Dev Call Dec 15, 2025

CraigElder · December 15, 2025, 10:57pm

CI Workflows

Release Update

github.com/ArduPilot/ardupilot

ArduPilot 4.6 issues list

opened 12:01AM - 14 Nov 24 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.6 testing. Issues for [C…opter/Rover-4.5 issues are here](https://github.com/ArduPilot/ardupilot/issues/26103) **Reports requiring investigation** - [ ] RC tuning of Loiter speed not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/41)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31584 - [ ] https://github.com/ArduPilot/ardupilot/issues/31484 - [ ] Internal Error (flow-of-control) during takeoff in AltHold ([discussion](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/4)) - [ ] F.Port not working with TradHeli ([discussion](https://discuss.ardupilot.org/t/trad-heli-tuning-fport-can-t-send-telemetry-back/138940/17)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31287 - [ ] https://github.com/ArduPilot/ardupilot/issues/31099 - [ ] EKF reset leads to bad roll estimate ([issue](https://github.com/ArduPilot/ardupilot/issues/31098), [discussion](https://github.com/ArduPilot/ardupilot/issues/31098)) - [ ] BLHeli_S ESC passthrough not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-2-released/136822/26)) - [ ] yaapu ver X7 1.8.0 using Taranis QX7 receiver not displaying data ([discussion](https://discuss.ardupilot.org/t/copter-4-6-2-released/136822/12)) - [ ] log download slow? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-1-released/135697)) - [ ] Plane LEDs not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/30331#issuecomment-2988401515), [PR with potential fix](https://github.com/ArduPilot/ardupilot/pull/30469)) - [ ] Bad battery ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/74)) - [ ] Micoair h743aio failing to restart ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/57)) - [ ] Bad Gyro Health on Yaapu ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/50)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30142 - [ ] Rover follow Lua bindings almost always returning nil ([discussion](https://discuss.ardupilot.org/t/issue-with-follow-object-in-lua-script-for-rover-to-follow-copter/131666/11)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30173 ([discussion](https://discuss.ardupilot.org/t/cube-orange-plus-over-loaded-processor/134003/41)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30156 - [ ] Solo gimbal not included on CubeSolo ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/5)) - [ ] uBlox fw update over DroneCAN with uCenter 24.x does not work - [ ] Since 4.6 NeoPixel strip led doesn’t work https://discuss.ardupilot.org/t/plane-4-6-release/134619/15?u=tridge - [ ] garbage data can be accepted as valid mavlink: https://github.com/ArduPilot/pymavlink/issues/1019 - [ ] FTP mission upload deadlock in 4.6.2: AP: CRITICAL Deadlock 814 FTP 0x3000AE6C **Confirmed issues** - [ ] AHRS orientation on startup ([discussion](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/5), [issue](https://github.com/ArduPilot/ardupilot/issues/30064)) -- known issue - [ ] AHRS upside soon after startup (reported by partners, [PR](https://github.com/ArduPilot/ardupilot/pull/29667), [issue](https://github.com/ArduPilot/ardupilot/issues/30064)) -- resolved for -beta6 but then re-opened - [ ] Hardfault on arming if CAN_SLCAN_CPORT set non-zero and have SERIAL6_PROTOCOL set to 22 (reported by @robertlong13, [Issue](https://github.com/ArduPilot/ardupilot/issues/30055)) -- also exists in 4.5 so not a blocker - [x] Internal error involved multiheap allocation for LUA in cygwin (https://github.com/ArduPilot/ardupilot/issues/29563) - [ ] EKF3 altitude runaway EK3_SRC1_POSZ = 2 (rangefinder) and rangefinder is out of range ([PR](https://github.com/ArduPilot/ardupilot/pull/29537)) - [ ] AM32 passthrough (without DroneCAN) not working ([issue](https://github.com/ArduPilot/ardupilot/issues/29348), [PR](https://github.com/ArduPilot/ardupilot/pull/29590)) - [ ] EKF3 velocity divergence before arming ([issue](https://github.com/ArduPilot/ardupilot/issues/29384), [PR](https://github.com/ArduPilot/ardupilot/pull/29434)) -- hoping PaulR will investigate (not a blocker) - [ ] https://github.com/ArduPilot/ardupilot/issues/31108 ***Plane Specific Issues*** - [ ] Plane servos using IOMCU not moving ([issue](https://github.com/ArduPilot/ardupilot/issues/29759)) -- aiming for fix in 4.6.x point release (not 4.6.0) - [ ] the assisted_flight flag oscillates rapidly in fwd transition of tilt quadplanes, possibly leading to incorrect tllt slew rate https://github.com/ArduPilot/ardupilot/issues/28957 -- aiming to fix in 4.6.1 (or higher) - [ ] possible landing glide slope bug https://discuss.ardupilot.org/t/plane-4-6-release/134619/8?u=tridge - [ ] possible sink rate issue in AUTOLAND https://discuss.ardupilot.org/t/autoland-mode-4-7-dev-reports/135441 - [ ] https://github.com/ardupilot/ardupilot/issues/30227 **Enhancements or Issues that may not be resolved before the stable release** - [ ] Octaquad missing on F4 boards ([discussion](https://discuss.ardupilot.org/t/bug-in-firmware-upgrade-copter-4-6-0/134683/30)) -- same with 4.5.7 so we should potentially also remove Octa from F4 boards - [ ] BLHeli SERVO_BLH_RVMASK mapping is achieved through trial and error (raised by xfacta, [issue](https://github.com/ArduPilot/ardupilot/issues/29325)) - [ ] when the user has configured ESC, FFT or RPM notch and has INS_HNTCx_REF=0 then they end up with a fixed notch. We should have an arming check to tell them they need to set the REF to 1.0 (any non-zero value will do actually) https://github.com/ArduPilot/ardupilot/issues/28786 - [ ] ROS2 attitude control + thrust enhancement request ([discussion](https://discuss.ardupilot.org/t/ros2-interface-for-controlling-thrust-and-attitude/127694)) - [ ] AutoTune should have a vehicle specific (or configurable) AngleP max (reported by Tridge) - [ ] add a warning if the GCS system clock and UTC clock on the flight controller differs by over 20s and signing is active, as signing will fail with a 30s difference - [ ] Custom Build Server for CubeOrangePlus with OpenDroneID shows linker error when out of flash ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/4), [discussion2](https://discuss.ardupilot.org/t/copter-custom-firmware-build-issue-with-remote-id-support-latest-not-4-5-7/125177), [Issue](https://github.com/ArduPilot/CustomBuild/issues/114)) - [ ] Add LDRobot LD19 support ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/8), [issue](https://github.com/ArduPilot/ardupilot/issues/28662)) - [ ] need to provide a clearer message to users when the power status flags change, indicating loss of a power source in flight. A statustext at message level CRITICAL I think is warranted, maybe "POWER STATUS CHANGE" ? (Tridge has details) **Wiki issues/enhancement requests ([Wiki To-Do list](https://github.com/ArduPilot/ardupilot_wiki/issues/4274))** - None **Resolved issues** - [x] https://github.com/ArduPilot/ardupilot/issues/31402 -- resolved for 4.7 - [x] https://github.com/ArduPilot/ardupilot/issues/31386 -- resolved for 4.7 - [x] Rover: "field elevation set 0m" spamming GCS messages ([discussion](https://discuss.ardupilot.org/t/how-to-disable-a-continuous-field-elevation-set-0m-message-sent-on-console-every-sec-sitl-ardurover-4-5-5/122567), [PR](https://github.com/ArduPilot/ardupilot/pull/25114)) - [x] Ch6 tuning of WPSpeed not working on tradheli ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/31), [discussion2](https://discuss.ardupilot.org/t/wpnav-speed-as-a-chan-6-tune-parameter-working/83217/18)) -- user error - [x] Lua related Internal error from multi-heap allocation ([issue](https://github.com/ArduPilot/ardupilot/issues/29563)) - [x] https://github.com/ArduPilot/ardupilot/issues/31404 -- resolved through documentation - [x] incorrect glide slope for terrain NAV_LAND. https://github.com/ArduPilot/ardupilot/pull/30041 - [x] find_by_name() in AP_Param.cpp uses a bogus strncasecmp() ([PR](https://github.com/ArduPilot/ardupilot/pull/30659)) - [x] https://github.com/ArduPilot/ardupilot/issues/30722 -- resolved ahead of 4.6.3-beta1 - [x] Firmware erase on ECC error on boards that store params in flash ([PR](https://github.com/ArduPilot/ardupilot/pull/30031)) -- TBS bootloader released with 4.6.0, what's next? -- solved in 4.6.2 - [x] LD06 sensitive to sunlight ([discussion](https://discuss.ardupilot.org/t/copter-4-6-1-released/135697/31)) -- not a regression since 4.5. hardware issue? - [x] Ark FPV board mentioned in release notes but not in 4.6 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/83), [PR](https://github.com/ArduPilot/ardupilot/pull/28603)) -- marked for backporting, may be included in 4.6.3 - [x] JFB110 SD card not working? ([discussion](https://discuss.ardupilot.org/t/jfb110-fc-mavftp-issue/134938), [related PR](https://github.com/ArduPilot/ardupilot/pull/26090), [potential fix PR](https://github.com/ArduPilot/ardupilot/pull/30387)) -- resolved for 4.6.2-beta1 - [x] Copter Pixhawk 2.4.8 "check frame and type" ([discussion](https://discuss.ardupilot.org/t/bug-in-firmware-upgrade-copter-4-6-0/134683)) -- no response from user - [x] CubeOrange AK09916 internal compass orientation Yaw270 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/44)) -- no functional impact - [x] “pitch level-off at takeoff altitude” is interfered with by the feature “pitch rotate speed for ground takeoff” ([discussion](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/165), [PR](https://github.com/ArduPilot/ardupilot/pull/29834)) -- resolved for 4.6.0 (randy thinks) - [x] DroneCan M10 GPS lock issue again (raised by TimT, [discussion](https://discuss.ardupilot.org/t/timts-dronecan-ublox-m10-num-sats-issue/132353)) -- waiting on Qiotek, no conclusive evidence of an issue - [x] LD19 average change makes it sensitive to sunlight ([discussion](https://discuss.ardupilot.org/t/looking-to-get-firmware-release-4-6-0-beta2-11-dec-2024/133422), [original PR](https://github.com/ArduPilot/ardupilot/pull/27045), [PR1](https://github.com/ArduPilot/ardupilot/pull/30016), [PR2](https://github.com/ArduPilot/ardupilot/pull/30107)) -- resolved ahead of 4.6.1-beta1 - [x] CubeOrangePlus 2nd IMU error ([discussion](https://discuss.ardupilot.org/t/imu-2-on-my-cubeorangeplus-errors/133691)) -- need log, no feedback from user - [x] SpeedyBee F4 running out of memory ([discussion](https://discuss.ardupilot.org/t/possible-side-problem/133917/2)) -- need log, no feedback from user - [x] Pixhawk6X IST8310 external compass not detected ([issue](https://github.com/ArduPilot/ardupilot/issues/29854)) -- need log, no feedback from user - [x] TBS parameter corruption on firmware update (reported by AndyP, [Issue](https://github.com/ArduPilot/ardupilot/issues/30058), [PR](https://github.com/ArduPilot/ardupilot/pull/30031)) -- TBS bootloaders released with 4.6.0 - [x] AIS not working on Copter? ([discussion](https://discuss.ardupilot.org/t/ais-no-work-daisy2-ac-45-46/131176), [related PR](https://github.com/ArduPilot/ardupilot/pull/29839#event-17337598051)) -- cannot reproduce, no response from user - [x] Secure bootloader doesn't work ([4.5 discussion](https://discuss.ardupilot.org/t/unable-to-update-signed-bootloader/133280/2)) -- could not reproduce - [x] Speedybee ENOMEM message ([discussion](https://discuss.ardupilot.org/t/logging-failed-failed-to-create-log-directory-apm-logs-enomem/132917), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/6768)) -- resolved, wiki updated ahead of -beta6 - [x] "No ap_message for mavlink id (271)" message ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta5-available-for-beta-testing/132624/23), [PR](https://github.com/ArduPilot/ardupilot/pull/29783)) -- resolved for -beta6 - [x] terrain following issue: https://github.com/ArduPilot/ardupilot/pull/29685 -- resolved for beta6 - [x] circle climb after terrain: https://github.com/ArduPilot/ardupilot/pull/29765 -- resolved for beta6 - [x] Microbrain UAV-R21 Proximity sensor ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/48), [discussion2](https://discuss.ardupilot.org/t/how-to-use-the-uav-h31-and-uav-r21-for-terrain-following-and-obstacle-avoidance/114423)) -- we do not support this model - [x] RPI PiPilot / Invensense ICM42688P hang ([issue](https://github.com/ArduPilot/ardupilot/issues/29572), [PR](https://github.com/ArduPilot/ardupilot/pull/29614)) -- resolved for beta6 - [x] on ICM45686 IMUs the SPI transfer overheads can be overwhelming on some boards, especially those with 3 of that sensor. Some PRs to address: https://github.com/ArduPilot/ardupilot/pull/28672 and https://github.com/ArduPilot/ardupilot/pull/27573 -- resolved for -beta6 - [x] [IMU temp cal pages](https://ardupilot.org/copter/docs/common-imutempcal.html) need updating -- no details on what needs updating - [x] Copter/TradHeli internal errors 0X4000000 and 0X4000020 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/23), [issue](https://github.com/ArduPilot/ardupilot/issues/29370), [PR](https://github.com/ArduPilot/ardupilot/pull/29409)) -- resolved for -beta5 - [x] SET_ROI_LOCATION support ([issue](https://github.com/ArduPilot/ardupilot/issues/28505#issuecomment-2709173400), [PR](https://github.com/ArduPilot/ardupilot/pull/29567)) -- resolved ahead of -beta5 - [x] Take Pic with no location ([issue](https://github.com/ArduPilot/ardupilot/issues/29530), [PR](https://github.com/ArduPilot/ardupilot/pull/29558)) -- fixed in master (won't backport) - [x] Pixhawk 5x ethernet not enabled ([issue](https://github.com/ArduPilot/ardupilot/issues/26397#issuecomment-2725220803), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/6697)) -- wiki PR merged ahead of -beta5 - [x] AP_Scripting should get follow binding for Rover ([discussion](https://discuss.ardupilot.org/t/issue-with-follow-object-in-lua-script-for-rover-to-follow-copter/131666/4), [PR](https://github.com/ArduPilot/ardupilot/pull/29548)) -- resolved for -beta5 - [x] Plane: fixed guided VTOL command in terrain mode ([PR](https://github.com/ArduPilot/ardupilot/pull/28406)) - [x] ARSPD_AUTOCAL can trigger while disarmed ([PR](https://github.com/ArduPilot/ardupilot/pull/29455)) -- resolved for -beta5 - [x] QuadPlane motors using BDShot making knocking noises ([discussion1](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/62), [discussion2](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/52), [PR1](https://github.com/ArduPilot/ardupilot/pull/29518), [PR2](https://github.com/ArduPilot/ardupilot/pull/29521)) -- fixed for beta5 - [x] Water Depth message too fast on boats ([discussion](https://discuss.ardupilot.org/t/water-depth-clogging-the-mavlink-transmission/131509), [PR](https://github.com/ArduPilot/ardupilot/pull/28877)) -- resolved for beta5 - [x] UBlox M10 can't get enough sats ([discussion](https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930/15)) -- testing is inconclusive - [x] Copter MOT_THST_HOVER param desc for lower limit should be 0.125 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/54), [PR](https://github.com/ArduPilot/ardupilot/pull/29478)) -- resolved for -beta5 - [x] iBUS telemetry not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta2-is-available-for-beta-testing/127445/11)) -- user error - [x] Mission option bit issue ([discussion](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/42), [PR](https://github.com/ArduPilot/ardupilot/pull/29435)) -- resolved for -beta5 - [x] CADDX GM2 update slow ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/38), [PR](https://github.com/ArduPilot/ardupilot/pull/29428)) -- resolved for -beta5 - [x] Unknown message 45 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/43), [discussion2](https://discuss.ardupilot.org/t/sending-unknown-message-44-on-mission-planner-with-speedybee-f405-v3-guided-mode/130303), [PR](https://github.com/ArduPilot/ardupilot/pull/29339)) -- resolved for -beta5 - [x] Holybro M10 waiting to configure GPS1 ([discussion](https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930/7), [PR](https://github.com/ArduPilot/ardupilot/pull/29320)) -- resolved for -beta5 - [x] LD06 support not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/27), [PR](https://github.com/ArduPilot/ardupilot/pull/29375)) -- fixed ahead of -beta5 - [x] Reboot loop after enabling Scripting ([discussion](https://discuss.ardupilot.org/t/reboot-loop-after-enabling-scr-enable-lua-scripts/130420), [issue](https://github.com/ArduPilot/ardupilot/issues/29315)) -- user using incorrect compiler - [x] possible regression in attitude control in quadplanes? https://github.com/ArduPilot/ardupilot/issues/29060 -- no evidence that there's been a regression despite much effort spent searching - [x] Takeoff throttle behavior for planes without airspeed sensor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/28775), [PR](https://github.com/ArduPilot/ardupilot/pull/28776)) -- intentional change - [x] ESC Telemetry logging issue ([issue](https://github.com/ArduPilot/ardupilot/issues/28807), [PR](https://github.com/ArduPilot/ardupilot/pull/29001)) -- resolved for beta3 - [x] Community dev struggles with build options ([discussion](https://discuss.ardupilot.org/t/build-from-sources-with-custom-features/127879)) -- no response from user - [x] https://github.com/ArduPilot/ardupilot/issues/28969 - [x] Autotune acceleration limiting is not effective ([PR](https://github.com/ArduPilot/ardupilot/pull/28911)) -- resolved for beta3 - [x] Orqa 3030 autopilot config issue ([discussion](https://discuss.ardupilot.org/t/orqa-3030-f450-issue/127483), [PR](https://github.com/ArduPilot/ardupilot/pull/28855)) -- resolved for beta3 - [x] BeagleBoneBlue RC not working with Copter ([discussion](https://discuss.ardupilot.org/t/rc-sbus-works-with-plane-but-not-copter-beaglebone-blue/127540/2)) -- user error related to running as a service - [x] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 ([PR](https://github.com/ArduPilot/ardupilot/pull/28792)) -- resolved for beta3 - [x] plane takeoff regression since 4.5.x: https://github.com/ArduPilot/ardupilot/issues/28681 -- ready for beta2 - [x] on plane when FENCE_AUTOENABLE=3 and FENCE_ENABLE=0 the fence does not enable when arming if there is a RCn_OPTION set to FENCE. This is a regression from 4.5.x. (Tridge has details) Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] on plane the pre-arm check for being inside polygon fence was lost since 4.5.x. Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] Navio2 GPS not working ([discussion](https://discuss.ardupilot.org/t/rover-4-6-0-beta1-is-available-for-beta-testing/126296/4), [conflicting report that it does work](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/9)) -- fixed by refreshing/resetting firmware - [x] arming at mid-stick question ([discuss](https://discuss.ardupilot.org/t/arming-with-throttle-at-mid-stick/127203)) -- no issue - [x] Crossfire receiver does not reconnect after failsafe ([issue](https://github.com/ArduPilot/ardupilot/issues/28797), [PR](https://github.com/ArduPilot/ardupilot/pull/28805)) -- resolved for -beta2 - [x] Copter AutoTune can produce very low maximum acceleration values ([issue](https://github.com/ArduPilot/ardupilot/issues/28799), [PR](https://github.com/ArduPilot/ardupilot/pull/28800)) -- resolved for -beta2 - [x] memory fragmentation and multiple memory regions mean lua scripting can fail with out of memory error even if you have plenty of free memory. Addressed in https://github.com/ArduPilot/ardupilot/pull/26517 - [x] system time may be unstable when using only first GPS timestamp, consider https://github.com/ArduPilot/ardupilot/pull/24022 or similar fix (Tridge has details) - [x] Plane fences ignored ([issue](https://github.com/ArduPilot/ardupilot/issues/28666)) -- cannot reproduce - [x] Plane: auto-deploy landing gear on fixed wing ([PR](https://github.com/ArduPilot/ardupilot/pull/29321)) - [x] guided error with terrain target https://github.com/ArduPilot/ardupilot/pull/29602 - [x] QuadPlane fast attitude recovery issue ([PR](https://github.com/ArduPilot/ardupilot/pull/29498)) - [x] https://github.com/ArduPilot/ardupilot/issues/29555 - [x] Plane FBWA doesn't support vectored thrust? ([issue](https://github.com/ArduPilot/ardupilot/issues/30159#issuecomment-2908030994))

Issues & Pull requests

github.com/ArduPilot/ardupilot

Ensure stable IMU timing on RealFlight

master ← andyp1per:pr-real-flight-stable-gyro

opened 07:54AM - 29 Apr 25 UTC

andyp1per

+351 -151

The current RealFlight approach means that we get highly variable loops and inte…r-loop dt's. This seems to significantly impact attitude control under arduous conditions. This PR generates high rate synthetic gyro samples that are sync'ed to the main loop's requests for samples. This results in very even loop dts whilst still ensuring that the latest data is always being used and appears to significantly help with attitude control. Here is the updated, technically robust description. It now accounts for both the **transport jitter** (variable arrival time) and the **variable decimation** (skipped frames/variable physics steps). *** **The Core Argument:** This PR upgrades the `SIM_FlightAxis` backend from a "sampling" model to an "integrating" model. It resolves the critical instability caused by RealFlight’s **variable frame decimation** and **transport jitter**, where the simulator might run at 1200Hz but deliver frames irregularly (e.g., ~600Hz, skipping intermediate steps). ### **1. The Problem: Variable Decimation & Time Aliasing** The interface faces two distinct challenges that the legacy fixed-schedule IMU could not handle: * **Irregular Decimation:** RealFlight updates physics at high rates (~1200Hz) but drops frames non-deterministically before sending. Sometimes we receive adjacent frames; other times we skip intermediates. * **The Failure Mode:** The old fixed-rate IMU timer was "blind" to these skips. If a frame was skipped, the state would jump significantly between updates. The fixed-rate IMU would interpret this jump as an instantaneous high-G event or snap rotation, feeding massive noise into the EKF and control loops. ### **2. The Solution: Adaptive Upsampling (Elastic Time)** The PR shifts to an event-driven model that reconstructs the missing data: * **Slave to the Frame:** We wait for a frame to arrive (`wait_for_sample`). * **Delta-Based Interpolation:** Instead of assuming a constant timestep, the code calculates the **true simulation `dt`** between the current frame and the last received frame. * If we receive adjacent frames, it generates a standard batch of synthetic samples. * If frames were skipped (larger `dt`), it automatically scales the number of synthetic samples to fill that larger gap smoothly. * **Ignoring Arrival Jitter:** By relying on the *simulation* time delta rather than the *wall clock* arrival time, we effectively filter out the OS/Network latency jitter. ### **3. The Engineering Win** This mechanism acts as a **smart interpolation layer**. * It smooths over the "stutter" of skipped frames by generating a continuous stream of IMU data that matches the average velocity over the gap. * It ensures the Autopilot always sees a coherent timeline, regardless of whether the simulator sent every frame or every other frame. **Summary:** We cannot control RealFlight's output variability, but we can control how we digest it. This PR allows ArduPilot to "ride" the variable stream of data without aliasing, ensuring the EKF receives a smooth, physically accurate timeline essential for precision tuning.

github.com/ArduPilot/ardupilot

Add ID and Seq to MSG, allowing for long-message reassembly by log analyzers

master ← peterbarker:pr/Write_MSG-chunk

opened 10:56AM - 25 Jun 25 UTC

peterbarker

+137 -29

MAVLink's STATUSTEXT has had these fields for years, but MSG has not. When we… try to log a message we will break it into chunks which fit into MSG packets and add extra information so a tool can reassemble the long text. This is MAVExplorer looking at the logs from the new autotest: New: ``` 2025-06-25 20:52:47.900 SRC=250/250:AT-0002.2: ################################################################################## 2025-06-25 20:52:47.900 SRC=250/250:AT-0002.2: ########## LoggerMsgChunks (create MSG dataflash entries for very long messages) ########## 2025-06-25 20:52:47.920 SRC=250/250:AT-0002.2: ################################################################################## 2025-06-25 20:52:47.920 SRC=250/250:AT-0002.2: Doing timesync roundtrip 2025-06-25 20:52:48.900 SRC=250/250:AT-0002.3: Received: TIMESYNC {tc1 : 9104781000, ts1 : 142250} 2025-06-25 20:52:48.900 SRC=250/250:AT-0002.3: Received TIMESYNC response after 0.000000s 2025-06-25 20:52:51.000 GPS 1: probing for u-blox at 230400 baud 2025-06-25 20:52:51.100 GPS 1: detected u-blox 2025-06-25 20:52:51.860 SRC=250/250:AT-0002.3: RC values good 2025-06-25 20:52:52.820 SRC=250/250:AT-0002.3: Changing mode to AUTO 2025-06-25 20:52:52.820 SRC=250/250:AT-0002.3: Sending COMMAND_LONG to (2,1) (MAV_CMD_DO_SET_MODE=176) (p1=1.000000 p2=10.000000 p3=0.000000 p4=0.000000 p5=0.000000 p6=0.000000 p7=0.000000) 2025-06-25 20:52:54.820 SRC=250/250:AT-0002.3: Got mode AUTO 2025-06-25 20:52:54.880 SRC=250/250:AT-0002.3: Sending param_request_read for (LOG_DISARMED) 2025-06-25 20:52:56.020 SRC=250/250:AT-0002.3: get_parameter(LOG_DISARMED): PARAM_VALUE {param_id : LOG_DISARMED, param_value : 1.0, param_type : 2, param_count : 1041, param_index : 65535} 2025-06-25 20:52:56.040 SRC=250/250:AT-0002.3: LOG_DISARMED has expected value 1.000000 2025-06-25 20:52:56.040 SRC=250/250:This is a short message 2025-06-25 20:52:56.040 SRC=250/250:This is undubitably a ridiculously verbose and needlessly wordy missive, unavoidably designed to exceed disappointingly miniscule log buffers 2025-06-25 20:52:56.920 SRC=250/250:AT-0002.3: Delaying 10.000000 seconds 2025-06-25 20:53:01.420 EKF3 IMU0 origin set 2025-06-25 20:53:02.000 Event: DATA_SET_HOME 2025-06-25 20:53:01.420 EKF3 IMU1 origin set 2025-06-25 20:53:06.940 SRC=250/250:AT-0002.5: log list: ['logs/00000001.BIN', 'logs/00000002.BIN'] 2025-06-25 20:53:08.020 SRC=250/250:AT-0002.5: Disarm motors with MAVLink cmd 2025-06-25 20:53:08.920 SRC=250/250:AT-0002.5: Sending COMMAND_LONG to (2,1) (MAV_CMD_COMPONENT_ARM_DISARM=400) (p1=0.000000 p2=0.000000 p3=0.000000 p4=0.000000 p5=0.000000 p6=0.000000 p7=0.000000) 2025-06-25 20:53:08.940 SRC=250/250:AT-0002.5: ACK received: COMMAND_ACK {command : 400, result : 0, progress : 0, result_param2 : 0, target_system : 250, target_component : 250} (0.000000s) 2025-06-25 20:53:08.940 SRC=250/250:AT-0002.5: Waiting for DISARM 2025-06-25 20:53:09.000 Field Elevation Set: 343m 2025-06-25 20:53:09.900 SRC=250/250:AT-0002.5: Waiting for disarm (0.00s so far of allowed 30.00) 2025-06-25 20:53:09.999 PreArm: 3D Accel calibration needed 2025-06-25 20:53:10.820 SRC=250/250:AT-0002.5: DISARMED after 0.00 seconds (allowed=30.00) 2025-06-25 20:53:11.840 SRC=250/250:AT-0002.5: Rebooting SITL 2025-06-25 20:53:11.840 SRC=250/250:AT-0002.5: Sending param_request_read for (STAT_RESET) 2025-06-25 20:53:12.059 SRC=250/250:AT-0002.5: get_parameter(STAT_RESET): PARAM_VALUE {param_id : STAT_RESET, param_value : 1.0, param_type : 6, param_count : 1041, param_index : 65535} 2025-06-25 20:53:12.079 SRC=250/250:AT-0002.5: Sending param_request_read for (STAT_BOOTCNT) ``` Old: ``` 1970-01-01 10:00:05.791 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: ##### 1970-01-01 10:00:05.791 ##################################' 1970-01-01 10:00:05.791 SRC=250/250:AT-0003.6: m.Message='############################ 1970-01-01 10:00:05.791 ###############' 1970-01-01 10:00:05.791 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: ##### 1970-01-01 10:00:05.791 ##### LoggerMsgChunks (create MSG ' 1970-01-01 10:00:05.791 SRC=250/250:AT-0003.6: m.Message='dataflash entries for very l 1970-01-01 10:00:05.791 ong messages) #######' 1970-01-01 10:00:05.791 SRC=250/250:AT-0003.6: m.Message='###' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: ##### 1970-01-01 10:00:05.811 ##################################' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='############################ 1970-01-01 10:00:05.811 ###############' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: Doing 1970-01-01 10:00:05.811 timesync roundtrip' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: Recei 1970-01-01 10:00:05.811 ved: TIMESYNC {tc1 : 9122274000, t' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='s1 : 142250}' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: Recei 1970-01-01 10:00:05.811 ved TIMESYNC response after 0.0000' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='00s' 1970-01-01 10:00:05.811 SRC=250/250:AT-0003.6: m.Message='GPS 1: probing for u-blox at 1970-01-01 10:00:05.811 230400 baud' 1970-01-01 10:00:05.831 SRC=250/250:AT-0003.6: m.Message='GPS 1: detected u-blox' 1970-01-01 10:00:05.831 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: RC va 1970-01-01 10:00:05.831 lues good' 1970-01-01 10:00:05.831 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: Chang 1970-01-01 10:00:05.831 ing mode to AUTO' 1970-01-01 10:00:05.831 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: Sendi 1970-01-01 10:00:05.831 ng COMMAND_LONG to (2,1) (MAV_CMD_' 1970-01-01 10:00:05.831 SRC=250/250:AT-0003.6: m.Message='DO_SET_MODE=176) (p1=1.00000 1970-01-01 10:00:05.831 0 p2=10.000000 p3=0.00' 1970-01-01 10:00:05.831 SRC=250/250:AT-0003.6: m.Message='0000 p4=0.000000 p5=0.000000 1970-01-01 10:00:05.831 p6=0.000000 p7=0.000' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='000)' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: Got m 1970-01-01 10:00:05.851 ode AUTO' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.3: Sendi 1970-01-01 10:00:05.851 ng param_request_read for (LOG_DIS' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='ARMED)' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.4: get_p 1970-01-01 10:00:05.851 arameter(LOG_DISARMED): PARAM_VALU' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='E {param_id : LOG_DISARMED, 1970-01-01 10:00:05.851 param_value : 1.0, par' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='am_type : 2, param_count : 1 1970-01-01 10:00:05.851 041, param_index : 655' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='35}' 1970-01-01 10:00:05.851 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:AT-0002.4: LOG_D 1970-01-01 10:00:05.871 ISARMED has expected value 1.00000' 1970-01-01 10:00:05.871 SRC=250/250:AT-0003.6: m.Message='0' 1970-01-01 10:00:05.871 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:This is a short 1970-01-01 10:00:05.871 message' 1970-01-01 10:00:05.871 SRC=250/250:AT-0003.6: Received short message 1970-01-01 10:00:05.871 SRC=250/250:AT-0003.6: m.Message='SRC=250/250:This is undubita 1970-01-01 10:00:05.871 bly a ridiculously verbose and nee' 1970-01-01 10:00:05.871 SRC=250/250:AT-0003.6: Text: This is undubitably a ridiculousl 1970-01-01 10:00:05.871 y verbose and nee 1970-01-01 10:00:05.871 SRC=250/250:AT-0003.6: m.Message='dlessly wordy missive, unavo 1970-01-01 10:00:05.871 idably designed to exc' 1970-01-01 10:00:05.871 SRC=250/250:AT-0003.6: Text: This is undubitably a ridiculousl 1970-01-01 10:00:05.871 y verbose and needlessly wordy missive, unavoidabl 1970-01-01 10:00:05.871 y designed to exc 1970-01-01 10:00:05.891 SRC=250/250:AT-0003.6: m.Message='eed disappointingly miniscul 1970-01-01 10:00:05.891 e log buffers' 1970-01-01 10:00:05.891 SRC=250/250:AT-0003.6: Text: This is undubitably a ridiculousl 1970-01-01 10:00:05.891 y verbose and needlessly wordy missive, unavoidabl 1970-01-01 10:00:05.891 y designed to exceed disappointingly miniscule log 1970-01-01 10:00:05.891 buffers 1970-01-01 10:00:06.051 SRC=250/250:AT-0003.6: set_parameters: ({}) 1970-01-01 10:00:06.111 SRC=250/250:AT-0003.6: Doing implicit context-pop reboot 1970-01-01 10:00:06.111 SRC=250/250:AT-0003.6: Disarm motors with MAVLink cmd 1970-01-01 10:00:06.271 AHRS: EKF3 active 1970-01-01 10:00:06.871 EKF3 IMU0 tilt alignment complete 1970-01-01 10:00:06.871 EKF3 IMU1 tilt alignment complete 1970-01-01 10:00:06.951 EKF3 IMU0 MAG0 initial yaw alignment complete 1970-01-01 10:00:06.951 EKF3 IMU1 MAG0 initial yaw alignment complete 1970-01-01 10:00:07.111 SRC=250/250:AT-0003.6: Sending COMMAND_LONG to (2,1) (MAV_CMD_ 1970-01-01 10:00:07.111 COMPONENT_ARM_DISARM=400) (p1=0.000000 p2=0.000000 1970-01-01 10:00:07.111 p3=0.000000 p4=0.000000 p5=0.000000 p6=0.000000 1970-01-01 10:00:07.111 p7=0.000000) 1970-01-01 10:00:07.131 SRC=250/250:AT-0003.6: ACK received: COMMAND_ACK {command : 40 1970-01-01 10:00:07.131 0, result : 0, progress : 0, result_param2 : 0, ta 1970-01-01 10:00:07.131 rget_system : 250, target_component : 250} (0.0000 1970-01-01 10:00:07.131 00s) 1970-01-01 10:00:07.131 SRC=250/250:AT-0003.6: Waiting for DISARM 1970-01-01 10:00:08.131 SRC=250/250:AT-0003.6: Waiting for disarm (0.00s so far of all 1970-01-01 10:00:08.131 owed 30.00) 1970-01-01 10:00:09.071 SRC=250/250:AT-0003.6: DISARMED after 0.00 seconds (allowed=30 1970-01-01 10:00:09.071 .00) 1970-01-01 10:00:10.071 SRC=250/250:AT-0003.7: Rebooting SITL 1970-01-01 10:00:10.071 SRC=250/250:AT-0003.7: Sending param_request_read for (STAT_RE 1970-01-01 10:00:10.071 SET) 1970-01-01 10:00:10.251 SRC=250/250:AT-0003.7: get_parameter(STAT_RESET): PARAM_VALUE 1970-01-01 10:00:10.251 {param_id : STAT_RESET, param_value : 1.0, param_t 1970-01-01 10:00:10.251 ype : 6, param_count : 1041, param_index : 65535} 1970-01-01 10:00:10.251 SRC=250/250:AT-0003.7: Sending param_request_read for (STAT_BO 1970-01-01 10:00:10.251 OTCNT) 1970-01-01 10:00:11.231 GPS 1: probing for u-blox at 230400 baud 1970-01-01 10:00:11.251 SRC=250/250:AT-0003.7: get_parameter(STAT_BOOTCNT): PARAM_VALU 1970-01-01 10:00:11.251 E {param_id : STAT_BOOTCNT, param_value : 3.0, par 1970-01-01 10:00:11.251 am_type : 4, param_count : 1041, param_index : 655 1970-01-01 10:00:11.251 35} 1970-01-01 10:00:11.271 SRC=250/250:AT-0003.7: Sending reboot command ```

github.com/ArduPilot/ardupilot

ALT_OFFSET error when commanding waypoint/flight mode

opened 01:05AM - 03 Dec 25 UTC

Topdogzrc

BUG Plane DevCallTopic

## Bug report **Issue details** In summary, in ArduPlane, if you have the para…meter ALT_OFFSET set (to say climb 300 meters), when you go to command the aircraft to a waypoint, TECS will somehow double the ALT_OFFSET leading to risk of an altitude excursion. Was able to replicate in SITL. I don't know if this is due to misuse of ALT_OFFSET, or if it's a bug with how it's interpretted Additional information: When in an autonomous mission using ALT_OFFSET to change a mission altitude, vehicle climbs to target altitude without issue. However, when commanding the vehicle to a waypoint, or a flight mode change (circle/loiter), vehicle will enter a target altitude double ALT_OFFSET until vehicle reaches said waypoint, and then returns to the ALT_OFFSET. Risks causing altitude limit breach unless safeguard system used. Further testing will be done to determine if geofence can trip to RTL and return vehicle to ALT_OFFSET target altitude, or if commanding RTL will return vehicle to ALT_OFFSET target altitude. Video of SITL preliminary demo: https://www.youtube.com/watch?v=IEYJDMH2tpw Can hop on a dev call to discuss further **Version** 4.2.3 live vehicle, 4.7.0 MissionPlanner SITL Plane, presumed affecting all fixed-wing (and rotary wing?) from 4.2.X to latest **Platform** [ ] All [ ] AntennaTracker [ ?] Copter [ X] Plane [ ] Rover [ ] Submarine **Airframe type** Conventional Pusher Fixed-Wing, SITL Plane vehicle **Hardware type** CubeOrange, MissionPlanner SITL on Windows 11 **Logs** Edit: log post attempt:

github.com/ArduPilot/ardupilot

AP_Proximity: add RPLidar S2 support

master ← tatsuy:pr-RPLiDARS2

opened 08:38AM - 05 Dec 25 UTC

tatsuy

+717 -189

This is a follow-up PR for #26835 which included the following changes: - RPLi…dar S2 support (originally contributed by @mirkix) - Removed memory copy for each measurement (by @mirkix) - Added Dense Express (capsulated) scan support for RPLidar S2 with checksum validation to reject corrupted packets - Added a SITL model for RPLidar S2 - Extended the serial corruption simulator - Added a ProximitySensors autotest entry for rplidars2 I've tested #26835 and seen cases where the RPLidar S2 TX line becomes noisy or intermittent (e.g. a marginal connector contact). This produced corrupted serial frames, witch cause the driver to lose sync witch scan packets. To address this, I added checksum validation (Dense Express) to discard corrupted packet. ## Settings PRXx_TYPE 5 (RPLidarA2) SERIALx_PROTOCOL 11 (Lidar360) SERIALx_BAUD 1000 ## What I tested - SITL test Confirmed S2 (and A1/A2) work correctly in SITL: `./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidars2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map` - Serial Corruption Testing set `AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED` to 1 run SITL under Valgrind (-V) and confirmed no memory errors even under heavy corruption. (confirmed S2/A2) `./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidars2 --speedup=1 -l 51.8752066,14.6487840,0,0 -V` - HW Testing Manually wiggled the TX line on an S2 unit to inject real-world corruption. Confirmed that: - corrupted packets are discarded via checksum, - the driver stays synchronised, - descriptor parsing no longer gets stuck in repeated RESETs. I also tested this with Rover at 50Hz loop rate using A2/S2. I only have A2/S2. so I didn't test A1/C1/S1.

github.com/ArduPilot/ardupilot

AP_Mount: use update_mnt_target in SToRM32s, XFRobot and CADDx

master ← peterbarker:pr/mount-fresh-target-factoring

opened 04:04AM - 11 Dec 25 UTC

peterbarker

+22 -266

the only difference between these and the method which was previously factored u…p was the setting of this boolean flag indicating there was changed data to send to the gimbal. I took each of the backends modified in this PR and moved the block-to-be-removed into individual files and looked at the deltas between them. There were none outside of extra-braces, variable renames and a few twiddled lines. I then compared the Caddx to the Siyi block before it was moved up into the backend object and found they were near-enough to identical once the boolean was ignored. This PR preserves the existing bug where there's up to a 1 second pause between retract mode being entered and the command being sent to the mount. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * * Durandal 0 * -504 -504 -504 -504 -504 Hitec-Airspeed * * KakuteH7-bdshot 0 * -512 -504 -504 -504 -504 MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * * f303-Universal * * iomcu * revo-mini * * * * * * * skyviper-v2450 * ``` I've tested this on a SiyiA8 - not discernible difference, this vs master. The only changes it sees are pointless setting of the fresh_data boolean which it does not use.

github.com/ArduPilot/ardupilot

AP_Mount:Enhance YAW_LOCK to capture heading for target in lock for RC targetting

master ← Hwurzburg:yaw_lock_dir_option

opened 02:41PM - 13 Dec 25 UTC

Hwurzburg

+22 -4

Adds a MOUNT_OPTION to change yaw_lock mount state which is used only in RC targ…eting and MAVLink from using North as the yaw target in RC targeting (MAVLINK provides the heading target) which captures heading on lock and uses it for the target instead of only pointing NORTH (which is useless). Now yaw will point in the same heading focussing on ROI as vehicle turns. Only affects yaw target. Tested on CADDX

github.com/ArduPilot/ardupilot

AP_Scripting: load metatables on first use

master ← tpwrules:pr/lua-dynamic-metatables

opened 09:43PM - 14 Dec 25 UTC

tpwrules

+48 -59

This loads the metatable which identifies and provides methods for a particular …ap_object or userdata type only on first creation of that type, as opposed to loading all when scripting starts. Lua is smart enough to know that if it can't find a type's metatable then no object can be of that type. The main benefit is to finally completely decouple the scripting RAM requirements from the number of bindings, and significantly reduce the RAM requirement in the process. On Cube Orange, a state now consumes 3518 bytes and will continue to do so unless something really core is changed. This is ~6000 bytes less than before. This change also saves ~500 bytes of flash. Tested thereon that my test scripts still work without issue. Of course if your script uses all userdatas and ap objects then the RAM requirement will be the same as before. The metatables are shared between scripts so there isn't a possibility of more RAM used than before. However, there is some increased risk of heap fragmentation and unexpected out-of-memory errors on rarely used code paths. This is a sequel to https://github.com/ArduPilot/ardupilot/pull/27426 .

github.com/ArduPilot/ardupilot

Support MAVLink COMPONENT_METADATA

opened 08:37PM - 15 Dec 25 UTC

tpwrules

DevCallTopic

## Feature request **Is your feature request related to a problem? Please descr…ibe.** QGC folks, in particular @DonLakeFlyer have to manually update the build each new AP version for the link to the new parameters. **Describe the solution you'd like** If we respond to COMPONENT_METADATA then we can give QGC the correct URL for the version, and eventually embed the data on the board with enough space. **Describe alternatives you've considered** We could update QGC to calculate the URL itself, but that would be additional complication. **Platform** [X] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine **Additional context** Needed for QGC to update to ARMING_SKIPCHK: https://github.com/ArduPilot/ardupilot/pull/31568 Or some other method of putting 4.7 dev metadata into https://github.com/arduPilot/parameterrepository

CraigElder · December 16, 2025, 12:27am

Attendee count (max): 18

UTC1104 - CI update

Sub log download test
Blimp manual
Clang truncation

UTC1105 - vehicle update

ALT_OFFSET issue for later discussion
PH not aware of new issues
Randy’s not aware of new Copter issues over the last week either

UTC1105 - Correct MAVLink AIS message enumerations by peterbarker · Pull Request #441 · ArduPilot/mavlink · GitHub

Merge in fixes to common.xml for AIS messages
Merged!

UTC1109 - AP_Mount:Enhance YAW_LOCK to capture heading for target in lock for RC targetting by Hwurzburg · Pull Request #31713 · ArduPilot/ardupilot · GitHub

Enhance yaw lock to capture heading for target in lock for rc targeting
Randy’s wondering if we should just change the behaviour
Consensus we should change it to be the default rather than an option bit

UTC1112 - Ensure stable IMU timing on RealFlight by andyp1per · Pull Request #29921 · ArduPilot/ardupilot · GitHub

Ensure stable IMU timings on RealFlight/cygwin
Merged!
Should check the downloaded version in MP once it updates

UTC1113 - Add ID and Seq to MSG, allowing for long-message reassembly by log analyzers by peterbarker · Pull Request #30468 · ArduPilot/ardupilot · GitHub

Add ID and Seq to MSG, allowing for long-message reassembly by log analyzers
MergeOnCIPass

UTC1116 - NEU to NED conversion -This includes the conversion. by lthall · Pull Request #31513 · ArduPilot/ardupilot · GitHub

NEU to NED conversion
There was a problem with class conversion in AP_Param
- Still doesn’t work properly
- Save some flash if we do that
Some discussion around PID units
Increment might be a problem in the MP interface
Last of the big NED/NEU reworks
6dof is the next big piece of work!
Will be merged by Randy if no objections
Increment is used for number of decimal places in MP

UTC1139 - ALT_OFFSET error when commanding waypoint/flight mode · Issue #31637 · ArduPilot/ardupilot · GitHub

ALT_OFFSET error when commanding waypoint / flight mode
Anywhere we compare a target alt with a current alt we need to use ALT_OFFSET
Should we just remove ALT_OFFSET entirely?
- Make it only apply it to missions?
- Offset immediately when loading the item
Apply it just as we are passing it to TECS?
Starts 50m high instead of ending 50m low
Should we just remove the functionality?
- Tridge uses it when tuning a bit
Tridge replicated the problem - forced a waypoint and Plane moved incorrectly
- PH thinks you could trigger this in a few other ways
Tridge is attached to the parameter, so we will continue to think about this one

UTC0003 - AP_Mount: use update_mnt_target in SToRM32s, XFRobot and CADDx by peterbarker · Pull Request #31700 · ArduPilot/ardupilot · GitHub

use update_mnt_target in SToRM32s, XFRobot and CADDx
merged!

UTC0009 - AP_Mount: make Servo backend use update_mnt_target by peterbarker · Pull Request #31704 · ArduPilot/ardupilot · GitHub

AP_Mount: make Servo backend use update_mnt_target
Can be merged once last commit removed

UTC0010 - AP_Mount: correct rate RC targetting on Solo gimbal by peterbarker · Pull Request #31706 · ArduPilot/ardupilot · GitHub

Solo fix for rate targets
merged!

UTC0011 - AP_Scripting: load metatables on first use by tpwrules · Pull Request #31717 · ArduPilot/ardupilot · GitHub

Update scripting metatables on first use
PH is happy
Tridge thinks the autotests are good to catch stuff here

UTC0013 - AP_HAL_ChibiOS: zero out uart errors after gathering ftp info by andyp1per · Pull Request #31724 · ArduPilot/ardupilot · GitHub

Zero out uart errors after gathering ftp info
DevCallEU so we can discuss with Andy

UTC0015 - Support MAVLink COMPONENT_METADATA · Issue #31726 · ArduPilot/ardupilot · GitHub

Support MAVLink component
We decided on patching stuff to add archival stuff into GitHub - ArduPilot/ParameterRepository: All generated parameters in a single place instead for now
Thomas will continue to look at component metadata

UTC0026 - close