Dev Call Dec 30 2019 2300 UTC

CraigElder · December 30, 2019, 10:55pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Re-enable and improve motor vibration test

ArduPilot:master ← andyp1per:pr-enable-vibration-test

opened 09:02PM - 25 Dec 19 UTC

andyp1per

+162 -136

This PR creates more realistic gyro and accel noise by taking throttle into acco…unt and adding some random variation to frequency components. The improved simulation is used to use more realistic (and therefore flyable) levels of noise enabling the test to be switched back on. Fixes https://github.com/ArduPilot/ardupilot/issues/13072

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

Remove use of rcmap library

ArduPilot:master ← peterbarker:die-rcmap-die

opened 12:26PM - 05 May 18 UTC

peterbarker

+327 -343

This is built on several the modeswitch-to-rcinput PR, #8170 There is still …more to do to make everything nicely orthogonal, most notably the handling of RC6 specially in terms of deadzone handling, and the setting of ranges on only a selection of the auxillary channels. The initialising of the ranges should probably be done based on the channel option assigned as part of `init_aux_function()` or `init_aux_functions()`. We should also rename that function given we're using it for the primary vehicle RC inputs! One of the more interesting bits in here is the forcing of the 4 primary input channels to be defined. At the moment if you set `RCMAP_THROTTLE` to 89 and reboot your vehicle will have to wipe its parameters to make it functional again; we use these four channels pointers trustingly throughout the code. This force-setting is only one solution to the problem; we could also drop into something like the "you have a sensor problem" loop which BoardConfig has, or we could use a dummy `RC_Channel` and tell the user to fix things. Or we could check for `nullptr` here, there and everywhere. Also of interest is the positioning of the throttle channel in the `RC_Channels` base class. Every vehicle has a throttle (*cough*AntennaTracker*cough*) - does it make sense to be in the base class? @WickedShell has been working on failsafes - would it help if it was? I'm currently leaning towards putting it back into `RC_Channels_Copter`. Also not done is parameter conversion. PRs very welcome ;-)

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)