Dev Call Dec 22, 2025

CraigElder · December 22, 2025, 10:55pm

CI Workflow

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) - [x] 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/mavlink

common.xml: specify that TUNE_FORMAT.tune is specifically MML

master ← peterbarker:pr/MML-format

opened 01:03AM - 22 Dec 25 UTC

peterbarker

+1 -1

Only MAVProxy and ArduPilot seem to support this. And possibly something on Sky…Viper. This is a *breaking change* for PX4-AutoPilot, and we must not merge this without getting the OK from them. PX4-AutoPilot is expecting qbasic tune strings in this field. Given that there doesn't appear to be any clients which will send QBASIC in `PLAY_TUNE`, and that clients could easily move to `PLAY_TUNE_V2`, they may be willing to accept the change. @hamishwillee I've checked QGC, paparazzi, PX4-AutoPilot, MAVProxy, ardupilot, APMPlanner2. It was a mistake to not specify the format for `PLAY_TUNE.tune` string in a standards document. `PLAY_TUNE_V2` came out of that mistake, and was an even bigger mistake (resources are available on the ground to convert to/from a standardised input format)

github.com/ArduPilot/ardupilot

Copter parameter conversion from cm, cd to m and degrees

opened 12:38AM - 22 Nov 25 UTC

lthall

Copter DevCallTopic FeatureRequest

ANGLE_MAX -> PILOT_ANGLE_MAX -> ATC_ANGLE_MAX ATC_ACCEL_P_MAX -> ATC_CMD_AC…CEL_P ATC_ACCEL_R_MAX -> ATC_CMD_ACCEL_R ATC_ACCEL_Y_MAX -> ATC_CMD_ACCEL_Y Future PR correction acceleration limits (currently hard-coded to half the command model): ATC_CORR_A_P_MAX ATC_CORR_A_R_MAX ATC_CORR_A_Y_MAX ATC_CORR_ACCEL_P ATC_CORR_ACCEL_R ATC_CORR_ACCEL_Y ATC_SLEW_YAW -> WP_Y_RATE_MAX -> ATC_AUTO_YAW_MAX -> ATC_SLEW_YAW_MAX AVOID_ANGLE_MAX -> AVOID_ANGLE_LIM BARO_ALTERR_MAX CIRCLE_RADIUS -> CIRCLE_RAD -> CIRCLE_RAD_M -> CIRCLE_RADIUS_M LAND_ALT_LOW -> LAND_ALT_LOW_M -> LAND_ALT_FINAL LAND_SPEED -> LAND_SPEED_M -> LAND_SPEED_FINAL -> LAND_SPD -> LAND_SPD_LOW -> LAND_SPD_M -> LAND_SPD_FINAL LAND_SPEED_HIGH -> LAND_SPD_HIGH -> LAND_SPD_HIGH_M -> LAND_SPD_HI LOIT_ACC_MAX -> LOIT_ACC_MAX_M -> LOIT_ACC_M -> LOIT_ACC LOIT_BRK_ACCEL -> LOIT_BRK_ACCEL_M -> LOIT_ACCEL_BRK LOIT_BRK_JERK -> LOIT_BRK_JERK_M -> LOIT_JERK_BRK LOIT_SPEED -> LOIT_SPEED_M -> LOIT_SPD -> LOIT_SPD_M MOT_YAW_HEADROOM -> MOT_YAW_RESERVE -> MOT_YAW_RES -> MOT_YAW_HEAD (note: currently PWM-based, needs normalisation) PHLD_BRAKE_ANGLE -> PHLD_BRK_ANGLE PHLD_BRAKE_RATE -> PHLD_BRK_RATE Possible prefix change: PILOT -> PLT PILOT_ACCEL_Z -> PILOT_ACC_Z -> PILOT_ACCEL_Z_M PILOT_SPEED_DN -> PILOT_SPD_DN -> PILOT_SPD_DN_M -> PILOT_SPEED_DN_M PILOT_SPEED_UP -> PILOT_SPD_UP -> PILOT_SPD_UP_M -> PILOT_SPEED_UP_M PILOT_TKOFF_ALT -> PILOT_TKOFF_ALTM -> PILOT_TKO_ALT_M PILOT_Y_RATE RTL_ALT -> RTL_ALT_MIN -> RTL_ALT_M RTL_ALT_FINAL -> RTL_ALT_STOP -> RTL_ALT_HOVER -> RTL_ALT_FINAL_M RTL_CLIMB_MIN -> RTL_CLIMB_MIN_M -> RTL_CLMB_MIN RTL_SPEED -> RTL_SPD WPNAV -> WP WPNAV_ACCEL WPNAV_ACCEL_C WPNAV_ACCEL_Z WPNAV_RADIUS WPNAV_SPEED WPNAV_SPEED_DN WPNAV_SPEED_UP

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

+27 -6

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

Tools: remove -ftrapping-math as it cause SITL to crash

master ← timtuxworth:master-broken

opened 12:21AM - 17 Dec 25 UTC

timtuxworth

+0 -2

adding -ftrapping-math causes SITL to crash on startup on my M1 Mac running Taho…e 26.1. Reverting #31346 The crash is an Abort Trap: 6 SIGABRT throwing EXC_BAD_ACCESS at https://github.com/ArduPilot/ardupilot/blob/54f1b3dfd18132a2956524af5e5f26d96c747085/libraries/AP_Logger/AP_Logger.cpp#L1264 due to _num_types not being initialized. which is called from here https://github.com/ArduPilot/ardupilot/blob/86c8eb034b2a4216a0a6b24d8494fef90e338123/libraries/AP_Logger/AP_Logger_Backend.cpp#L388 where _front is null at the time it is called. This is the dump of what happens when it runs ``` + /Users/tim/ardupilot/master/build/sitl/bin/arduplane --speedup 1 --instance 1 --home -35.36274643,149.16513199,585,353.8 --model plane --serial0 mcast: --defaults /Users/tim/ardupilot/master/Tools/autotest/models/plane.parm Setting SIM_SPEEDUP=1.000000 Home: -35.362746 149.165132 alt=585.000000m hdg=353.799988 Starting sketch 'ArduPlane' Starting SITL input Using Irlock at port : 9015 UDP multicast connection 239.255.145.50:14550 Loaded defaults from /Users/tim/ardupilot/master/Tools/autotest/models/plane.parm bind port 5772 for SERIAL1 SERIAL1 on TCP port 5772 bind port 5773 for SERIAL2 SERIAL2 on TCP port 5773 Smoothing reset at 0.001 validate_structures:538: Validating structures ERROR: segmentation fault - aborting Running: sh dumpstack.sh 41356 >dumpstack.sh_nknown.41356.out 2>&1 Failed Running: sh dumpcore.sh 41356 >dumpcore.sh_nknown.41356.out 2>&1 Failed /Users/tim/.local/bin/dual_plane1.sh: line 40: 41356 Abort trap: 6 $PLANE --speedup 1 --instance 1 --home $LOC1 --model plane --serial0 $SERIAL0 --defaults $PLANE_DEFAULTS [2025-12-16-22:15 /Users/tim/ardupilot/master (scripted-oa)]$ ``` This is what it looks like in VSCode <img width="673" height="273" alt="Screenshot 2025-12-16 at 10 19 07 PM" src="https://github.com/user-attachments/assets/586890e1-b89b-4a02-971b-fcdd4c094efb" />

github.com/ArduPilot/ardupilot

AP_Common: add Cortex-M-specific working setjmp implementation

master ← tpwrules:pr/stm32-setjmp

opened 04:17AM - 17 Dec 25 UTC

tpwrules

+95 -30

This is the ultimate fix for all the hacks we had to do in #24231 and #27056 to …ensure floating point registers are properly saved and restored when handling Lua errors. Unlike those, this fixes the problem at the source, which is newlib's setjmp, used in ChibiOS on STM32. The problem could theoretically happen on Cortex-M4 too, this fixes it there as well. The problem could also happen at any setjmp, of which we had one other that was not protected. I've included a fixed setjmp under a new name based on newlib's [patch](https://github.com/bminor/newlib/commit/15ad816dddf836def06cd0330ec0efa9ce50e5bf). We can't use linker wrapping to replace the existing implementation as we also need to grow jmp_buf by 10% or so. I did add a linker wrap to ensure setjmp can't be used unaware in some other part of the code. At such time as we banish older compilers with the broken newlib we can remove ap_setjmp. Tested the fault handler script created in a previous PR on both Cube Orange and Cube Black (non-trivial!). I tested to 100k iterations and three scripting restarts. I also manually set up the FP registers in the main thread function and validated with a debugger and with prints that they were correctly preserved (and did not get preserved when the various patches were reverted). This is a prerequisite to fix another hardfault-on-restart in scripting in the panic handling code. To be clear, this particular change doesn’t fix any crash I discovered or believe is easily possible, it just makes the code cleaner and safer.

github.com/ArduPilot/ardupilot

Remove concept of "fresh" from mount backends

master ← peterbarker:pr/mount-backends-no-fresh

opened 08:44AM - 20 Dec 25 UTC

peterbarker

+16 -56

CaddX, XFRobot and the two storm32 gimbals all have code around not sending data… if it isn't "fresh". This really isn't required. The gimbals *must* be able to handle angle commands coming in at the same rate as neutral-or-retract-angles - that's how we point the gimbal somewhere! If a gimbal *can't* handle the full rate we might send things in at then it should be throttle properly - but the fact they all work well with angle tangles means this is not a problem. storm32-serial retains its "timeout" define as the device will only talk to us if spoken to. ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * * Durandal 0 0 * -128 -128 -136 -136 -136 Hitec-Airspeed * * KakuteH7-bdshot 0 0 * -128 -128 -128 -128 -128 MatekF405 * * * * * * * * Pixhawk1-1M-bdshot * * * * * * * SITL_x86_64_linux_gnu 0 0 0 0 0 0 0 f103-QiotekPeriph * * f303-MatekGPS * * f303-Universal * * iomcu * revo-mini * * * * * * * * skyviper-v2450 * speedybeef4 * * * * * * * * ``` Testing: - use mavlink commands to point to specific angles - use mavlink commands to turn at rates - use RC commands to point to angles - use RC commands to point turn at rates (`MNT1_RC_RATE`) - stow the camera (`gimbal mode retract`) in MAVProxy`*` (adjust parameter angles or just have it offset at an angle before this) - stow the camera (`gimbal mode neutral`) in MAVProxy`*` `*` Make sure your MAVProxy is running off master; I recently fixed MAVProxy's commanding of gimbals!

github.com/ArduPilot/ardupilot

AP_NavEKF3: reduce FuseMagnetometer computation time 25-35%

master ← tpwrules:pr/ekf-inline-kh-mag

opened 12:48AM - 21 Dec 25 UTC

tpwrules

+20 -28

Some code optimizations that reduce the total execution time of `NavEKF3_core::F…useMagnetometer` 25% on H7 and 35% on F4. There should be no change in the order of operations so the results should be bit-identical but I don't know if this is possible to verify with our replay framework. If this PR is well-received there are lots of other similar opportunities, and getting rid of the `KH` intermediate array would save 2-4K of static RAM. I did timing of that function using `AP_HAL::micros()` with interrupts off. For CubeOrange, this PR takes execution time from 699us to 524us. For CubeBlack it is 1138us to 704us. Execution is not as bad as I thought on CubeBlack, I thought it would be less than half the speed. I made sure my boards behaved well on the bench but did not do any flight tests. I also ran `Tools/Replay/check_replay_branch.py` to show that there were no differences in replay. It did show 20-30 errors in the beacon test (I think), but it showed the same thing without this PR applied so I think it is just slightly broken. There were otherwise no errors.

github.com/ArduPilot/ardupilot

Standard Modes Support problems

opened 01:05AM - 21 Dec 25 UTC

DonLakeFlyer

DevCallTopic

With the new Standard Modes support in ArduCopter on master QGC now shows those …modes in it's ui. There are a number of problems from a usability standpoint with this new functionality: * The flight mode names are in ALL CAPS. And include things like ADSB_AVOID. From an end user perspective all caps and using underscores in flight mode names is quite jarring in the QGC UI. It's not technically a problem, just not very user friendly from a good user interface standpoint. It's also pretty jarring for existing QGC+ArduPilot users coming from older firmwares where QGC was in control of flight mode names and used Mixed Case everywhere with no underscores. * Also the list of flight modes is massively long. I don't know if some of these flight modes returned fall into the category of not-selectable by a user. If so, they should be marked as such in the protocol. Also would be nice if there was use of the "advanced" setting in the protocol. Then QGC could filter the list so that it wasn't so formidable at first glance.

CraigElder · December 25, 2025, 5:01am

Attendee count (max): 18

UTC 2302 ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

UTC 2308 Rover-4.6.2: watchdog when downloading logs · Issue #31386 · ArduPilot/ardupilot · GitHub

Crash Dump diagnostics

UTC 2315 Copter parameter conversion from cm, cd to m and degrees · Issue #31562 · ArduPilot/ardupilot · GitHub

Discussion on how to rename parameters in the wiki
Discussion on how to automate updates to the wiki and the code

UTC 2340 signing: Improvements to the Bootloader and Firmware Signing Process by joshanne · Pull Request #31623 · ArduPilot/ardupilot · GitHub

Merge on CI Pass

UTC 2347 https://github.com/ArduPilot/ardupilot/pull/31713

Changes requested

UTC 2352 Tools: remove -ftrapping-math as it cause SITL to crash by timtuxworth · Pull Request #31736 · ArduPilot/ardupilot · GitHub

Tridge to try and reproduce

UTC 2358 AP_Common: add Cortex-M-specific working setjmp implementation by tpwrules · Pull Request #31740 · ArduPilot/ardupilot · GitHub

Sid to review

UTC 0003 Remove concept of "fresh" from mount backends by peterbarker · Pull Request #31758 · ArduPilot/ardupilot · GitHub

Randy to review

UTC 0010 AP_NavEKF3: reduce FuseMagnetometer computation time 25-35% by tpwrules · Pull Request #31759 · ArduPilot/ardupilot · GitHub

Reduce CPU computation time

UTC 0015 Standard Modes Support problems · Issue #31761 · ArduPilot/ardupilot · GitHub

Change the mode names to full strings

UTC 0023 common.xml: specify that TUNE_FORMAT.tune is specifically MML by peterbarker · Pull Request #453 · ArduPilot/mavlink · GitHub

Need input from Hamish