Dev Call Dec 23 2019 2300 UTC

CraigElder · December 23, 2019, 10:59pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

GCS mechanism for Service Bulletin notification

opened 12:48PM - 18 Dec 19 UTC

closed 02:53AM - 25 Nov 20 UTC

DonLakeFlyer

Enhancement NeedToChangeGCS RFC

As it currently stands both MP and QGC notify the user if the stable firmware th…ey are running is older than the latest stable. I don't know how MP does that but QGC does it by downloading the following file: ```http://firmware.ardupilot.org/[Plane/Copter/...]/stable/PX4/git-version.txt```. Parsing it and comparing version numbers. There also needs to be a mechanism to notify the user if the current stable firmware they are running has a Service Bulletin against it and they should upgrade immediately. Given the current directory structure of the firmware server stable builds which looks like this: ```http://firmware.ardupilot.org/[Plane/Copter/...]/stable-#.#.#``` I propose that a GCS should attempt a download in the appropriate stable dir for a file named ```SB.txt```. So for example to report a Service Bulletin against Plane 3.9.8 you add the following file: ```https://firmware.ardupilot.org/Plane/stable-3.9.8/SB.txt``` The contents of the SB.txt file would contain the Service Bulletin details. The non-existence of the file would indicate no Service Bulletin against that version.

github.com/ArduPilot/ardupilot

Plane: Prevent failsafe from returning to DO_LAND_START if already past

ArduPilot:master ← Gone4Dirt:DO_LAND_START_restart-master

opened 07:44PM - 17 Dec 19 UTC

Gone4Dirt

+184 -8

This PR is commissioned by DUALRC This is to fix this issue #12264 **Probl…em:** The aircraft will return to the DO_LAND_START marker when a failsafe initiates an RTL or Land command, despite having already passed the DO_LAND_START flag in the mission. This causes the aircraft to extend its flight time and power drain when a battery failsafe has been triggered. This behaviour is demonstrated in the image below: ![Problem](https://user-images.githubusercontent.com/34512430/71027912-1ee2fe80-2104-11ea-920a-dae1fea66561.png) This PR fixes the problem by setting the flight state to FLIGHT_LAND once the DO_LAND_START flag has been passed. The resulting behaviour is illustrated below: ![Fix](https://user-images.githubusercontent.com/34512430/71027916-23a7b280-2104-11ea-87fb-d6dc32f951e3.png) **Testing** This has been tested in SITL/Real Flight 8 for both land and RTL failsafe actions. Quadplanes and regular fixed wings have been tested. It has also been tested with multiple DO_LAND_START flags as I have heard of some users that do this. In all of the aforementioned cases the aircraft continues along the intended auto mission after the DO_LAND_START as is intended. RTL mode has been initiated from non-auto modes to ensure that the intended behaviour remains unchanged. I have tried to think of all of the potential Gotchyas with this approach. I am keen to discuss on Devcall as there maybe some subtleties that I have missed.

github.com/ArduPilot/ardupilot

Plane: Prevent FS action overiding VTOL land cmd

ArduPilot:master ← Gone4Dirt:BAT-FS-RTL-fix_Master

opened 12:57PM - 17 Dec 19 UTC

Gone4Dirt

+14 -1

This PR has been commissioned by DUALRC. This provides a fix for the issue on… ArduPlane raised here #10320. The issue was closed due to a Copter fix. The behaviour in plane was not fixed. This video demonstrates the original fault and the behaviours with the fix. https://youtu.be/m8qYRzTnE9M This PR is 1 of 3 that aims to address failsafe behaviour on landing. The PRs have been split across three as they address different conditions and I anticipate that there will be a lot of discussion around each behaviour. My hope is that by separating them, it will highlight the issues in isolation.

github.com/ArduPilot/ardupilot

AP_BLHeli: allow connection with reversible ESCs

ArduPilot:master ← ArduPilot:blheli

opened 08:42PM - 16 Dec 19 UTC

IamPete1

+2 -1

This work was funded by DualRC (@Naterater) This allows connection to BLHeliS…uite with reversible throttle setup. Previously connection would be refused because the motors were not at idle. Reporting as 3D tells BLHeli to expect idle throttle of 1500. Small change but took ages to track down. Note that connection will still be refused if there are a mix of reversible and normal ESC's. We can trick BLHeli into connecting by reporting all motors as having a throttle of 0. Possibly we could add this behind a magic param or we could detect a mixture and automatically report 0? Open to ideas.

github.com/ArduPilot/ardupilot

AP_Rangefinder: Reset the VL53L1X before setup

ArduPilot:master ← WickedShell:wickedshell/vl53l1x-reset

opened 01:33AM - 11 Dec 19 UTC

WickedShell

+37 -13

A number of the config steps make the assumption they are running from the sens…ors default power on state. If you do a soft reset of the vehicle without killing power to the sensor this means the second time you configure the sensor you will start from a state which didn't match the base assumptions and can lead to the sensor preforming signficantly differently then it was intended to. This issues a soft reset, and waits for it to reboot before proceeding with configuration. If it's a watchdog reset we don't want to spend long enough to have ensured the sensor reset, so we say the sensor setup completely failed and don't use it, as not using it will be less erroneous then using a misconfigured sensor.

github.com/ArduPilot/ardupilot

Compass Ordering Improvement

ArduPilot:master ← bugobliterator:pr-compass-ordering

opened 07:25AM - 23 Oct 19 UTC

bugobliterator

+915 -395

This PR is targeted towards making compasses show up in a consistent order. *…*AP_Compass**: * Enables registration to frontend based on device id, instead of auto incrementing compass_count. This ensure whatever order of compass was reached in first boot is retained in following boots. * Registration process involves, first looking if device id was already detected and recorded in previous boot, if so, return the instance id. * If above fails, we look for free instance, i.e. the one that has never been linked with in previous boots. * If all fails, we replace the first unregistered compass. This is most likely going to happen in case the compass was replaced by user with a different one. * Compass_UAVCAN driver is modified to reorder the detected devices, so that the compass with larger node id is sent for registration first. This ensures two things incase we are overflowing number of CAN Instances: We give older compasses priority, they can replace the newer one if connected again alongside, also makes it consistent that same uavcan compass appears as one of the instances. **AP_Logger, GCS_MAVLink, ArduCopter** * We use new method `instance_available` to select whether to record/send/use the respective values for compass instance. **AP_NavEKF2, AP_NavEKF3** * We scroll through list of available instances when needed to select different Compass, the changes are made to accommodate behaviour change in Compass library, where devices may appear in an order with missing instance in between.

github.com/ArduPilot/ardupilot

Copter: parachute release is separate from crash-check allows possibility of parachute not being deployed in crash

opened 09:44PM - 19 Aug 16 UTC

rmackay9

Copter Safety

The code for the regular crash-check is quite separate from the parachute releas…e check. They use almost exactly the same logic except that the parachute triggers after 1sec of loss of control while the crash-check triggers after 2 seconds. Also the parachute-check checks that the barometer says we're falling. The separation of the logic means we're open to the possibility of the crash-check triggering without the chute deploying. Maybe that should be possible because we could imagine a simple flip on take-off (we might not want the parachute to deploy in this case).. but perhaps we should at least combine the logic and possibly delay the crash-check timeout if a parachute is installed (to give time to see if the vehicle is falling).

Jaime Serial Issues

Plane

Copter

github.com/ArduPilot/ardupilot

Copter: 4.0 issues list

opened 10:33PM - 12 Oct 19 UTC

rmackay9

Copter

This is a list of issues discovered during Copter-4.0 testing: Common support… problems: - [ ] users can't figure out which barometer is being used ([discussion](https://discuss.ardupilot.org/t/external-baro-sensor-on-can/51390/6)) - [ ] users can't figure out if Oneshot or DShot are working ([discussion](https://discuss.ardupilot.org/t/oneshot125-42-blhelis/51462), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2474), [discussion2](https://discuss.ardupilot.org/t/pixhawk-4-holybro-arducopter-3-6-9-4-0-1rc3-no-control-over-two-motors-in-an-x8-with-dshot/51480), [possible improvement](https://github.com/ArduPilot/ardupilot/pull/13409)) - [ ] two reports of barometer glitches on CubeOrange ([discussion](https://discuss.ardupilot.org/t/barometer-glitch-inducing-ekf-primary-change/51345)), one report on Pixhawk-2.4.8 ([discussion](https://discuss.ardupilot.org/t/copter-instantly-released-itself-from-30m/53368)) Regressions from 3.6.x: - [ ] autotune method for testing gains has changed ([discussion](https://discuss.ardupilot.org/t/has-there-been-a-change-to-autotune-procedure/51058)) - [ ] logging is skipping messages ([issue](https://github.com/ArduPilot/ardupilot/issues/13810)) - [ ] performance regressions which lead to more long loops ([timings](http://uav.tridgell.net/tmp/perf_regression.txt)) - [ ] speedybee telem5 not working? ([discussion](https://discuss.ardupilot.org/t/speedybee-f4-aio-board/50907)) - [ ] sparky2 doesn't work with UAVCAN? ([discussion](https://discuss.ardupilot.org/t/no-uavcan-communication/50858)) - [ ] kakutef7 not working with px4flow sensor ([discussion](https://discuss.ardupilot.org/t/kakute-f7-mini-and-kakute-f7-aio-px4flow-not-working-in-copter-4-0/51000), [issue](https://github.com/ArduPilot/ardupilot/issues/10105)) - [ ] DCM yaw inconsistent pre-arm message ([discussion](https://discuss.ardupilot.org/t/dcm-yaw-inconsistent-by-68-deg-after-battery-change/50813/22), [discussion2](https://discuss.ardupilot.org/t/ekf2-yaw-inconsistent/51701), [PR](https://github.com/ArduPilot/ardupilot/pull/14334)) New for 4.0.4: - [x] PreArm failure if UAVCAN compass removed ([issue](https://github.com/ArduPilot/ardupilot/issues/14686)) - [x] LIS3MDL missing ([PR](https://github.com/ArduPilot/ardupilot/pull/14649)) - [ ] NeoPixel causes EKF instability ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc2-available-for-beta-testing/57916/2)) - [ ] CubePurple has no heater but still has BRD_IMU_TARGTEMP param ([discussion](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/64)) - [x] Compass ordering issue found by HenryW, AndyP (i.e. "unstable sort" of unused compass offsets) ([possible fix](https://github.com/ArduPilot/ardupilot/pull/14529)) - [x] AP_Proximity ignore zones incorrect ([PR with fix](https://github.com/ArduPilot/ardupilot/pull/14496)) Other issues: - [ ] MAVFTP with MP locks up creating or deleting new folders ([AP issue](https://github.com/ArduPilot/ardupilot/issues/14643), [MP issue](https://github.com/ArduPilot/MissionPlanner/issues/2413)) - [ ] watchdog reset on Copter-4.0.3 ([issue](https://github.com/ArduPilot/ardupilot/issues/14582)) - [ ] DShot on KakuteF7 ([issue](https://github.com/ArduPilot/ardupilot/issues/14475)) - [ ] param download stuck using MP is lua scripts enabled on CubeBlack ([discussion](https://discuss.ardupilot.org/t/activated-lua-scripting-parameter-download-problems/55830)) - [ ] MAVFTP still locking up? ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [ ] Watchdog reset not creating log files ([issue](https://github.com/ArduPilot/ardupilot/issues/14054)) - [ ] TFMiniPlus Glitches ([issues](https://github.com/ArduPilot/ardupilot/issues/13411), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13765)) - [ ] dual CAN compass order changing ([discussion](https://discuss.ardupilot.org/t/can-compasses-selection/53153/9)) - [ ] can't flash kakutef7 aio from QGC ([issue](https://github.com/mavlink/qgroundcontrol/issues/8431)) - [ ] BLHeli passthrough still not reliable on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2))? - [ ] vibration failsafe unable to bring down vehicle? ([discussion](https://discuss.ardupilot.org/t/quadcopter-fly-away/52948)) - [ ] blended mRo LocationOne GPSs (using AP_Periph, UAVCAN) produce internal error 400 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/79), [wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/2557), [issue](https://github.com/ArduPilot/ardupilot/issues/14879)) - [ ] neopixel sync loss ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/74), [issue](https://github.com/ArduPilot/ardupilot/issues/13563)) - [ ] UAVCAN ESCs keep spinning even if vehicle is disarmed ([discussion](https://discuss.ardupilot.org/t/in-what-section-in-log-can-i-find-uavcan-escs-telemetry/51613), [issue](https://github.com/ArduPilot/ardupilot/issues/13394)) - [ ] kakutef7 not detecting external bmp280 baro? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/10)) - [ ] [baro temp compensation](https://ardupilot.org/copter/docs/common-baro-temp-comp.html) not working? ([discussion](https://discuss.ardupilot.org/t/barometer-sinking-into-the-ground-when-doing-nothing/50935/11)) - [ ] neopixels not working on some boards at least? ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580/18)) - [ ] kakutef7 aio doesn't detect hmc5883 ([discussion](https://discuss.ardupilot.org/t/compass-type-hmc5883-in-copter-4-0-0-tricopter-frame/50621)) - [x] durandal buzzer ([discussion](https://discuss.ardupilot.org/t/buzzer-on-durandal/50637)) - [ ] frsky passthrough not working on some H7 boards ([discussion](https://discuss.ardupilot.org/t/orange-cube-frsky-passthrough-and-mot-pwm-type-issues/48564/5)) - [ ] twitch when "IMU yaw alignment complete" is displayed while vehicle is moving (3.6.12) ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/24)) - [ ] LIS3MDL driver not enabled on KakuteF7 ([discussion](https://discuss.ardupilot.org/t/kakute-f7-aio-enable-compass-greyed-out/41338), [issue](https://github.com/ArduPilot/ardupilot/issues/12512)) - [ ] Object Avoidance issues: - [ ] Dijkstra's doesn't support spline waypoints (issue: https://github.com/ArduPilot/ardupilot/issues/12691) - [ ] MP complex fence support is not complete - [ ] dshot600 is not working on MatekF765 ([rover discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804)) - [ ] dshot125 is not working on Navio2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] autotune gets stuck while tuning yaw if ATC_RAT_YAW_FLTE = 0 (reported by leonard) - [ ] motor emergency stop RC channel range changed ([discussion](https://discuss.ardupilot.org/t/motor-kill-switch-behavior/48797/8)) - [ ] log download slows down when CAN enabled? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [ ] navio2 LEDs not lighting up ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/19)) - [ ] drift-away with WPNAV_ALT_MIN ([issue](https://github.com/ArduPilot/ardupilot/issues/12888), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13695)) Resolved in Copter-4.0.4: - [x] Hott telemetry not working ([issue](https://discuss.ardupilot.org/t/copter-4-0-4-rc1-released-for-beta-testing/57203/45), [possible fix PR](https://github.com/ArduPilot/ardupilot/pull/14525)) - [x] Loiter-Turns mission command does not face towards center ([issue](https://github.com/ArduPilot/ardupilot/issues/14031), [possible fix](https://github.com/ArduPilot/ardupilot/pull/14038)) - [x] Dijkstra memory issue ([possible fix](https://github.com/ArduPilot/ardupilot/pull/13820)) - [x] extra RC input channel (actually Copter-3.6.12, [issue](https://github.com/ArduPilot/ardupilot/issues/13709)) -- RFD900x software issue - not AP. - [x] parameters wiped occasionally (happens on 3.6.x as well) ([issue](https://github.com/ArduPilot/ardupilot/issues/13134), [fix](https://github.com/ArduPilot/ardupilot/pull/13780)) - [x] landing gear retract after takeoff mission command completes ([discussion](https://discuss.ardupilot.org/t/landing-gear-retract-on-auto-mission-start/51978), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13638)) - [x] Mavlink Gimbal limits not being applied? ([discussion](https://discuss.ardupilot.org/t/gimbal-limits-with-storm32-backend-mavlink-not-applied-correctly/51438/4), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13646)) - [x] Object Avoidance issues: - [x] re-visit object database sizes: https://github.com/ArduPilot/ardupilot/issues/12661 (fixed in master) - [x] BendyRuler cannot maintain altitude (Randy found this during tests) (fixed in master) Resolved in Copter-4.0.3: - [x] BLHeli passthrough doesn't work on CubeOrange ([discussion](https://discuss.ardupilot.org/t/orange-cube-4-0-and-blh-passthrough/51296/2), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13487)) and pixhawk mini? - [x] watchdog on 1st SBUS RC input ([discussion](https://discuss.ardupilot.org/t/crash-following-rcinput-decoding-sbus/52290), [issue](https://github.com/ArduPilot/ardupilot/issues/13615), [fix](https://github.com/ArduPilot/ardupilot/pull/13619)) - [x] zigzag motors don't spin when landed ([issue](https://github.com/ArduPilot/ardupilot/issues/13471), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13501)) and lurching ([issue](https://github.com/ArduPilot/ardupilot/issues/13472))? - [x] CUAVv5+ autopilot cannot connect using USB port? ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/30), [discussion2](https://discuss.ardupilot.org/t/copter-4-0-2-rc4-available-for-beta-testing/52008/37), [driver solution](https://ardupilot.org/copter/docs/common-connect-mission-planner-autopilot.html#loading-composite-usb), [solution to fix usb ids](https://github.com/ArduPilot/ardupilot/pull/13179)) - [x] allow do-set-servo commands to affect at least some non-motor channels ([discussion](https://discuss.ardupilot.org/t/do-set-servo-in-spray-function-does-not-work-in-4-0-0/51950), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13481)) Resolved in Copter-4.0.2: - [x] MAVFTP causes reboot ([issue](https://github.com/ArduPilot/ardupilot/issues/13085)) - [x] Spektrum DX8 not working on pixracer ([discussion](https://discuss.ardupilot.org/t/spektrum-dx8-radio-incompatible-not-recognized-with-arducopter-v-4-all-flavors/50702), [issue](https://github.com/ArduPilot/ardupilot/issues/13458)) - [x] RTL may return at incorrect alt ([issue](https://github.com/ArduPilot/ardupilot/issues/13441), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13444)) - [x] log file reliability on non-SD card boards like open-revo, omnibus ([discussion](https://discuss.ardupilot.org/t/tuning-the-harmonic-notch/48836/9)) - [x] SBUS lag ([discussion](https://discuss.ardupilot.org/t/urgent-s-bus-input-on-4-0-1-is-stuttering-often-100-300ms-up-to-500ms/51591), fixed along with ESC sync issues) - [x] ESC sync issues ([discussion](https://discuss.ardupilot.org/t/esc-sync-problem-with-update-from-3-6-9-to-3-6-10/48261/5), [issue](https://github.com/ArduPilot/ardupilot/issues/13310), [issue2](https://github.com/ArduPilot/ardupilot/issues/13374)) - [x] AutoTune incorrectly restores yaw acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/13344), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13345)) - [x] px4flow doesn't work on CubeBlack ([discussion](https://discuss.ardupilot.org/t/px4flow-not-working-with-copter-4-0/51018), [fix](https://github.com/ArduPilot/ardupilot/pull/13391)) - [x] AP_RangeFinder PWM driver not using OFFSET parameter ([discussion](https://discuss.ardupilot.org/t/rngfnd1-offset-not-working-for-pwm-and-i2c-lidarlite/51125), [issue](https://github.com/ArduPilot/ardupilot/issues/13252), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13293)) Resolved in Copter-4.0.1: - [x] need to update [tuning process guide](https://ardupilot.org/copter/docs/tuning-process-instructions.html) with new filter params ([discussion](https://discuss.ardupilot.org/t/what-should-i-use-for-atc-rat-pit-flt-values/49768/10)) - [x] spectrum 22ms broken? (https://discuss.ardupilot.org/t/mro-r15-pixracer-incompatible-with-arducopter-v-4/50702) - [x] optical flow output not being sent to GCS ([discussion](https://discuss.ardupilot.org/t/cheerson-cx-of-low-cost-optical-flow-sensor-testing/35598/154), [possible fix](https://github.com/ArduPilot/ardupilot/pull/13182)) - [x] onboard SSD1306 not working with CubeOrange ([discussion](https://discuss.ardupilot.org/t/cube-orange-4-0-0-i2c-ssd1306-problem/50561), [issue](https://github.com/ArduPilot/ardupilot/issues/13127)) - [x] kakutef7mini watchdog resets ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x800-watchdog-reset-reboot-with-kakute-f7-mini-logging-issue/50789)) (resolved with FrSky Telemetry Status Text fix) Resolved in Copter-4.0.0-rc5: - [x] RM3100 compass not enabled (it's on a DroTek F9P Sirius GPS unit) ([PR](https://github.com/ArduPilot/ardupilot/pull/10581), [discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-available-for-beta-testing/50250/19)) - [x] Arming with Here2 CAN GPS fails due to bad HDOP ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/8), [fix](https://github.com/ArduPilot/ardupilot/pull/12916)) -- fixed in -rc3 - [x] autopilot is not booting up sometimes ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc3-rc4-available-for-beta-testing/50250/45), [fix](https://github.com/ArduPilot/ardupilot/commit/6b0252b44f4cf8bc71425345d918cb98e75937ff)) - [x] GPS not working on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/aad45986444f79444081b221045d9f2aea8eb90c)) - [x] missing serial ports on some boards ([possible fix](https://github.com/ArduPilot/ardupilot/commit/cac1cc0d9b6de101e7f4f275961331fe49d49b07)) Resolved in Copter-4.0.0-rc3: - [x] sysid needs enable param ([issue](https://github.com/ArduPilot/ardupilot/issues/12927), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12955)) - [x] user can force arming in Loiter with no position estimate ([issue](https://github.com/ArduPilot/ardupilot/issues/11435), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12928)) - [x] rangefinder parameters not being copied from 3.6. to 4.0 ([issue](https://github.com/ArduPilot/ardupilot/issues/12921), [possible fix](https://github.com/ArduPilot/ardupilot/pull/12922)) - [x] neopixel not working ([discussion](https://discuss.ardupilot.org/t/ws2812b-neopixel-integration/48580)) - [x] altitude hold oscillation with CubeOrange ([discussion](https://discuss.ardupilot.org/t/alt-hold-issues-in-copter-4-0/48604), [fix](https://github.com/ArduPilot/ardupilot/pull/12898#event-2838474162)) - [x] rename RangeFinder_TYPE "25:Benewake TFmini Plus” to “Benewake TFmini Plus IIC” or “Benewake Plus IIC” ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-rc1-available-for-beta-testing/48545/52)) - [x] LandingGear: RETRACTED message where then are not gear setup ([issue](https://github.com/ArduPilot/ardupilot/issues/12815)) - [x] Auto may become stuck on Takeoff command if range finder is enabled and large altitude error ([issue](https://github.com/ArduPilot/ardupilot/issues/12818)) - [x] "Geofence breached" messages when no polygon fences available. Potential Fixed: https://github.com/ArduPilot/ardupilot/pull/12724 - [x] can't calibrate compasses ([discussion](https://discuss.ardupilot.org/t/compass-not-calibrated/48583/12)) -- older Here GPS with longer boot time, resolved by setting BRD_BOOT_DELAY = 400. Resolved in Copter-4.0.0-rc2: - [x] Sparky2 build is broken, overflows flash by1084 bytes. This can be seen in the autotest output. Fixed with https://github.com/ArduPilot/ardupilot/pull/12678 - [x] PSC_ACCZ_FILT should be converted to PSC_ACCZ_FLTE on upgrade. Fixed with https://github.com/ArduPilot/ardupilot/pull/12687 - [x] QGC upload of fences is rejected because of mav frame (qgc issue: https://github.com/mavlink/qgroundcontrol/issues/7960, AP fix:https://github.com/ArduPilot/ardupilot/pull/12665) - [x] blank PreArm message on newly setup vehicles: https://github.com/ArduPilot/ardupilot/issues/11800. Fixed:https://github.com/ArduPilot/ardupilot/pull/12690 - [x] loss motor detection bug (reported by leonard) fixed:https://github.com/ArduPilot/ardupilot/pull/12697 - [x] loss of yaw control on fast descent ([from Sergey here](https://github.com/ArduPilot/ardupilot/issues/12695)). Fixed: https://github.com/ArduPilot/ardupilot/pull/12696, https://github.com/ArduPilot/ardupilot/pull/12700 - [x] fly away caused by high gains and mot-mix-max set too high (reported by leonard). Fixed:https://github.com/ArduPilot/ardupilot/pull/12701 - [x] BLHeli telemetry causes internal error 0x8000 (https://github.com/ArduPilot/ardupilot/issues/12542) potentially fixed by PR #12677 - [x] Shaky copter due to filtering changes - [x] Garmin LidarLite PWM interface doesn't work: https://github.com/ArduPilot/ardupilot/issues/10111#issuecomment-546627151. User settings were non-standard, updated [wiki page](https://github.com/ArduPilot/ardupilot/issues/10111) Could not be verified OR not a problem: - [x] Emlid CAN compass not found with CubeOrange ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc3-available-for-beta-testing/51295/6)) unless BRD_BOOT_DELAY = 5000. Only affected one user, waiting for more reports. - [x] blue screen of death on Windows machines when using usb2 ([discussion](https://discuss.ardupilot.org/t/copter-4-0-0-released/50545/18)). Affects only this user, could not be reproduced. - [x] MiniPix current sensing not working ([discussion](https://discuss.ardupilot.org/t/copter-4-0-2-rc3-available-for-beta-testing/51790/4)). User worked it out. - [x] constant GCS failsafes because crossfire telem sends heartbeat at 0.2hz ([discussion](https://discuss.ardupilot.org/t/failsafe-changes/48910)) -- telemetry system issue - [x] rm3100 not found ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/6)) - [x] DJIX quad motor order is CCW instead of CW ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-released/51505/20)) - [x] benewake jumps to 0.3m when actually 19m ~ 20m ([discussion](https://discuss.ardupilot.org/t/issue-with-lgr-deploy-and-or-rangefinder/51041)) -- benewake suggests a sensor setting change to resolve - [x] complaints that RNGFND and BATT_MONITOR param conversions not working but cannot be reproduced ([discussion](https://discuss.ardupilot.org/t/copter-4-0-1-rc2-available-for-beta-testing-critical-fix-included/50940/16), [issue](https://github.com/ArduPilot/ardupilot/issues/13239)) - [x] omnibus f4pro can't write wp or parameters on serial1 ([discussion](https://discuss.ardupilot.org/t/omnibus-f4-pro-gps/50394/2)) - [x] rangefinder can't be used as EKF_ALT_SOURCE? ([issue](https://github.com/ArduPilot/ardupilot/issues/12991), [discussion](https://discuss.ardupilot.org/t/bug-in-ap-navekf2-posvelfusion-cpp/49919)) -- Randy tested and found EK2_ALT_SOURCE worked if EK2_RNG_USE_HGT was set to 70. - [x] can't get IBUS RC to work ([discussion](https://discuss.ardupilot.org/t/am-i-doing-something-wrong-with-ibus/48789)) - [x] compass1,2 not used but still checked as part of pre-arm consistency? ([discussion](https://discuss.ardupilot.org/t/copter-3-6-12-rc1-released-for-beta-testing/50004/20))

Rover

github.com/ArduPilot/ardupilot

Rover: 4.0 issues list

opened 05:28AM - 07 Oct 19 UTC

rmackay9

Rover

This is a list of bugs and features that have been reported as part of Rover's 4….0 beta testing ([category on discuss is here](https://discuss.ardupilot.org/c/ardurover/rover-4-0)) that we should resolve before the official release: - [ ] BLHeli passthrough only works when MOT_PWM_TYPE = 0 (PWM) on KakuteF7. Stops working when set to DSHot ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804/26)) - [ ] skid-steering rover jumps forward because of bad velocity estimate ([issue](https://discuss.ardupilot.org/t/uncommanded-throttle-in-acro/49751)) - [ ] dijkstra: cannot find path if within a fence ([discussion](https://discuss.ardupilot.org/t/dijkstra-could-not-find-path/48781)), should drive out of fence? - [ ] DShot600 not working ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc)) - [ ] EKF wheel encoder bug? ([issue](https://github.com/ArduPilot/ardupilot/issues/12702), [PR](https://github.com/ArduPilot/ardupilot/pull/12703)) - [ ] OneShot (and possibly other output types) not working. Raised by Nando here: https://discuss.ardupilot.org/t/rover-3-5-0-rc2-is-available-for-beta-testing/37731/12 - [ ] Need documentation on how to setup two GPSs and use them for yaw/heading ([discussion](https://discuss.ardupilot.org/t/rover-4-0-0-rc3-available-for-beta-testing/49003/8)) Resolved in -rc4: - [x] RCx_OPTION config error for RTL, SmartRTL, Simple modes ([discussion](https://discuss.ardupilot.org/t/rover-4-0-0-rc3-available-for-beta-testing/49003/5), [issue](https://github.com/ArduPilot/ardupilot/issues/12805), [partial fix](https://github.com/ArduPilot/ardupilot/pull/12804)) - [x] watchdog triggering with BLHeli? ([discussion](https://discuss.ardupilot.org/t/rover-4-0-matek-f765-blheli32-esc/48804/16)) Resolved in -rc3: - [x] Blank PreArm message: https://github.com/ArduPilot/ardupilot/issues/12663 - [x] ignores do-change-speed ([issue](https://github.com/ArduPilot/ardupilot/issues/12753)) Resolved in -rc2: - wheel encoders don't seem to work (https://github.com/ArduPilot/ardupilot/issues/9303, https://github.com/ArduPilot/ardupilot/issues/10318, https://github.com/ArduPilot/ardupilot/issues/10752)