.0 issues list

opened 10:34AM - 02 Feb 21 UTC

rmackay9

Copter DevCallTopic ReleaseAdmin

This is a list of known issues especially blockers for the 4.1.0 copter release.… (also see [Rover-4.1](https://github.com/ArduPilot/ardupilot/issues/17116), [Plane-4.1](https://github.com/ArduPilot/ardupilot/issues/15941), [Wiki-4.1](https://github.com/ArduPilot/ardupilot_wiki/issues/1756)) Issues to be resolved asap: - [ ] SBUS on PH4-mini not working for at least one user ([discussion](https://discuss.ardupilot.org/t/sbus-rc-receivers-on-pixhawk4-mini/78789/2), [discussion2](https://discuss.ardupilot.org/t/pixhawk-4-mini-radio-input-problems/79477/21)) - [ ] TradHeli bug fix for continue after land ([PR](https://github.com/ArduPilot/ardupilot/pull/19383)) - [ ] EKF3 vertical velocity issue with loss of GPS ([issue](https://github.com/ArduPilot/ardupilot/issues/19386)) - [ ] EKF3 won't initialise without GPS unless EK3_SRCx are changed ([issue](https://github.com/ArduPilot/ardupilot/issues/19072)) Nice to have for stable release: - [ ] KDECAN unreliable with more than 2 motors - [ ] update MP's auto analysis because it complains of compass offsets being too large, NaNs ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-inflight-exk3-lane-switch-root-cause-analysis-request/73507/15)) - [ ] 3D Loiter to allow simple avoidance to backaway in 3D - [ ] Avoid "PreArm: Bad GPS Position" if using only optical flow ([issue](https://github.com/ArduPilot/ardupilot/issues/17401)) Existing 4.0 issues: - [ ] SmartRTL can trigger flow-of-control internal error (issue https://github.com/ArduPilot/ardupilot/issues/17416, PR: https://github.com/ArduPilot/ardupilot/pull/17419) - [ ] POS oscillation on unusual EKF condition ([discussion](https://discuss.ardupilot.org/t/ekf3-position-still-going-mad-in-beta5-drone-crashed/73859), [issue](https://github.com/ArduPilot/ardupilot/issues/18169)) - [ ] EKF altitude reset handling ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-inflight-exk3-lane-switch-root-cause-analysis-request/73507/6), [issue](https://github.com/ArduPilot/ardupilot/issues/14224)) - [ ] DO_CAM_TRIGG_DIST doesn't turn off after exiting Auto ([discussion](https://discuss.ardupilot.org/t/camera-trigger-does-not-turn-off-after-switching-to-another-flight-mode/72867), [issue](https://github.com/ArduPilot/ardupilot/issues/17858)) - [ ] loiter-to-alt moves too quickly (4.0 issue) ([code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_auto.cpp#L977-L984)) Reports requiring investigation: - [ ] Dronekit commands not working? (Randy has report from Anand Singh) - [ ] FPort disconnection after 25min ([discussion](https://discuss.ardupilot.org/t/copter-4-1-1-rc1-available-for-beta-testing/77234/18), [plane discussion](https://discuss.ardupilot.org/t/plane-4-1-stable/76507/92)) - [ ] internal error when doing temperature calibration on CubeBlack and CubeOrange ([issue](https://github.com/ArduPilot/ardupilot/issues/19022)) - [ ] shift_wp_origin_to_current_pos() not working? (see PR https://github.com/ArduPilot/ardupilot/pull/17294) - [ ] GPS instability thread: - [ ] GPS_DRV_OPTIONS not setting UBlox baud rate to 115200? ([discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/71)) - [ ] CRSF + GPS not working well together on MambaF405v2 (GPA.Delta spikes, [discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/38)) - [ ] Mamba losing GPS connection ([discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/5)) -- maybe fixed by GPS_DRV_OPTIONS - [ ] GPS-for-yaw issues - [ ] continuous yaw drift with NMEA GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/continue-yaw-drift/74997/2)) - [ ] gps-for-yaw fail-over testing leads to GPS glitch and ability to arm ([discussion](https://discuss.ardupilot.org/t/gps-glitching-when-we-have-two-gps-for-yaw-and-make-fail-the-rover-one/74486)) - [ ] 2nd F9 GPS not updating at 5hz during GPS-for-yaw, probably does not have DMA on serial port ([discussion](https://discuss.ardupilot.org/t/unhealthy-gps-signal-when-using-gps-for-yaw/71308)) - [ ] GPS-for-yaw will not use compass at startup ([discussion](https://discuss.ardupilot.org/t/issues-with-gps-for-yaw-and-compass-fall-back/71305)) - [ ] 7-inch quad thread: - [ ] AP_Periph HAL battery monitor default for Matek board ([discussion](https://discuss.ardupilot.org/t/ap-periph-batt-monitor-forced-to-hal-batt-monitor-default-after-reboot/74205), [discussion2](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-dual-barometer-dps310-i2c-uavcan-error-compass-not-healthy/73783)) - [ ] Matek Slim pre-arm check "Compass not healthy" if external CAN baro is enabled ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-dual-barometer-dps310-i2c-uavcan-error-compass-not-healthy/73783)) - [ ] quadsour reports: - [ ] oscillating pitch in Loiter ([discussion](https://discuss.ardupilot.org/t/loiter-acting-up-with-beta/75178/15)) - [ ] Ground effect compensation not working as well as 4.0 with no GPS? ([discussion](https://discuss.ardupilot.org/t/gnd-effect-comp-not-working-as-good-as-in-copter-4-0/71421/12)) - [ ] quadsour's Pixracer Pro BLHeli passthrough issues but stable works ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/36)) -- fixed with latest? @andyp1per knows. - [ ] acro mode loses control when throttle at zero even in airmode ([discussion](https://discuss.ardupilot.org/t/acro-mode-motor-authority-lost-when-rc-throttle-drops-to-zero-even-with-air-mode-enabled/75080)) - [ ] Small EKF alt oscillations when using GPS for alt ([discussion](https://discuss.ardupilot.org/t/altitude-testing-of-beta-5/73228)) - [ ] IMU1 failure handling not working ([4.0.x discussion](https://github.com/ArduPilot/ardupilot/issues/12477)) - [ ] EKF3 yaw drift with no compass higher than EKF2 ([issue](https://github.com/ArduPilot/ardupilot/issues/17030)) - [ ] EKF2 regains GPS while falling, produced invalid climb rate (using modified 4.0.5) (Randy, Tridge, PaulR have logs) - [ ] watchdog reset on modified omnibusf4pro ([issue](https://github.com/ArduPilot/ardupilot/issues/15915)) - [x] FS_OPTIONS not working with RC failsafe? ([issue](https://github.com/ArduPilot/ardupilot/issues/17483), [issue2](https://github.com/ArduPilot/ardupilot/issues/17527)) -- GCS failsafe was disabled. need to improve docs or add pre-arm check? SCurve known issues: - Vehicle will fly below target speed if waypoints are too close together even if vehicle will not stop at waypoints -------- Unresolved issues that will not be resolved in time for 4.1.0 - [ ] Lumenier LUX-H7 (ultimate) F7 board missing 2nd IMU (apaprently same as MatekH743) ([discussion](https://discuss.ardupilot.org/t/arducopter-firmware-on-lumenier-h743-f7-flight-controller-matekh743-firmware-target/72917/2)) - [ ] pre-arm "EK3 sources require RangeFinder" if only 2nd rangefinder is setup [discussion](https://discuss.ardupilot.org/t/prearm-ahrs-ek3-sources-require-rangefinder-error-message-copter-4-1-0/74323/9), [issue](https://github.com/ArduPilot/ardupilot/issues/18205)) - [ ] DShot passthrough not working on Nora and Tekko 35A ESCs ([discussion](https://discuss.ardupilot.org/t/dshot-passthrough-not-working-in-4-1/74186/2)) - [ ] Morse simulator Loiter unstable after PR https://github.com/ArduPilot/ardupilot/pull/17345 (reported by rishabh). Morse closing down it seems so we recommend users move to AirSim -------- Resolved issues that will be included in future releases (but not 4.1.0) - [x] allow aligning viso yaw when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/vio-alignment-in-primary-lane/72308/5), [issue](https://github.com/ArduPilot/ardupilot/issues/13903)) -- in master, maybe 4.1.1 -------- Resolved issues: - [x] surface tracking is resetting incorrectly after a glitch (reported by Yamaguchi-san, [PR](https://github.com/ArduPilot/ardupilot/pull/19207)) -- included in 4.1.2 - [x] QGC can't download parameters over wifi (USB connection on Windows is OK) ([discussion](https://discuss.ardupilot.org/t/copter-4-1-1-rc1-available-for-beta-testing/77234/11), [discussion2](https://discuss.ardupilot.org/t/mavftp-arduplane-4-1-2-parameters-do-not-load/77359)) -- caused by SERIALx_PROTOCOL default changed to "2" (MAVlink 2) and some ESP radios being on an older version of the firmware that can't handle mavlink2. - [x] missing IMU on Matek H743 ([Rover discussion](https://discuss.ardupilot.org/t/rover-4-1-1-rc1-available-for-beta-testing/77275)) -- caused by changing the meaning of the bits in the INS_ENABLE_MASK and users changing the value from the default. - [x] ExtendedSysStatus flags change ([discussion](https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996)) -- resolved in 4.1.1 - [x] autopilot reboot if batt monitor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/18780)) -- could not reproduce - [x] Scary Guided ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/36)) -- resolved in -rc4 - [x] Yaw change after Guided mode takeoff completes ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/24), [PR](https://github.com/ArduPilot/ardupilot/pull/18700)) -- included in 4.1.0-rc3 - [x] Guided mode not ignoring pilot yaw during takeoff is GUID_OPTIONS bit is set ([issue](https://github.com/ArduPilot/ardupilot/issues/17951), [PR](https://github.com/ArduPilot/ardupilot/pull/18559)) -- included in 4.1.0-rc3 - [x] Drift mode controls reversed? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/18)) -- could not reproduce, seems to be fine. - [x] Matek H743-Slim serial1 not working ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/10), [PR](https://github.com/ArduPilot/ardupilot/pull/18661)) -- resolved for -rc2 - [x] Dijkstra's in Guided mode not working (reported by Yamaguchi-san, [PR](https://github.com/ArduPilot/ardupilot/pull/18603)) -- resolved for beta9 - [x] Ch6 tuning of WP speed causes div-by-zero in SITL ([discussion](https://discuss.ardupilot.org/t/wp-speed-on-in-flight-tuning-not-functioning/75226/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18560)) -- resolved for beta9 - [x] laggy suface tracking ([discussion](https://discuss.ardupilot.org/t/altitude-overshoot-on-ascent-descent-tuning-help-please/74756/3), [PR](https://github.com/ArduPilot/ardupilot/pull/18531)) -- resolved for beta9 - [x] uLanding driver broken ([discussion](https://discuss.ardupilot.org/t/ainteins-us-d1-radar-not-working-with-arducopter-4-1-beta/75414), [PR](https://github.com/ArduPilot/ardupilot/pull/17660)) -- resolved for beta9 - [x] check Andy Piper's items in comments below (RunCam, etc) -- all but one issue seems resolved in -beta8. The one remaining issue seems to be a 4.0 issue as well so not technically a blocker. - [x] FrSky on KakuteF7 with R9 MX OTA Receiver ([discussion](https://discuss.ardupilot.org/t/frsky-f-port-telemetry-issue-on-kakute-f7-with-r9-mx-ota-receiver/70747), [issue](https://github.com/ArduPilot/ardupilot/issues/17332)) -- resolved with beta7 (or earlier). - [x] mRo Pixracer Pro gyro & accel health failures + GSF constrain nan internal error (ask Randy for logs) -- could not reproduce - [x] DJI MSP OSD requires turning off serial flow control on H7 ([issue](https://github.com/ArduPilot/ardupilot/issues/17814)) -- hardware issue - [x] SBusOut setup for Matek (and other) boards ([discussion](https://discuss.ardupilot.org/t/sbus-out-functionality-missing-brd-sbus-out-not-in-my-parameters/71148/3), [Wiki](https://ardupilot.org/copter/docs/common-sbus-out.html)) -- resolved through documentation on how to setup SBUS on any serial port - [x] SmartAudio setup with Crossfire TBS ([discussion](https://discuss.ardupilot.org/t/controlling-tbs-vtx-power-with-smart-audio/71687)) -- seems resolved. many questions and answers - [x] SegFault: `./Tools/autotest/autotest.py --gdb --debug build.Copter test.Copter.OpticalFlow --force-ahrs-type=2` ([PR](https://github.com/ArduPilot/ardupilot/pull/18456)) -- resolved for beta8 - [x] QGC doesn't allow changing params with 4.1.0 with blank params? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/53)) -- QGC issue - [x] motor test causes main_loop_stk internal error ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta5-has-been-released-for-beta-testing/73110/30)) -- cannot replicate, might have been fixed with logging improvements in subsequent betas - [x] Internal error 0x1000000 (imu_reset) on PXFmini ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x1000000-l-168-imu-reset/71658/19)) --we assume this is a hardware issue - [x] Matek fails on boot if ESC Telemetry used ([discussion](https://discuss.ardupilot.org/t/help-about-using-dshot-on-tail-rotor/73269/13)) -- follow-up request received no answer so closing - [x] OSD range finder panel not visible on omnibusf4pro even though rangefinder is present (reported by Henry) -- re-checked with Henry and seems resolved. - [x] I2C ports not working on CubeOrange if UAVCAN GPSs are used ([issue](https://github.com/ArduPilot/ardupilot/issues/17879)) -- was issue with tfluna lidar - [x] position controller safety improvements from Leonard -- resolved for beta8 - [x] Internal error in position controller on Matek H743 (https://github.com/ArduPilot/ardupilot/issues/17763. [PR](https://github.com/ArduPilot/ardupilot/pull/18416)) -- resolved for beta8 - [x] Sergey reports OSD on iFlight Beast7 does not show flight time ([discuss](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/44), [youtube](https://www.youtube.com/watch?v=JYFzID5rUBk)) -- user resolved it. seems to be related to a low output throttle. - [x] bad heading after 10min ([discussion](https://discuss.ardupilot.org/t/mag-failure-copter-4-1-0-latest-is-that-a-bug/71963)) -- no response to request for logs. note: involves non-default AHRS_ORIENT. - [x] M8030 based GPSes do not work due to autobauding issue ([issue](https://github.com/ArduPilot/ardupilot/issues/18252), [PR](https://github.com/ArduPilot/ardupilot/pull/16007)) -- resolved for beta7 (we think) - [x] BAT_ARM_VOLT not working? ([discussion](https://discuss.ardupilot.org/t/orange-cube-won-t-arm/74868/8)) -- works fine - [x] circle mode does not respond to changes in CIRCLE_RADIUS parameter (reported by Arace, [PR](https://github.com/ArduPilot/ardupilot/pull/18434)) -- resolved for beta8 - [x] Internal Error after 68ms delay on Matek ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta7-has-been-released-for-beta-testing/74794/4), [issue1](https://github.com/ArduPilot/ardupilot/issues/18196), [issue2](https://github.com/ArduPilot/ardupilot/issues/18376)) -- resolved for beta8 - [x] Flywoo external compass support still broken? ([PR](https://github.com/ArduPilot/ardupilot/pull/18340)) -- merge for beta8 - [x] Helicopter Guided mode takeoff issue (PR: https://github.com/ArduPilot/ardupilot/pull/15826, PR: https://github.com/ArduPilot/ardupilot/pull/17043) -- resolved for beta8 - [x] MP's PX4flow "focus mode" seems broken ([discussion](https://discuss.ardupilot.org/t/px4-flow-sensor-image-no-calibration-in-mission-planner-or-q-ground-control-when-connected-via-micro-usbb/74878)) -- fixed in beta MP on 20-Aug-2021 - [x] tricopter crash after wp2 ([discussion](https://discuss.ardupilot.org/t/unexplained-crash-on-auto-mode-with-beta-6/74787/3)) -- we think this is a power issue. no indication of Watchdog reset and radio seems to lose power with autopilot - [x] Pixhawk4 LEDs are swapped ([issue](https://github.com/ArduPilot/ardupilot/issues/15739), [discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta6-released-for-beta-testing/74139/14), [PR](https://github.com/ArduPilot/ardupilot/pull/18235)) -- resolved for beta8 - [x] Very slow main loops based on RC out configuration (https://github.com/ArduPilot/ardupilot/issues/17891) -- resolved for beta6 (or earlier) - [x] request that Guided velocity control go beyond WPNAV_SPEED_UP/DN limits ([discussion](https://discuss.ardupilot.org/t/set-position-target-global-int-velocity-bound-by-wpnav-speed/73988/7)) -- resolved for beta7 - [x] GSF Yaw source can only be executed EK3_GSF_RST_MAX times ([discussion](https://discuss.ardupilot.org/t/loss-of-correction-after-switching-couple-times-between-yaw-compass-source-and-gsf-source/72687/18), [PR](https://github.com/ArduPilot/ardupilot/pull/18225)). This hopefully resolves these items too -- resolved for beta7 - [x] EKF3 Core x unhealthy if using GSF for yaw ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/67)) -- resolved for beta6 or beta7 (we think) - [x] GPS glitch and emergency yaw reset (GSF) ([discussion](https://discuss.ardupilot.org/t/testing-compass-less-copter-gsf-gps-glitch-yaw-aligned-using-gps/73338)) -- resolved for beta6 or beta7 (we think) - [x] issues switching between GSF and Compass yaw sources ([discussion](https://discuss.ardupilot.org/t/loss-of-correction-after-switching-couple-times-between-yaw-compass-source-and-gsf-source/72687), [discussion2](https://discuss.ardupilot.org/t/gps-yaw-and-gsf-in-different-sources/74011)) -- resolved for beta6 or beta7 (we think) - [x] Flywoo external compass support ([PR](https://github.com/ArduPilot/ardupilot/pull/18219)) -- resolved for beta7 - [x] vehicle may crash into terrain in Guided ([discussion](https://discuss.ardupilot.org/t/terrain-following-in-auto-may-hit-terrain/74365/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18212)) -- resolved for beta7 - [x] support very fast auto missions ([discussion](https://discuss.ardupilot.org/t/high-speed-auto-mission/74217/10), [PR](https://github.com/ArduPilot/ardupilot/pull/18190)) -- resolved for -beta7 - [x] Position controller target velocity vibration ([issue](https://github.com/ArduPilot/ardupilot/issues/17702)) -- lthall thinks the vibration is not a significant issue. - [x] Guided with high rate position target updates don't work (see issue https://github.com/ArduPilot/ardupilot/issues/17795, [PR](https://github.com/ArduPilot/ardupilot/pull/17539)) -- resolved with -beta6 - [x] remove parameter reset internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/17628)) -- Randy and Tridge decided to leave this in place. It happens so rarely that it is not annoying for users. - [x] copter reversing with spline waypoints switching from rel to terrain ([discussion](https://discuss.ardupilot.org/t/terrain-following-question/74224/2)) -- expected behaviour - [x] rapid POS oscilliation when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/ekf3-position-still-going-mad-in-beta5-drone-crashed/73859)) -- resolved in -beta6 - [x] Arming check does **not** trigger with EK3_SRC1_YAW = GPS (2) but GPS is not actively providing yaw ([discussion](https://discuss.ardupilot.org/t/gps-yaw-let-the-drone-arm-in-loiter-mode-when-rtk-is-not-fixed-but-it-was-fixed-before/74197/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18154)) -- resolved for beta7 - [x] yaw rate timeout bug ([PR](https://github.com/ArduPilot/ardupilot/pull/18156)) -- resolved for beta7 - [x] QMC compass not detected on Goku autopilot ([discussion](https://discuss.ardupilot.org/t/external-compass-not-detected-on-flywoo-goku-f745-nano/73921)) -- not an officially supported autopilot (yet) - [x] do-set-speed broken in Auto? ([issue to add autotest to stop this from happening](https://github.com/ArduPilot/ardupilot/issues/18078)) -- not sure if it was really broken, certainly resolved for beta6 - [x] S-Curves OA PR: https://github.com/ArduPilot/ardupilot/pull/17003 -- resolved for beta6 - [x] Auto terrain following may hit terrain (or fly too high) if terrain is too steep ([issue](https://github.com/ArduPilot/ardupilot/issues/17952), [PR](https://github.com/ArduPilot/ardupilot/pull/18049)) -- resolved for beta6 - [x] XTrack reporting broken? ([PR](https://github.com/ArduPilot/ardupilot/pull/17631), [PR2](https://github.com/ArduPilot/ardupilot/pull/17734), [PR3](https://github.com/ArduPilot/ardupilot/pull/18076)) -- resolved for beta6 - [x] Heli tail rotor control check broken ([issue](https://github.com/ArduPilot/ardupilot/issues/17937), [PR](https://github.com/ArduPilot/ardupilot/pull/17981)) -- resolved for beta6 - [x] AP_Logger: stuck thread (write)" on a Matek-405 ([discussion](https://discuss.ardupilot.org/t/bi-directional-dshot-support/70210/59), [issue](https://github.com/ArduPilot/ardupilot/issues/17767)) -- probably fixed in -beta5 with logging improvements - [x] watchdog reset on Pixhawk1MB ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/75)) -- probably fixed in -beta5 with logging improvements - [x] logs not created on force arm ([PR](https://github.com/ArduPilot/ardupilot/pull/17912)) - [x] Copter: guided mode update to use PosControl tools ([PR](https://github.com/ArduPilot/ardupilot/pull/17539)) - [x] Copter: guided mode update (PR https://github.com/ArduPilot/ardupilot/pull/17539) - [x] Guided terrain following may hit terrain (or fly too high) if terrain is too steep -- resolved before beta6 - [x] Internal Error 1048576 in Guided mode if velocity control used after attitude control ([issue](https://github.com/ArduPilot/ardupilot/issues/17954)) -- resolved before beta6 - [x] build env on mac ([discussion](https://discuss.ardupilot.org/t/errors-setting-up-build-environment-on-mac/72882/4), [PR](https://github.com/ArduPilot/ardupilot/pull/17860)) -- resolved post beta5 (need to backport?) - [x] SITL Tri frame still broken ([discussion](https://discuss.ardupilot.org/t/sitl-fly-away-in-land-mode-with-tricopter/73001)). SITL issue https://github.com/ArduPilot/ardupilot/issues/17876 - [x] Terrain following in Auto bouncey (aka "Dolphin") and "ERR:Terrain" in logs ([discussion](https://discuss.ardupilot.org/t/dolphin-fly-big-altitude-oscillation-in-rangefinder-based-auto-mission/72008), [PR](https://github.com/ArduPilot/ardupilot/pull/17765), [PR](https://github.com/ArduPilot/ardupilot/pull/17852)) -- resolved for beta5 - [x] "loiter bucketing" when EKF origin is far from vehicle position ([issue](https://github.com/ArduPilot/ardupilot/issues/17793), [PR](https://github.com/ArduPilot/ardupilot/pull/17803)) -- resolved for beta5 - [x] MP still evaporating for XinChengGe and others ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/38)) -- fixed for beta5 (MP version 1.3.74.2 and higher OK) - [x] position jump during OptFlow->GPS source switch ([discussion](https://discuss.ardupilot.org/t/regarding-lane-switching-between-optical-flow-position-and-gps-position/72777), [discussion2](https://discuss.ardupilot.org/t/optical-flow-for-loiter-mode/72641/7), [PR](https://github.com/ArduPilot/ardupilot/pull/17850)) -- resolved for beta5 - [x] rocking loiter - loiter braking active, non-zero desired climb rate when sticks in mid position ([discussion](https://discuss.ardupilot.org/t/drone-rocking-back-and-forth-in-loiter-mode-before-taking-off/72630), [PR](https://github.com/ArduPilot/ardupilot/pull/17838)) -- resolved for beta5 - [x] Auto WP->RTL alt drop (reported by Tridge in copter channel, [PR](https://github.com/ArduPilot/ardupilot/pull/17826)) -- resolved for beta5 - [x] EKF position going bad on CubeOrange with GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/ekf3-position-going-mad-bug-in-4-1-0-beta3-or-defective-cube-orange/72369), [PR](https://github.com/ArduPilot/ardupilot/pull/17787)) -- resolved for beta5 - [x] FLTMODE_CH and RCx_OPTION conflict ([PR](https://github.com/ArduPilot/ardupilot/pull/17788)) -- resolved for beta5 - [x] EKF3 origin alts not consistent across cores ([issue](https://github.com/ArduPilot/ardupilot/issues/17789), [Plane issue1](https://github.com/ArduPilot/ardupilot/issues/16450), [Plane issue2](https://github.com/ArduPilot/ardupilot/issues/10812), [PR](https://github.com/ArduPilot/ardupilot/pull/17786)) -- resolved for beta5 - [x] Vibration failsafe is broken ([issue](https://github.com/ArduPilot/ardupilot/issues/17834) [PR](https://github.com/ArduPilot/ardupilot/pull/17837)) -- resolved for beta5 - [x] low LOIT_ACC_MAX leads to incorrect loiter speed ([issue](https://github.com/ArduPilot/ardupilot/issues/17747), [PR](https://github.com/ArduPilot/ardupilot/pull/17815)) -- resolved for beta5 - [x] 6DOF frame broken ([PR](https://github.com/ArduPilot/ardupilot/pull/17819)) -- resolved for beta5 - [x] AP_Motors: correct expo parameter description and internal limits ([PR](https://github.com/ArduPilot/ardupilot/pull/17540)) -- resolved for beta5 - [x] Sergbokh's low desired climb rate when switching from Stab->AltHold while falling ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/65)) -- seems OK. this is input shaping - [x] UAVCAN GPS can't get satellites on 4.0.7 but works on 4.1 ([discussion](https://discuss.ardupilot.org/t/gps-neo3-suddenly-stopped-working/72310), question only, can then be moved to resolved) -- hardware power issue - [x] brake accel not reset ([4.0.7 issue](https://github.com/ArduPilot/ardupilot/issues/17709), [PR](https://github.com/ArduPilot/ardupilot/pull/17717)) -- resolved for beta5 - [x] BLHeli current reporting incorrect ([issue](https://github.com/ArduPilot/ardupilot/issues/17656), [PR](https://github.com/ArduPilot/ardupilot/pull/17657)) -- resolved for beta5 - [x] SCurve internal error when origin and destination very close ([PR](https://github.com/ArduPilot/ardupilot/pull/17671)) -- resolved for beta5 - [x] SCurve issues ([discussion](https://discuss.ardupilot.org/t/copter-4-1-scurve-issues/69961)): - [x] internal error after arming from auto (AUTO_OPTIONS=3) (reported by Peter Barker) -- old, marking as resolved - [x] twitch when switching from SCurves to Loiter (reported by Giacomo Pinagli, awaiting log) -- old, marking as resolved - [x] at end of RTL, vehicle spends more time waiting above home (reported by Giacomo Pinagli) -- old, marking as resolved - [x] wild movement getting to the first waypoint (reported by Andy Piper in "copter" discord channel) -- old, marking as resolved - [x] TeraRange Evo 60m has large spikes, no readings under 80cm ([discussion](https://discuss.ardupilot.org/t/tera-ranger-evo-60m-driver-issue/71806), same issue with 4.0.7) -- IR sensor has low range outdoors, updated wiki - [x] EKF3: becomes unhealthy beyond 38km from origin (EKF2's limit is about 130km) https://github.com/ArduPilot/ardupilot/issues/16736 -- probably SITL only 'cuz real-flights at up to 120km done with EKF2 and EKF3 - [x] scheduler jump due to overflow ([issue](https://github.com/ArduPilot/ardupilot/issues/17642), [PR](https://github.com/ArduPilot/ardupilot/pull/17708)) -- resolved for beta4 - [x] MOT_PWM_MIN/MAX not being set to 1000/2000 when MOT_PWM_TYPE is set to a DShot type, but SERVO_BLH_* parameters not setup. Looks like a regression from 4.0 -- resolved for beta4 - [x] PreArm: Internal errors 0x1000000 l:168 imu_reset on Matek H743 ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x1000000-l-168-imu-reset/71658)) -- we believe it is a hardware issue, reported to Matek. - [x] SITL tri broken. Appears to move yaw in wrong direction ([issue](https://github.com/ArduPilot/ardupilot/issues/17645)). Fix here #17695 -- resolved in beta4 - [x] DO_SET_MODE command segfaults in SITL ([discussion](https://discuss.ardupilot.org/t/segmentation-fault-with-mav-cmd-do-set-mode/72191)) -- intentional to find unsupported messages. - [x] "PreArm: DCM **Roll/Pitch** inconsistent by X deg" when actually **yaw** is inconsistent ([issue](https://github.com/ArduPilot/ardupilot/issues/17442), [PR](https://github.com/ArduPilot/ardupilot/pull/17630)) -- resolved in beta4 - [x] EKF3 is still using ExtNav even when source is switch to Baro (reported by David Astesas, Randy has log) -- cannot reproduce - [x] improve SITL yaw tuning ([discussion1](https://discuss.ardupilot.org/t/unstable-yaw-angles-in-octa-frames/71935), [discussion2](https://discuss.ardupilot.org/t/high-yaw-oscillations-when-descending-fast-in-sitl/71216), [PR](https://github.com/ArduPilot/ardupilot/pull/17634)) - [x] do-change-speed requires fractional speeds (?!) ([discussion](https://discuss.ardupilot.org/t/4-1-vehicle-speed/70752/4)) -- could not reproduce (think fixed as part of SCurves) - [x] EKF ground effect compensation not working with EKF3? ([discussion](https://discuss.ardupilot.org/t/gnd-effect-comp-not-working-as-good-as-in-copter-4-0/71421), [issue](https://github.com/ArduPilot/ardupilot/issues/17552), [PR](https://github.com/ArduPilot/ardupilot/pull/17575)) -- fix included in -beta4 - [x] Yaw imbalance warning too tight for Helicopters at least ([discussion](https://discuss.ardupilot.org/t/yaw-imbalance-how-to-troubleshoot/70259), PR: https://github.com/ArduPilot/ardupilot/pull/17574) -- fixed in beta4 - [x] Serial passthrough not working on serial ports configured to "GPS" with GPS protocol set to ublox (issue: https://github.com/ArduPilot/ardupilot/issues/17269) -- also happens with 4.0. workaround is to set the SERIAL_PROTOCOL = -1 or GPS_TYPE = 0. [updated docs](documentation.) - [x] SITL copter-optflow.parm file out-of-date ([issue](https://github.com/ArduPilot/ardupilot/issues/17400), [PR](https://github.com/ArduPilot/ardupilot/pull/17590)) -- developer issue but fixed for beta4 - [x] MP crashing after trying to load params using MAVFTP ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/14)) -- fixed in beta MP before beta4 - [x] dma.txt file can't be downloaded the first time (PR https://github.com/ArduPilot/ardupilot/pull/17615 makes it return an emtpy file the firs time, MP's error message has been improved) -- included in beta4 - [x] Pix32v5 IMU heater not operations? reported by holybro ([PR](https://github.com/ArduPilot/ardupilot/pull/17605)) -- included in beta4 - [x] EKF terrain estimate incorrect? ([PR](https://github.com/ArduPilot/ardupilot/pull/17561)) -- probably not a problem but will go out with beta4 - [x] little motor cuts ([discussion](https://discuss.ardupilot.org/t/little-motor-cuts-in-gps-mode-beta-3/71759)) -- could not reproduce, no logs. - [x] EKF3 becomes unhealthy if source is switched to Optflow and then T265 (ok if switched to GPS). Reported by Randy -- user error in EK3_SRCx_YAW. - [x] do change speed not working ([discussion](https://discuss.ardupilot.org/t/4-1-vehicle-speed/70752/4)) -- known limitation of Scurves - [x] SITL crashes if optflow enabled but rangefinder disabled/unhealthy ([issue](https://github.com/ArduPilot/ardupilot/issues/17565), [PR](https://github.com/ArduPilot/ardupilot/pull/17577)) -- fixed in beta4 - [x] firmware version is not displayed in banner ([issue](https://github.com/ArduPilot/ardupilot/issues/17515), [PR](https://github.com/ArduPilot/ardupilot/pull/17549)) -- fixed in beta4 - [x] Holybro Pix32v5 is not automatically understood by MP during upload ([PR](https://github.com/ArduPilot/ardupilot/pull/17563)). -- fixed in beta4 - [x] HC-SR02 sonar not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/62), [wiki](https://ardupilot.org/copter/docs/common-rangefinder-hcsr04.html)) -- PeterB could not reproduce - [x] Copter/QuadPlane: set yaw rate to zero during arming ([PR](https://github.com/ArduPilot/ardupilot/pull/17541)) -- included in beta4 - [x] No PSZ logging unless in mode with 3D control ([issue](https://github.com/ArduPilot/ardupilot/issues/17441), [PR](https://github.com/ArduPilot/ardupilot/pull/17548)) -- included in beta4 - [x] CUAV X7 rebooting and getting hot ([discussion](https://discuss.ardupilot.org/t/cuav-x7-safety-led-not-working-on-copter-4-1/71444)) -- USB power issues, not software. - [x] CUAV X7 safety LED not working ([discussion](https://discuss.ardupilot.org/t/cuav-x7-safety-led-not-working-on-copter-4-1/71444), [related issue?](https://github.com/ArduPilot/ardupilot/issues/17481)) -- somehow fixed in beta3 - [x] MP's link status is very low for Matek H743-slim (same as 4.0) ([discussion](https://discuss.ardupilot.org/t/terrible-link-quality-over-usb-mavlink-is-this-expected/71647)) -- problem went away when switched to Sik radio - [x] Visual Odometry "Calibration" (aka yaw alignment) via aux switch seems to have an issue which means that after the aux switch is moved, VISP.Yaw does not equal ATT.Yaw. ([PR](https://github.com/ArduPilot/ardupilot/pull/17551)) -- fixed in beta4 - [x] ACRO_RP_EXPO constraint incorrect ([PR](https://github.com/ArduPilot/ardupilot/pull/17486), [discussion](https://discuss.ardupilot.org/t/acro-rp-p-and-acro-rp-expo-range-check/71385)) -- included in beta4 - [x] Copter: position controller updates (PR https://github.com/ArduPilot/ardupilot/pull/17345) - [x] new bootloader fails on trad heli firmware at least on some boards ([issue](https://github.com/ArduPilot/ardupilot/issues/17487)) -- bootloader changes reverted in master and for beta2 - [x] yaw oscillations during high speed descent ([discussion](https://discuss.ardupilot.org/t/high-yaw-oscillations-when-descending-fast-in-sitl/71216)) -- SITL tuning issue - [x] EKF3 does not regain position estimate after loss of GPS (see PR https://github.com/ArduPilot/ardupilot/pull/17104) -- could not reproduce - [x] PSC_ACCZ_FLTx param defaults don't match recommendations from @lthall and @andyp1per? ([discussion](https://discuss.ardupilot.org/t/psc-accz-fltd-function/70528/27)) -- Leonard says it's fine as it is and it's his page - [x] EKF3: GPS-for-yaw timeout broken (issues: https://github.com/ArduPilot/ardupilot/issues/17314, PR https://github.com/ArduPilot/ardupilot/pull/17342) -- included in beta2 - [x] RC failsafes with KakuteF7 & CRSF & Yaapu telemetry during mode changes ([discussion](https://discuss.ardupilot.org/t/radio-failsafe-with-crsf-with-yaapu-telemetry-with-frsky-taranis-log-analysis-help-requested/70544), [discussion2](https://discuss.ardupilot.org/t/4-1-beta-autotune-failsafe/70698)) -- fixed with "latest" (should become beta2) - [x] KakuteF7, DShot150 motor failure when using 6s ([discussion](https://discuss.ardupilot.org/t/quad-tilted-to-the-left-and-hit-ground/70680)). User was on 4.0.7 - [x] PixRacer, luminousbee5, Radiolink Mini Pix LED/Buzzer issue ([discussion](https://discuss.ardupilot.org/t/radiolink-mini-pix-with-radiolink-buzzer-led-switch-k170725-problem/70587)). -- fixed in beta2 - [x] MatekF9 GPS almanac upload (AP_Periph) ([discussion](https://discuss.ardupilot.org/t/ublox-assistnow-with-gps-via-ap-periph/70631/2)). enhancement request added to issues list https://github.com/ArduPilot/ardupilot/issues/17305. - [x] Splines require terrain database (see issue https://github.com/ArduPilot/ardupilot/issues/17250, PR: https://github.com/ArduPilot/ardupilot/pull/17280. reported by Peter Barker) - [x] FPort not supported on VR Brain? ([discussion](https://discuss.ardupilot.org/t/ac-4-1-and-vr-ubrain/70330/6)) -- board has very few serial ports so user wanted an enhancement to all usign FPort on the regular RC input (I think). Not a bug but rather just a question. - [x] Flywoo board's onboard logging not working ([close issued](https://github.com/ArduPilot/ardupilot/issues/17245) - should have been raised on discuss) - [x] EK3_DRAG_BCOEF_Y param are reset to default on reboot (see issue https://github.com/ArduPilot/ardupilot/issues/17167, PR https://github.com/ArduPilot/ardupilot/pull/17228) - [x] Move DEV_OPTIONS bit "2" (thrust as thrust) to GUIDED_OPTIONS (issue https://github.com/ArduPilot/ardupilot/issues/17161, PR https://github.com/ArduPilot/ardupilot/pull/17185) - [x] Sebbb's "PreArm: Internal errors 0x800000 l:57 stack_ovrflw" when using SmartAudio on master (discord, general, PR: https://github.com/ArduPilot/ardupilot/pull/17226) - [x] S-curves PR: https://github.com/ArduPilot/ardupilot/pull/15896 - [x] Durandal Vcc fix - [x] COMPASS_USE=0, COMPASS_USE2=1 results in no compass being used (issue: https://github.com/ArduPilot/ardupilot/issues/16509, PR:https://github.com/ArduPilot/ardupilot/pull/17047) - [x] UAVCAN GPS ordering PR: https://github.com/ArduPilot/ardupilot/pull/16156 - [x] DMA Locking with Thread Priority Inheritance PR:https://github.com/ArduPilot/ardupilot/pull/15984 - [x] mRo Pixracer Pro Baro issue: https://github.com/ArduPilot/ardupilot/pull/16993, PR:https://github.com/ArduPilot/ardupilot/pull/17054 - [x] All boards building on autotest server (see below) SCurve resolved issues: - [x] apparent "climb away" in RTL after spline mission (reported by Peter Barker, Randy has logs). Caused by Rallypoints alt=90 - [x] waypoints in a straight line can cause the vehicle to not reach top speed (reported by Ryan Beall). Leonard says expected behaviour - [x] vehicle took-off in Guided but then descended (reported by @tridge). no problem. - [x] Auto mission Loiter-Turns broken (issue: https://github.com/ArduPilot/ardupilot/issues/17126, PR: https://github.com/ArduPilot/ardupilot/pull/17142)

Rover

github.com/ArduPilot/ardupilot

Rover: 4.1.0 issues list

opened 07:51AM - 07 Apr 21 UTC

rmackay9

Rover DevCallTopic ReleaseAdmin

This is a list of known issues especially blockers for the 4.1.0 rover release. … The equivalent Copter issue is https://github.com/ArduPilot/ardupilot/issues/16478 Issues requiring investigation: - [ ] DSHOT reverse range is inverted ([issue](https://github.com/ArduPilot/ardupilot/issues/19346)) - [ ] Kenny Trussell suggestions for GPS-for-yaw config improvements ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) - [ ] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) - [ ] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) - [ ] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) - [ ] another Matek H7 imu reset internal error report ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/47)) - [ ] Lost accel calibration parameters ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/23)) - [ ] Rover avoidance of fence OK? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/19)) - [ ] PRX missing from 1MB boards for Rover although it probably would fit ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beat4-released-for-beta-testing/72504/12)), simple avoidance not working with TFLuna? ([discussion](https://discuss.ardupilot.org/t/how-should-i-resolve-the-error-system-overflowexception/71800/10)) - [ ] Speed controller I-term build-up when motors are saturated ([discussion](https://discuss.ardupilot.org/t/pidachieved-opposite-to-piddesired/71911/14)) - [ ] PreArm: Internal errors 0x8000 l:428 main_loop_stk ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x8000-l-404-main-loop-stk-after-upgrading-to-latest-4-1-0-dev/66476/4)) Existing 4.0 issues - [ ] MP's Frame Type screen shows copter values ([discussion](https://discuss.ardupilot.org/t/about-frame-havent-boat-to-choose/74680/2), [issue](https://github.com/ArduPilot/MissionPlanner/issues/2673)) Resolved issues: - [x] MIS_DONE_BEHAVE not working ([discussion](https://discuss.ardupilot.org/t/issues-in-balance-bot/74844)) -- misunderstanding / confusion over Loiter and Hold options which are implemented from within Auto and Acro and Manual options that do cause a real change in flight mode. - [x] Nick Nunno's report of EKF attitude going bad and position jumping ([issue](https://github.com/ArduPilot/ardupilot/issues/18169)) -- can't reproduce. probably resolved for beta6 - [x] EKF yaw not recovering if GPS-for-yaw lost (i[ssue](https://github.com/ArduPilot/ardupilot/issues/17658)) -- resolved for beta7 (we think) - [x] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) -- resolved for beta7 (we think) - [x] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) -- resolved for beta7 (we think) - [x] ArduSimple F9 GPS does not work with GPS-for-yaw unless GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/107)) -- resolved for beta7 (we think) - [x] Kenny Trussell suggestions for GPS-for-yaw config improvements when GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) -- resolved for beta7 (we think) - [x] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) -- resolved for beta7 (we think) - [x] GPS_POS_X/Y/Z relative to IMU or COG? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/25), [PR](https://github.com/ArduPilot/ardupilot/pull/18264)) -- resolved for -beta7 - [x] EKF issues mentioned on the Copter-4.1 issue https://github.com/ArduPilot/ardupilot/issues/16478 -- resolved for beta6 - [x] Rovers cannot backup in Acro when simple avoidance is active ([issue](https://github.com/ArduPilot/ardupilot/issues/17518), [PR](https://github.com/ArduPilot/ardupilot/pull/17571)) - [x] Pre-arm check "DCM Roll/Pitch inconsistent by 32 deg" when using GPS-For-Yaw ([see code here](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp#L2080), [PR](https://github.com/ArduPilot/ardupilot/pull/17630)). Reported by @tatsuy. Note: the issue may be that body-frame roll and pitch are not actually being compared. -- should be fixed in beta4 - [x] THR logging shows lateral acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/17682), [PR](https://github.com/ArduPilot/ardupilot/pull/17689)) -- included in beta4 - [x] Waypoint delay of -1 leads to 65k of delay ([discussion](https://discuss.ardupilot.org/t/delay-time-issue-at-a-waypoint/71410), [issue](https://github.com/ArduPilot/ardupilot/issues/17488)) -- included in beta4 - [x] DShot not working with -beta3 ([discussion](https://discuss.ardupilot.org/c/ardurover/rover-41/158), [PR](https://github.com/ArduPilot/ardupilot/pull/17598)) -- included in beta4 - [x] Fence Radius are being truncated to integers ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/38), [PR](https://github.com/ArduPilot/ardupilot/pull/17619)) -- included in beta4 - [x] QGC with gamepad doesn't work ([discussion](https://discuss.ardupilot.org/t/qgc-fails-mavlink-parameters-with-gamepad-joystick-connected/71668)) -- QGC issue - [x] Twitching at waypoints if WP_RADIUS set to 0.05m (issue https://github.com/ArduPilot/ardupilot/issues/17417, PR https://github.com/ArduPilot/ardupilot/pull/17494) -- fixed in beta2 - [x] GPS-for-yaw wiki params incorrect ([wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/3512)) - [x] RFND messages missing (see issue: https://github.com/ArduPilot/ardupilot/issues/17334, [PR](https://github.com/ArduPilot/ardupilot/pull/17355)) -- fixed in beta2 - [x] AP_Button's use of aux functions executes both high and low positions ([reported by RobertoN](https://discuss.ardupilot.org/t/rover-4-1-0-beta1-released/69868/8)) -- may be changed as part of a future enhancement - [x] Rover param meta data for Fence includes Altitude (issue https://github.com/ArduPilot/ardupilot/issues/17207)