Dev Call Feb 19, 2024

GCS_MAVLink: Remove wrong usage of COMMAND_ACK message

ArduPilot:master ← patrickelectric:mavlink_spec

opened 04:16PM - 26 May 20 UTC

patrickelectric

+1 -13

SET_MODE message does not exist inside the MAV_CMD enum as described in the mav…link specification for [COMMAND_ACK](https://mavlink.io/en/messages/common.html#COMMAND_ACK). The system that is using SET_MODE to communicate with the vehicle should rely on HEARTBEAT message to detect if the mode was set correctly. Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

AP_NavEKF3: define Yaw alignment min GPS speed per vehicle

ArduPilot:master ← rmackay9:ekf3-gsf-fix

opened 11:58AM - 03 Jul 23 UTC

+10 -3

This improves GSF performance for Copter and Rover 4.4 by reducing the minimum s…peed the vehicle must be travelling at for a GSF reset to occur. The minimum speed requirement issue (see https://github.com/ArduPilot/ardupilot/issues/24183) was introduced with PR https://github.com/ArduPilot/ardupilot/pull/23515 but the minimum (5m/s) was likely designed with Planes in mind.This PR reduces the limit to 2m/s for Copters and 0.5m/s for Rover. These are somewhat arbitrary values .. perhaps Copter could be lowered further to 1m/s. Related discussion [is here](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/13) Alternatively we could add a parameter although i wonder if anyone would ever set it. This has been lightly tested in SITL for Rover and Copter. The user who reported the problem (and discovered the fix) has successfully tested 0.5m/s for Rover.

Filtering: re-work harmonic notch filter freq clamping and disable

ArduPilot:master ← tridge:pr-notch-rework

opened 10:06AM - 02 Nov 23 UTC

+514 -141

This reworks the harmonic notch setup. Major changes include: - move all clamp…ing decisions down to one place in HarmonicNotchFilter<T>::set_center_frequency - by default disable notch completely when freq is under 50% of min freq - added INS_HNTCH_OPTS bit to use min freq when RPM source stops (for heli governors) - make the double and triple notch clearer, note this changes the spread for harmonics, need to think if that is correct - removed code that initialised frequencies to the min freq, instead rely on update calls - allow harmonic notches to run in quadplanes in fwd flight

Reduce memory used by DDS client

ArduPilot:master ← srmainwaring:prs/pr-dds-reduce-mem-use

opened 03:27PM - 29 Jan 24 UTC

srmainwaring

+8 -7

Remove unused TFMessage variable and reduce size of pre-allocate arrays in XRCE …DDS message types. ### Dependencies Requires upstream change: - https://github.com/eProsima/Micro-XRCE-DDS-Gen/issues/68 - https://github.com/eProsima/Micro-XRCE-DDS-Gen/pull/74 Which are applied to the ArduPilot forks in: - https://github.com/ArduPilot/OMG-IDL-Parser/pull/1 - https://github.com/ArduPilot/Micro-XRCE-DDS-Gen/pull/2 ### Tasks - [ ] Require a submodule update in this PR before merging. ### Testing Before ```bash AP: DDS: ********** DDS message sizes ********** AP: DDS: ardupilot_msgs_srv_ArmMotors_Request: 1 AP: DDS: ardupilot_msgs_srv_ArmMotors_Response: 1 AP: DDS: builtin_interfaces_msg_Time: 8 AP: DDS: geographic_msgs_msg_GeoPoseStamped: 320 AP: DDS: geometry_msgs_msg_PoseStamped: 320 AP: DDS: geometry_msgs_msg_TwistStamped: 312 AP: DDS: sensor_msgs_msg_Joy: 1072 AP: DDS: sensor_msgs_msg_NavSatFix: 376 AP: DDS: rosgraph_msgs_msg_Clock: 8 AP: DDS: tf2_msgs_msg_TFMessage: 57608 AP: DDS: AP_DDS_Client: 119768 AP: DDS: ********** DDS message sizes ********** ``` After ```bash AP: DDS: ********** DDS message sizes ********** AP: DDS: ardupilot_msgs_srv_ArmMotors_Request: 1 AP: DDS: ardupilot_msgs_srv_ArmMotors_Response: 1 AP: DDS: builtin_interfaces_msg_Time: 8 AP: DDS: geographic_msgs_msg_GeoPoseStamped: 320 AP: DDS: geometry_msgs_msg_PoseStamped: 320 AP: DDS: geometry_msgs_msg_TwistStamped: 312 AP: DDS: sensor_msgs_msg_BatteryState: 920 AP: DDS: sensor_msgs_msg_Joy: 336 AP: DDS: sensor_msgs_msg_NavSatFix: 376 AP: DDS: rosgraph_msgs_msg_Clock: 8 AP: DDS: tf2_msgs_msg_TFMessage: 4616 AP: DDS: AP_DDS_Client: 9168 AP: DDS: ********** DDS message sizes ********** ``` Run on SITL and on MatekH743 / plane.

AP_NavEKF3: define Yaw alignment min GPS speed per vehicle

ArduPilot:master ← rmackay9:ekf3-gsf-fix

opened 11:58AM - 03 Jul 23 UTC

+10 -3

This improves GSF performance for Copter and Rover 4.4 by reducing the minimum s…peed the vehicle must be travelling at for a GSF reset to occur. The minimum speed requirement issue (see https://github.com/ArduPilot/ardupilot/issues/24183) was introduced with PR https://github.com/ArduPilot/ardupilot/pull/23515 but the minimum (5m/s) was likely designed with Planes in mind.This PR reduces the limit to 2m/s for Copters and 0.5m/s for Rover. These are somewhat arbitrary values .. perhaps Copter could be lowered further to 1m/s. Related discussion [is here](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/13) Alternatively we could add a parameter although i wonder if anyone would ever set it. This has been lightly tested in SITL for Rover and Copter. The user who reported the problem (and discovered the fix) has successfully tested 0.5m/s for Rover.

Filtering: re-work harmonic notch filter freq clamping and disable

ArduPilot:master ← tridge:pr-notch-rework

opened 10:06AM - 02 Nov 23 UTC

+514 -141

This reworks the harmonic notch setup. Major changes include: - move all clamp…ing decisions down to one place in HarmonicNotchFilter<T>::set_center_frequency - by default disable notch completely when freq is under 50% of min freq - added INS_HNTCH_OPTS bit to use min freq when RPM source stops (for heli governors) - make the double and triple notch clearer, note this changes the spread for harmonics, need to think if that is correct - removed code that initialised frequencies to the min freq, instead rely on update calls - allow harmonic notches to run in quadplanes in fwd flight

Reduce memory used by DDS client

ArduPilot:master ← srmainwaring:prs/pr-dds-reduce-mem-use

opened 03:27PM - 29 Jan 24 UTC

srmainwaring

+8 -7

Remove unused TFMessage variable and reduce size of pre-allocate arrays in XRCE …DDS message types. ### Dependencies Requires upstream change: - https://github.com/eProsima/Micro-XRCE-DDS-Gen/issues/68 - https://github.com/eProsima/Micro-XRCE-DDS-Gen/pull/74 Which are applied to the ArduPilot forks in: - https://github.com/ArduPilot/OMG-IDL-Parser/pull/1 - https://github.com/ArduPilot/Micro-XRCE-DDS-Gen/pull/2 ### Tasks - [ ] Require a submodule update in this PR before merging. ### Testing Before ```bash AP: DDS: ********** DDS message sizes ********** AP: DDS: ardupilot_msgs_srv_ArmMotors_Request: 1 AP: DDS: ardupilot_msgs_srv_ArmMotors_Response: 1 AP: DDS: builtin_interfaces_msg_Time: 8 AP: DDS: geographic_msgs_msg_GeoPoseStamped: 320 AP: DDS: geometry_msgs_msg_PoseStamped: 320 AP: DDS: geometry_msgs_msg_TwistStamped: 312 AP: DDS: sensor_msgs_msg_Joy: 1072 AP: DDS: sensor_msgs_msg_NavSatFix: 376 AP: DDS: rosgraph_msgs_msg_Clock: 8 AP: DDS: tf2_msgs_msg_TFMessage: 57608 AP: DDS: AP_DDS_Client: 119768 AP: DDS: ********** DDS message sizes ********** ``` After ```bash AP: DDS: ********** DDS message sizes ********** AP: DDS: ardupilot_msgs_srv_ArmMotors_Request: 1 AP: DDS: ardupilot_msgs_srv_ArmMotors_Response: 1 AP: DDS: builtin_interfaces_msg_Time: 8 AP: DDS: geographic_msgs_msg_GeoPoseStamped: 320 AP: DDS: geometry_msgs_msg_PoseStamped: 320 AP: DDS: geometry_msgs_msg_TwistStamped: 312 AP: DDS: sensor_msgs_msg_BatteryState: 920 AP: DDS: sensor_msgs_msg_Joy: 336 AP: DDS: sensor_msgs_msg_NavSatFix: 376 AP: DDS: rosgraph_msgs_msg_Clock: 8 AP: DDS: tf2_msgs_msg_TFMessage: 4616 AP: DDS: AP_DDS_Client: 9168 AP: DDS: ********** DDS message sizes ********** ``` Run on SITL and on MatekH743 / plane.

Copter: Excluded target velocity from slowdown calculations in FOLLOW mode

ArduPilot:master ← Georacer:bugfix/follow_moving_target

opened 10:29PM - 04 Feb 24 UTC

Georacer

+13 -25

# Summary This PR fixes a bug where Copter would not reach its target in FOLL…OW mode. # The issue Currently, when the Copter would be in FOLLOW mode, following a **moving** target, it would never actually reach its desired position; instead there would be a steady-state position error. The reason is that there are slowdown calculations in place in `ArduCopter/mode_follow.cpp`, in order to overwrite the position controller velocity setpoint and slow down the UA as it approaches its target, and prevent an overshoot. However, these slowdown calculations would be applied over the absolute velocity, not the velocity relative to the target. Effectively, the absolute velocity would be required to be zero above the moving target, which is inconsistent with a moving target. This issue likely blocks the implementation of an effective Copter landing on a moving base. # The changes ## Before `ArduCopter/mode_follow.cpp:L65` and beyond carries out the calculations for the desired velocity. In order, the steps taken would be: 1. Get the position offset from the target. (`L67`) 2. Use `FOLL_POS_P` gain to calculate approach velocity **and add target velocity**. (`L69-73`) 3. Apply the maximum velocity limits. (`L75-85`) 4. Carry out the slow-down calculations to limit lateral velocity based on distance from target. (`L94-112`). ## After With this PR, the order of the steps is slightly changed. 1. Get the position offset from the target. (`L67`) 2. Use `FOLL_POS_P` gain to calculate approach velocity **without adding** target velocity. (`L69-73`). This yields the desired relative approach velocity. 3. Carry out the slow-down calculations to limit lateral velocity based on distance from target. (`L75-93`) 4. Add the target velocity to obtain the absolute desired velocity. (`L95-98`) 5. Apply the maximum velocity limits. (`L100-110`) # Testing A following scenario similar to that of https://github.com/ArduPilot/ardupilot/pull/24720 was simulated. A truck would drive around at ~6m/s and the Copter was tasked to follow it. Before, the Copter could get no closer than ~15m. ![Screenshot from 2024-02-04 23-01-19](https://github.com/ArduPilot/ardupilot/assets/3149996/71b883fc-ca29-4bf5-80a0-218821bdecfd) After, the Copter could effectively nullify the tracking error: ![Screenshot from 2024-02-04 23-02-11](https://github.com/ArduPilot/ardupilot/assets/3149996/3a0f9f6c-7b1a-4926-b471-a6c5ef682825) The simulated flight logs are available upon request. Let me know where I should upload them. :information_source: A script was running during the tests, but I don't think it alters the presented results.

Plane: allow set_throttle in manual and move disarmed override up

ArduPilot:master ← IamPete1:plane_set_throttle_manual

opened 11:56AM - 14 Feb 24 UTC

IamPete1

+27 -16

More throttle tidy ups, by ensuring `use_throttle_limits`, `use_battery_compensa…tion` and `suppress_throttle` return false in manual mode we can remove the not in manual check on the `set_throttle` function. Moving the `is_armed_and_safety_off` case up means it keeps the manual check and its in the same function as the other `is_armed` case that does a very similar thing. The next step is to combine those two checks.

AP_DroneCAN: DNA Server: log duplicate nodes in CAND

ArduPilot:master ← IamPete1:CAND_duplicate_log

opened 02:53PM - 14 Feb 24 UTC

IamPete1

+20 -4

This means we get a CAND log of any duplicate nodes that turn up, this should ma…ke it much easier to track down what is going on. It still get the log even if ignore duplicates is set, its still valid to log because it better represents the peripherals connected. Logging is still only done if a log has been started, if the issue is a boot you would have to enable disarmed logging to get the original unique ID that caused the conflict. Note that we only get 1 extra log, so if there are multiple duplicates we only get the first. Tested by deliberately setting two static IDs to conflict. In this case the two devices were both here2's so only the UID is different, but the other fields would also be different for other devices. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/3222f228-b14c-4c0b-bef5-6b770d573a70)

Copter: Autotune performance and safety enhancements

ArduPilot:master ← lthall:20240217_Autotune

opened 02:21AM - 17 Feb 24 UTC

lthall

+92 -70

This PR attempts to address some of the long term concerns with AutoTune. 1. …Autotune now fails when it becomes clear the aircraft will probably fail to tune well. 2. The recovery from the rate twitch makes use of the control model to reduce the severity of the ESC command. This should dramatically reduce the chance of desync. 3. The waiting for level criteria has been adjusted to reduce the chance initial conditions cause problems with the tests. 4. The practice of sipping a side in an attempt to save time has been removed as it causes aircraft velocity to build. I believe removing this is a net gain in both time and reliability. 5. Base test angles on ratio's of ANGLE_MAX. These changes are expected to dramatically reduce crashes due to desync and successful autotune with bad/dangerous tunes. We will see an increase number of complaints and questions along the lines of "Why did autotune fail to complete" and "Autotune failed with a failed to level error". Improvements for a future PR 1) Make the test twitch more consistent on each test by continuing the twitch after the measurement is complete. This will keep twitches symmetrical and reduce the build up of velocity 2) Update the twitch rate and angle target based on the results of the last four twitches to reduce the number of aborted tests and therefore the total time taken. 3) Another protection I should add is to stop angle P term increase when negative rates are observed but angle overshoot is small. This will help prevent excessively large Ange P results.

Plane: fixed ramp of motors on back transition in tilt quadplanes

ArduPilot:master ← tridge:pr-quadplane-tilt-ramp

opened 12:32AM - 18 Feb 24 UTC

+3 -5

this removes the special case for SHUT_DOWN state of the motors in tilt quadplan…es. The old code seemed to assume that the output_motor_mask() doesn't work in SHUT_DOWN state, but in fact it does, so we can get proper spoolup behavious on back transition just by removing the special case this PR builds on https://github.com/ArduPilot/ardupilot/pull/26248 to give us a quadplane-tilt frame for testing

Add detected message when GPS found

ArduPilot:master ← peterbarker:pr/probe-messages

opened 12:02AM - 19 Feb 24 UTC

peterbarker

+25 -9

Master: ![image](https://github.com/ArduPilot/ardupilot/assets/7077857/fadd6b…be-e8a3-4689-a768-43047722e55f) after this PR: ![image](https://github.com/ArduPilot/ardupilot/assets/7077857/d13bfe1e-d288-44dd-8d92-d628fac282e7) And the most common uBlox case where the thing got auto-configured: ![image](https://github.com/ArduPilot/ardupilot/assets/7077857/97155d72-9e56-4c2f-92e2-e5016b48f946)

Plane

Plane: stable 4.5.x issues list

opened 03:33AM - 01 Dec 20 UTC

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2-4.5 release - [ ] disp…lay message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] disable uart reboot checker for non-debug build - [ ] lua scripts sometimes do not start: https://github.com/ArduPilot/ardupilot/issues/25455 - [x] https://github.com/ArduPilot/ardupilot/issues/25157 - [ ] can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height - [ ] scaling of baro gate with height: https://github.com/ArduPilot/ardupilot/issues/25337 - [ ] pitch stick mixing can stall aircraft - [ ] https://github.com/ArduPilot/ardupilot/issues/25283 - [ ] support new DroneCAN ESC status msg - [ ] slow down EFI update in periph - [ ] rapid mode change in DO_VTOL_TRANS test: https://github.com/ArduPilot/ardupilot/pull/24954 - [ ] SBUS input corruption on F4: https://github.com/ArduPilot/ardupilot/issues/14105 - [ ] add frame to fly to in mavproxy - [ ] check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE - [ ] BVLOS quadplane docs: https://github.com/ArduPilot/ardupilot/issues/21876 - [x] TECS descent in CRUISE mode (log from @Hwurzburg ) - [ ] jetcat EFI applet - [ ] ublox jamming indicator #11239 - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [x] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [x] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [x] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [x] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter & Rover

Copter/Rover-4.5.0 issues list

opened 03:30AM - 31 Jan 24 UTC

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.5 testing. The [is…sues list for Copter/Rover-4.4 is here](https://github.com/ArduPilot/ardupilot/issues/23192). [Backport PRs](https://github.com/orgs/ArduPilot/projects/8/views/1). Reports requiring investigation: - [ ] Throw mode reliability ([discussion](https://discuss.ardupilot.org/t/diagnose-unpredictable-throw-mode/113314)) - [ ] TKOFF_RPM_MIN working? ([4.3.x discussion](https://discuss.ardupilot.org/t/takeoff-blocked-waiting-for-esc-rpm/113256)) Confirmed issues: - [ ] ViewPro does not track GPS location well ([discussion](https://discuss.ardupilot.org/t/viewpro-gimbal-point-camera-here-function/98279/33), known limitation of ViewPro API) Enhancements or Issues that may not be resolved before the stable release: - none Wiki issues/enhancement requests: - [ ] Add vertical position controller tuning instructions ([discussion](https://discuss.ardupilot.org/t/z-oscillation-in-position-hold/113149/4)) - [ ] Add warning for AutoTune ESC desync ([issue](https://github.com/ArduPilot/ardupilot_wiki/issues/5760)) Mission planner issues/enhancement requests: - [ ] fixup camera gimbal page ([discussion](https://discuss.ardupilot.org/t/question-about-camera-gimbal/101063/7)) Resolved issues: - [x] Record video while armed broken ([PR](https://github.com/ArduPilot/ardupilot/pull/26217)) -- resolved for -beta3 - [x] Parachute conversion issue ([issue](https://github.com/ArduPilot/ardupilot/issues/26132), [PR](https://github.com/ArduPilot/ardupilot/pull/26151)) -- resolved for beta2 - [x] Siyi running old camera fw message ([discussion](https://discuss.ardupilot.org/t/siyi-a8-camera-fw-version-reporting-issue/112870), [original discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/673), [PR](https://github.com/ArduPilot/ardupilot/pull/26168)) -- resolved for beta2 - [x] Matek H743 watchdog ([discussion](https://discuss.ardupilot.org/t/locally-compiled-arducopter-4-5-0-beta1-fails-on-matekh743-due-to-watchdog/113029)) -- development environment issue - [x] Stuck thread ([discussion](https://discuss.ardupilot.org/t/stuck-thread-and-failed-data-logging-error/112711/2)) -- exists in 4.4.4 as well, two devs say it's fine so concluded it is a hardware failure on the user's autopilot. - [x] AutoTune crash -- ESC de-sync ([discussion](https://discuss.ardupilot.org/t/copter-4-5-0-beta1-available-for-beta-testing/112504/11)) - [x] Here4 does not support GPS-for-yaw (aka Moving baseline) ([discussion](https://discuss.ardupilot.org/t/gps-yaw-moving-baseline-with-dual-dronecan-here4/112357))

Copter/Rover-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC