Dev Call Feb 7, 2022

CraigElder · February 7, 2022, 10:46pm

Issues & Pull requests

Rover: 4.1.0 issues list

opened 07:51AM - 07 Apr 21 UTC

Rover DevCallTopic ReleaseAdmin

This is a list of known issues especially blockers for the 4.1.0 rover release. … The equivalent Copter issue is https://github.com/ArduPilot/ardupilot/issues/16478 Issues requiring investigation: - [ ] BalanceBot broken in Acro mode? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-3-rc1-released-for-beta-testing/79751/3)) - [ ] DSHOT reverse range is inverted (4.2 issue. see [issue](https://github.com/ArduPilot/ardupilot/issues/19346)) - [ ] Kenny Trussell suggestions for GPS-for-yaw config improvements ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) - [ ] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) - [ ] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) - [ ] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) - [ ] another Matek H7 imu reset internal error report ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/47)) - [ ] Lost accel calibration parameters ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/23)) - [ ] Rover avoidance of fence OK? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/19)) - [ ] PRX missing from 1MB boards for Rover although it probably would fit ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beat4-released-for-beta-testing/72504/12)), simple avoidance not working with TFLuna? ([discussion](https://discuss.ardupilot.org/t/how-should-i-resolve-the-error-system-overflowexception/71800/10)) - [ ] Speed controller I-term build-up when motors are saturated ([discussion](https://discuss.ardupilot.org/t/pidachieved-opposite-to-piddesired/71911/14)) - [ ] PreArm: Internal errors 0x8000 l:428 main_loop_stk ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x8000-l-404-main-loop-stk-after-upgrading-to-latest-4-1-0-dev/66476/4)) Existing 4.0 issues - [ ] MP's Frame Type screen shows copter values ([discussion](https://discuss.ardupilot.org/t/about-frame-havent-boat-to-choose/74680/2), [issue](https://github.com/ArduPilot/MissionPlanner/issues/2673)) Resolved issues: - [x] MIS_DONE_BEHAVE not working ([discussion](https://discuss.ardupilot.org/t/issues-in-balance-bot/74844)) -- misunderstanding / confusion over Loiter and Hold options which are implemented from within Auto and Acro and Manual options that do cause a real change in flight mode. - [x] Nick Nunno's report of EKF attitude going bad and position jumping ([issue](https://github.com/ArduPilot/ardupilot/issues/18169)) -- can't reproduce. probably resolved for beta6 - [x] EKF yaw not recovering if GPS-for-yaw lost (i[ssue](https://github.com/ArduPilot/ardupilot/issues/17658)) -- resolved for beta7 (we think) - [x] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) -- resolved for beta7 (we think) - [x] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) -- resolved for beta7 (we think) - [x] ArduSimple F9 GPS does not work with GPS-for-yaw unless GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/107)) -- resolved for beta7 (we think) - [x] Kenny Trussell suggestions for GPS-for-yaw config improvements when GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) -- resolved for beta7 (we think) - [x] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) -- resolved for beta7 (we think) - [x] GPS_POS_X/Y/Z relative to IMU or COG? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/25), [PR](https://github.com/ArduPilot/ardupilot/pull/18264)) -- resolved for -beta7 - [x] EKF issues mentioned on the Copter-4.1 issue https://github.com/ArduPilot/ardupilot/issues/16478 -- resolved for beta6 - [x] Rovers cannot backup in Acro when simple avoidance is active ([issue](https://github.com/ArduPilot/ardupilot/issues/17518), [PR](https://github.com/ArduPilot/ardupilot/pull/17571)) - [x] Pre-arm check "DCM Roll/Pitch inconsistent by 32 deg" when using GPS-For-Yaw ([see code here](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp#L2080), [PR](https://github.com/ArduPilot/ardupilot/pull/17630)). Reported by @tatsuy. Note: the issue may be that body-frame roll and pitch are not actually being compared. -- should be fixed in beta4 - [x] THR logging shows lateral acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/17682), [PR](https://github.com/ArduPilot/ardupilot/pull/17689)) -- included in beta4 - [x] Waypoint delay of -1 leads to 65k of delay ([discussion](https://discuss.ardupilot.org/t/delay-time-issue-at-a-waypoint/71410), [issue](https://github.com/ArduPilot/ardupilot/issues/17488)) -- included in beta4 - [x] DShot not working with -beta3 ([discussion](https://discuss.ardupilot.org/c/ardurover/rover-41/158), [PR](https://github.com/ArduPilot/ardupilot/pull/17598)) -- included in beta4 - [x] Fence Radius are being truncated to integers ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/38), [PR](https://github.com/ArduPilot/ardupilot/pull/17619)) -- included in beta4 - [x] QGC with gamepad doesn't work ([discussion](https://discuss.ardupilot.org/t/qgc-fails-mavlink-parameters-with-gamepad-joystick-connected/71668)) -- QGC issue - [x] Twitching at waypoints if WP_RADIUS set to 0.05m (issue https://github.com/ArduPilot/ardupilot/issues/17417, PR https://github.com/ArduPilot/ardupilot/pull/17494) -- fixed in beta2 - [x] GPS-for-yaw wiki params incorrect ([wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/3512)) - [x] RFND messages missing (see issue: https://github.com/ArduPilot/ardupilot/issues/17334, [PR](https://github.com/ArduPilot/ardupilot/pull/17355)) -- fixed in beta2 - [x] AP_Button's use of aux functions executes both high and low positions ([reported by RobertoN](https://discuss.ardupilot.org/t/rover-4-1-0-beta1-released/69868/8)) -- may be changed as part of a future enhancement - [x] Rover param meta data for Fence includes Altitude (issue https://github.com/ArduPilot/ardupilot/issues/17207)

github.com/ArduPilot/ardupilot

MAV_CMD_DO_AUTOTUNE_ENABLE.param2 now includes axes to tune

opened 11:02PM - 05 Jan 22 UTC

hamishwillee

DevCallTopic good first issue

## Feature request Autotuning allows you to specify the axes to use for tunin…g. This is currently done using parameters. The latest version of [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE) allows the GCS to specify the axes as a bitmask in `param2`. Zero indicates "do all" or "do default". The action is to update the stack to use the `MAV_CMD_DO_AUTOTUNE_ENABLE.param` values if specified and appropriate. This applies to all versions.

github.com/ArduPilot/ardupilot

Plane: weathervane update

ArduPilot:master ← IamPete1:plane-weathervane

opened 10:49PM - 23 Jan 22 UTC

IamPete1

+372 -59

Re-work of https://github.com/ArduPilot/ardupilot/pull/17333 for plane only. … On top of the new XY and Z velocity limits from https://github.com/ArduPilot/ardupilot/pull/17333 this also adds: - no weather vaining until tailsitter has reached desired pitch angle after transition. - Tail in weather vaining, this makes it easier for tailsitters to descend - override modes for takeoff and landing. This allows one to turn off weather vaining on takeoff so the vehicle enters forward flight in the expected direction, but still get it during the rest of the mission. This also allows tailsitters to vane nose in on take off and tail in on landing.

github.com/ArduPilot/ardupilot

Motor test, forward flight and turtle mode should all obey E-stop

ArduPilot:master ← IamPete1:e-stop-fixes

opened 04:01PM - 27 Jan 22 UTC

IamPete1

+79 -105

Found some exciting E-stop bugs. Currently you can run motors with E-stop high i…n motor test, forward flight on quadplanes via `output_motor_mask` and in copter turtle mode. See this comment in SRV channel: https://github.com/ArduPilot/ardupilot/blob/db8d08b349efd4075595d30442d94757580e26ae/libraries/SRV_Channel/SRV_Channel.cpp#L115-L116 So we have to do it "manually" for these methods that use `set_output_pwm` directly. In the longer term I would like for motors to keep individual servo min and max pwm values up to date. Either by directly setting param or a override in SRV_Channel. This would allow us to remove the `set_output_pwm` loophole. So should be much safer.

github.com/ArduPilot/ardupilot

AP_Baro.cpp: Atmospheric Model Correction

ArduPilot:master ← rbeall:PR/AP_Baro_FIELD_ELEV

opened 08:10PM - 27 Jan 22 UTC

rbeall

+60 -8

# Description: This Pull Request correctly estimates altitude from takeoff (or …Field Elevation) where the takeoff altitude is anything other than sea level (i.e. 0 ft msl). A new parameter is added `BARO_FIELD_ELV` in order to accomplish the re-baseline of the standard day 1976 atmospheric model. This parameter is set to 0 on every boot and (in its current form) is required to be manually set before launch by the pilot. # Issue: Incorrect dP/dh when not at Sea Level The current altitude model sufficiently estimates altitude, however only if your starting condition is at sea level. Because the change in pressure vs change in height (dP/dh) is a function of the current altitude, the assumption that the starting condition is always sea level results in incorrect altitude measurements. This error will also be a function of temperature, therefore this algorithm, utilizes `BARO_FIELD_ELV` and the currently measured barometric pressure, to ensure that the temperature based error is zero when at Field Elevation (or Takeoff/arming elevation) in accordance with how General Aviation models altitude. # Justification for Fix: Currently there is no way to fly a standardized altitude in accordance with General aviation standards. General aviation flies a non-temperature compensated altitude baselined at Field Elevation and assuming 15C standard day temperature. If the `BARO_FIELD_ELV` and `BARO_GND_TEMP = 15` are used, then the aircraft is flying the same altitude model as air traffic control is expecting. NOTE: It should be noted that the altitude reported/calculated is Feet Above Launch/Takeoff, so manual calculation of MSL is as simple as adding `BARO_FIELD_ELV` to the altitude reported by ArduPilot. However, utilizing this method will ensure that the barometric gradient that you are flying is in accordance with General Aviation. # Method of replication: * Set `BARO_GND_TEMP = 15 * Fly with calibrated/certified barometric sensor like the [Ping 200x](https://uavionix.com/products/ping200x/) * Note that the altitude error between Ardupilot and the Ping 200x is a function of temperature and altitude

github.com/ArduPilot/ardupilot

hwdef: Create f405-MatekAirspeed

ArduPilot:master ← hendjoshsr71:pr/matek_periph_split_dlrv_out

opened 04:21AM - 28 Jan 22 UTC

hendjoshsr71

+1516 -10

This creates a hwdef specifically for the f405-Matek DLVR sensor. Previously, th…ey shared the same hwdef. Note the airspeed sensor shares a board ID with the GPS. @MATEKSYS The benefit of this is we can turn off by default some of the enabled functionality such as the compass and battmonitor so we do not flood the CAN network with traffic for sensors that aren't attached. A user still can go into the DroneCAN GUI Tool to change use a BATT_Monitor when desired. Also added are a few defines so that disabling baro and compass can be done from the hwdef file. Cleaned up some of the duplication in the GPS's defaults.parm Note to set the default rangefinder port correctly #19905 is needed. ![image](https://user-images.githubusercontent.com/69225461/151486643-dd869125-df50-4613-b5a9-1ac5c089b3cc.png)

github.com/ArduPilot/ardupilot

Copter: Pause/Continue Concept with SCurves

ArduPilot:master ← mustafa-gokce:copter_pause_continue

opened 07:25AM - 28 Jan 22 UTC

mustafa-gokce

+427 -44

This is the concept implementation of adding support to pausing and continuing (…with MAV_CMD_DO_PAUSE_CONTINUE command) for Copter in GUIDED and AUTO modes. Testing Pause/Continue for Copter in GUIDED mode: `./Tools/autotest/autotest.py build.Copter test.Copter.PAUSE_CONTINUE_GUIDED --map` Testing Pause/Continue for Copter in AUTO mode: `./Tools/autotest/autotest.py build.Copter test.Copter.PAUSE_CONTINUE --map`

github.com/ArduPilot/ardupilot

Add developer code of coduct

ArduPilot:master ← peterbarker:pr/code-of-conduct

opened 04:30AM - 29 Jan 22 UTC

peterbarker

+118 -0

This was generated by coverting the document on the Wiki like this: ``` pand…oc ~/rc/ardupilot_wiki/dev/source/docs/developer-code-of-conduct.rst -f rst -t markdown -o CODE_OF_CONDUCT.md ``` Based this on a snippet from the github interface which hints that their options are simply templates that can be adjusted, and that this is some sort of useful standard for projects to adopt: ![image](https://user-images.githubusercontent.com/7077857/151647253-1fabcc39-1cb6-4284-8b69-7c89878b2d12.png)

github.com/ArduPilot/ardupilot

Improve real time S-Curve response to small inputs

ArduPilot:master ← lthall:20220131_RealTimeSCurveUpdate

opened 02:38PM - 31 Jan 22 UTC

lthall

+29 -11

This PR makes adjustments to the priorities of position control input shaping to… prioritise the close V = kP * P area over maximum deceleration. This results in a more assertive stop as the aircraft approaches the target position and significantly decreases transit times over short repositions. This is especially true if the Jerk value has been set significantly smaller than Acceleration. For best results Jerk should be equal to or up to 10 times greater than acceleration. The graph below shows a range of maximum Jerk, Acceleration, and Velocity with varied transit distances. The graph highlights that most of these cases benifit greatly from this adjustment while those that to take longer are only longer by a small amount. ![image](https://user-images.githubusercontent.com/100896/151816546-f650bfe5-e528-4ec2-89d3-24b540829654.png)

github.com/ArduPilot/ardupilot

Storage: parameter restore misses some elements of storage

opened 06:25AM - 02 Feb 22 UTC

rmackay9

DevCallTopic

We added a storage check and restore to resolve the rare issue of parameter rese…ts but based it is likely that we overlooked that other data is also stored in storage and will also be wiped. This includes: - Parameters - Mission - Fence - Rally Points - Mavlink2 signing keys - Bind info for AP Radio (skyviper only) - CAN DNA database Some ideas on what we should do: - ensure all these various bits of storage are restored - reinstate the critical error to hopefully make users aware of the problem so they can take action - add an example lua script which adds an arming check for any or all of the items above so users will be warned in case of an eeprom wipe (only really professional users would need this kind of security) FYI @peterbarker

github.com/ArduPilot/ardupilot

Create and use location_from_command_t

ArduPilot:master ← peterbarker:pr/location_from_command_t

opened 03:46AM - 03 Feb 22 UTC

peterbarker

+71 -80

I noticed a lot of code replication going on in a recent PR to add a command whi…ch used the location fields out of commands. This introduces a method which takes either of a command_long or a command_int and returns you a `Location`. It does sanity-check the location field won't overflow before returning true. It does *not* check lat/lng for validity or attempt to sanitise based on a (typically the-current) location. That is still up to the caller. Saves 216 bytes on Copter on CubeOrange at the moment - but has potential to save more over time.

github.com/ArduPilot/ardupilot

Rover: fix motor limits

ArduPilot:master ← rmackay9:rover-motor-limits

opened 04:18AM - 04 Feb 22 UTC

rmackay9

+26 -5

This improves Rover/Boat's motor library's setting of the throttle and steering …limits flags while reduces I-term buildup and leads to better steering and speed control when the vehicle cannot achieve the desired steering turn rate or speed. There are two fixes: 1. slew_limit_throttle() was setting the throttle limits but these were always being overwritten by the set_limits_from_input() call made later in output_regular(), output_skid_steering() and output_omni(). This could lead to I-term buildup in the speed controller. Below is a before-vs-after screenshot from SITL with the MOT_SLEWRATE = 1 (meaning it takes 100 seconds for the throttle to reach full power). In "before" we see there is constant oscillation while in "after" the vehicle's speed settles nicely on the desired speed. ![throttle-lim-before-vs-after](https://user-images.githubusercontent.com/1498098/152465875-09470b0f-5ec8-4d3e-9841-67e46f737d85.png) The fix is to add a new "clear_limits()" method that is called once on each iteration at the top of ::output() and then set_limits_from_input() is modified so it only ever changes the flags to true (never sets them to false). This also fixes similar problems with ackermann steering vehicles (e.g. output_regular()) turning while moving slowly. In master the steering rate controller I-term builds up which leads to overshoot when the sticks are next centered. Below are screen shots of a before-vs-after test in SITL where the vehicle was put in ACRO mode, throttle was set to 1550 (very low speed) and 30% steering input was provided. Given time the "Before" does a better job of getting to the desired turn rate but it then continues turning after the sticks are recentered. In "After" it does not achieve the desired but it also doesn't overshoot later. ![ackermann-steering-slow-turns](https://user-images.githubusercontent.com/1498098/152468789-8dd05b4e-d535-4eb0-96ec-81a44ffab733.png) Note that I think this method of setting the steering limits when the vehicle falls below MOT_SPD_SCA_BASE (aka "_speed_scale_base") is probably suboptimal. Instead we should probably calculate (somewhere) the maximum turn rate we can achieve given the current speed and the vehicle's minimum turn radius and then limit the requested rate sent into AR_AttitudeControl::get_steering_out_rate(). I think the max achievable turn rate (in deg/sec) = 360 * speed / (2 * PI * radius). 2. The second change is to output_skid_steering() so that it sets the steering and throttle limit flags if the outputs become saturated (i.e. the mixer can't achieve both the desired steering and throttle output). The tricky bit though is that during saturation the throttle and/or steering may be scaled back (not limited). This means that if the controllers provide a higher output (perhaps due to I-term buildup) they will actually get a bit more response. Originally I thought that because of this we shouldn't set the limit flags... but now I think we should because otherwise we just end up with a "battle of the I-terms"... basically whichever controller has a bigger I-term will win and the other will have unnecessary I-term buildup. All comments on this are very welcome! Below are before-vs-after screen shots from SITL of a skid-steering vehicle's steering controller output in Acro mode (e.g. vehicle is trying to control both speed and turn rate) in which the pilot has requested 90% throttle and 90% right turn which it cannot achieve. In the "before" we see the I-term building up while in "after" we do not. Although not shown in the graphs below, the big improvement for users is the vehicle will return to driving straight as soon as the pilot releases the steering stick (in master it keeps turning for a while because of the I-term buildup). ![skid-steering-saturation-before-vs-after](https://user-images.githubusercontent.com/1498098/152470186-e9606c96-e1f4-497a-939a-a4670496ecba.png) As a side note, with Leonard's recent changes to the AC_PID libraries we don't actually need both to have limits for both directions e.g. throttle_upper and throttle_lower could be combined into a single flag.

github.com/ArduPilot/ardupilot

GCS_MAVLink: correct reporting of relative altitude as a global altitude

ArduPilot:master ← peterbarker:pr/lotieraltqland-alt

opened 07:27AM - 04 Feb 22 UTC

peterbarker

+158 -3

There's an expectation that `next_WP_loc` is in the absolute frame at the moment…. LoiterAltQLand wasn't obeying that, setting it above-home or above-terrain; this has the mode set the altitude in absolute frame, setting the terrain flag if appropriate. The test included here fails on master: ``` AT-0022.0: AP: Battery 1 is low 12.59V used 429 mAh Mode(25)> Mode Mode(25) AP: Battery 1 is low 12.59V used 429 mAh AT-0022.0: 2022-02-04 18:25:27.03: POSITION_TARGET_GLOBAL_INT (id=87) (link=None) (signed=False) (seq=158) (src=1/1) time_boot_ms: 109636ms coordinate_frame: 0 (MAV_FRAME_GLOBAL) type_mask: 65016 ! POSITION_TARGET_TYPEMASK_X_IGNORE ! POSITION_TARGET_TYPEMASK_Y_IGNORE ! POSITION_TARGET_TYPEMASK_Z_IGNORE POSITION_TARGET_TYPEMASK_VX_IGNORE POSITION_TARGET_TYPEMASK_VY_IGNORE POSITION_TARGET_TYPEMASK_VZ_IGNORE POSITION_TARGET_TYPEMASK_AX_IGNORE POSITION_TARGET_TYPEMASK_AY_IGNORE POSITION_TARGET_TYPEMASK_AZ_IGNORE ! POSITION_TARGET_TYPEMASK_FORCE_SET POSITION_TARGET_TYPEMASK_YAW_IGNORE POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE [UNKNOWN] [UNKNOWN] [UNKNOWN] [UNKNOWN] lat_int: -27.27057deg lon_int: 151.2948922deg alt: 15.0m vx: 0.0m/s vy: 0.0m/s vz: 0.0m/s afx: 0.0m/s/s afy: 0.0m/s/s afz: 0.0m/s/s yaw: 0.0rad (0.0deg) yaw_rate: 0.0rad/s (0.0deg/s) AT-0022.0: Sending param_request_read for (Q_RTL_ALT) AT-0022.0: get_parameter(Q_RTL_ALT): PARAM_VALUE {param_id : Q_RTL_ALT, param_value : 15.0, param_type : 4, param_count : 1511, param_index : 65535} AT-0022.0: Exception caught: Unexpected altitude; expected=359.000000 got=15.000000 Traceback (most recent call last): File "/home/pbarker/rc/ardupilot/Tools/autotest/common.py", line 6522, in run_one_test_attempt test_function() File "/home/pbarker/rc/ardupilot/Tools/autotest/quadplane.py", line 814, in LoiterAltQLand (expected_alt, m.alt)) common.NotAchievedException: Unexpected altitude; expected=359.000000 got=15.000000 ``` but passes on this PR. I haven't spotted any code paths which would make this instantly fatal - but something updating `plane.guided_WP_loc` but not updating its frame would potentially cause the plane to navigate to (e.g.) 15m absolute rather than 15m relative, which might be bad.

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.1.0 issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.1 release - [ ] re-load …mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] check SBUS frame gap on hwing - [ ] option to not weathervane on auto takeoff - [x] primary airspeed needs to switch with EKF lane when enabling airspeed affinity - [ ] need auto test for this issue: https://discuss.ardupilot.org/t/plane-losing-position-and-drifts-away-ekf-gps-failure/78461 - [ ] internal error on camera feedback trigger: https://discuss.ardupilot.org/t/plane-4-1-stable/76507/180 - [x] transition to approach for VTOLLand too close to landing point. Log from Tim French - [x] land steering control bug: https://discuss.ardupilot.org/t/the-plane-turn-to-one-side-as-soon-as-touch-down-with-nose-wheel-setting-ground-streering/77346/2 - [ ] FPort issue of loss of comms after a few minutes: https://discuss.ardupilot.org/t/plane-4-1-stable/76507/92 - [x] RC protocol re-detected incorrectly in flight due to FLOAT RCININT: https://discuss.ardupilot.org/t/plane-crash-with-no-chance-to-save-at-all/76706 - [x] bug in saving in AUTOTUNE mode: https://github.com/ArduPilot/ardupilot/pull/18883 - [ ] NaN in set_throttle_avg_max() for tri-tilt quadplane https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/242 - [x] report of poor wind estimation on takeoff with no compass: https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/179?u=tridge #18718 - [x] new quadplane landing system #14938 - [ ] asymmetric qlanding speed/accel limits - [x] new ACPID for fixed wing PIDs #15377 - [ ] disable SMAX when in QAUTOTUNE twitch - [x] EKF3 long distance issue - [x] investigate GPS lag issue - [ ] hybrid landing with RTL/QRTL from high alt #10559 - [ ] need fence status on MissionPlanner - [x] fix log listing stopping logging, which corrupts replay logs - [x] on quadplane land adjust pos for change in EKF position reset to cope with GPS change - [x] clarify GPS pos as vs CoG or vs IMU - [ ] obey primary sensors with EK3_AFFINITY - [ ] rangefinder offset applied twice (#17424) - [ ] ~interrupt storm with misconfigured camera (#17465)~ (not a blocker as it was caught and a misconfiguration) - [x] add API for lock-step detection to suppress panic in pos controller init check - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] main loop stuck when arming MatekF405-STD with soaring enabled - [x] test VTOL approach option for loiter to alt landing - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [x] fuse sideslip when airspeed enabled - [ ] surface control while booting not working: #17966 Pending quadplane features from Kris: - [x] When the safety switch is disabled, the Tilt servos may oscillate considerably once when connected to the battery. This causes the propeller to strike the wing and damage it. Possible solution: Move BoardConfig.init_safety() in system.cpp to run BoardConfig.init_safety() 2 seconds after init has finished. Update: fixed in #15942 - [ ] In some cases, failsafe will change the flight mode before entering failsafe, which results in the AUTO mode not continuing. Need example log Features for later 4.1.x releases: - [ ] ship landing code #14888 - [ ] 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

github.com/ArduPilot/ardupilot

Copter: 4.1.0 issues list

opened 10:34AM - 02 Feb 21 UTC

rmackay9

Copter DevCallTopic ReleaseAdmin

This is a list of known issues especially blockers for the 4.1.0 copter release.… (also see [Rover-4.1](https://github.com/ArduPilot/ardupilot/issues/17116), [Plane-4.1](https://github.com/ArduPilot/ardupilot/issues/15941), [Wiki-4.1](https://github.com/ArduPilot/ardupilot_wiki/issues/1756)) Issues to be resolved asap: - [ ] Yaapu scripts doesn't work on 4.1.x with omnibus ([discussion](https://discuss.ardupilot.org/t/copter-4-1-3-rc1-released-for-beta-testing/79747/4)) - [ ] MAV_CMD_DO_MOUNT_CONTROL not decoded properly ([issue](https://github.com/ArduPilot/ardupilot/issues/19519)) - [ ] EKF3 vertical velocity issue with loss of GPS ([issue](https://github.com/ArduPilot/ardupilot/issues/19386)) - [ ] EKF3 won't initialise without GPS unless EK3_SRCx are changed ([issue](https://github.com/ArduPilot/ardupilot/issues/19072)) Nice to have for stable release: - [ ] KDECAN unreliable with more than 2 motors - [ ] update MP's auto analysis because it complains of compass offsets being too large, NaNs ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-inflight-exk3-lane-switch-root-cause-analysis-request/73507/15)) - [ ] 3D Loiter to allow simple avoidance to backaway in 3D - [ ] Avoid "PreArm: Bad GPS Position" if using only optical flow ([issue](https://github.com/ArduPilot/ardupilot/issues/17401)) Existing 4.0 issues: - [ ] SmartRTL can trigger flow-of-control internal error (issue https://github.com/ArduPilot/ardupilot/issues/17416, PR: https://github.com/ArduPilot/ardupilot/pull/17419) - [ ] POS oscillation on unusual EKF condition ([discussion](https://discuss.ardupilot.org/t/ekf3-position-still-going-mad-in-beta5-drone-crashed/73859), [issue](https://github.com/ArduPilot/ardupilot/issues/18169)) - [ ] EKF altitude reset handling ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-inflight-exk3-lane-switch-root-cause-analysis-request/73507/6), [issue](https://github.com/ArduPilot/ardupilot/issues/14224)) - [ ] DO_CAM_TRIGG_DIST doesn't turn off after exiting Auto ([discussion](https://discuss.ardupilot.org/t/camera-trigger-does-not-turn-off-after-switching-to-another-flight-mode/72867), [issue](https://github.com/ArduPilot/ardupilot/issues/17858)) Reports requiring investigation: - [ ] Dronekit commands not working? (Randy has report from Anand Singh) - [ ] FPort disconnection after 25min ([discussion](https://discuss.ardupilot.org/t/copter-4-1-1-rc1-available-for-beta-testing/77234/18), [plane discussion](https://discuss.ardupilot.org/t/plane-4-1-stable/76507/92)) - [ ] internal error when doing temperature calibration on CubeBlack and CubeOrange ([issue](https://github.com/ArduPilot/ardupilot/issues/19022)) - [ ] shift_wp_origin_to_current_pos() not working? (see PR https://github.com/ArduPilot/ardupilot/pull/17294) - [ ] GPS instability thread: - [ ] GPS_DRV_OPTIONS not setting UBlox baud rate to 115200? ([discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/71)) - [ ] CRSF + GPS not working well together on MambaF405v2 (GPA.Delta spikes, [discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/38)) - [ ] Mamba losing GPS connection ([discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/5)) -- maybe fixed by GPS_DRV_OPTIONS - [ ] GPS-for-yaw issues - [ ] continuous yaw drift with NMEA GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/continue-yaw-drift/74997/2)) - [ ] gps-for-yaw fail-over testing leads to GPS glitch and ability to arm ([discussion](https://discuss.ardupilot.org/t/gps-glitching-when-we-have-two-gps-for-yaw-and-make-fail-the-rover-one/74486)) - [ ] 2nd F9 GPS not updating at 5hz during GPS-for-yaw, probably does not have DMA on serial port ([discussion](https://discuss.ardupilot.org/t/unhealthy-gps-signal-when-using-gps-for-yaw/71308)) - [ ] GPS-for-yaw will not use compass at startup ([discussion](https://discuss.ardupilot.org/t/issues-with-gps-for-yaw-and-compass-fall-back/71305)) - [ ] 7-inch quad thread: - [x] AP_Periph HAL battery monitor default for Matek board ([discussion](https://discuss.ardupilot.org/t/ap-periph-batt-monitor-forced-to-hal-batt-monitor-default-after-reboot/74205), [discussion2](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-dual-barometer-dps310-i2c-uavcan-error-compass-not-healthy/73783)) - [ ] Matek Slim pre-arm check "Compass not healthy" if external CAN baro is enabled ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-dual-barometer-dps310-i2c-uavcan-error-compass-not-healthy/73783)) - [ ] quadsour reports: - [ ] oscillating pitch in Loiter ([discussion](https://discuss.ardupilot.org/t/loiter-acting-up-with-beta/75178/15)) - [ ] Ground effect compensation not working as well as 4.0 with no GPS? ([discussion](https://discuss.ardupilot.org/t/gnd-effect-comp-not-working-as-good-as-in-copter-4-0/71421/12)) - [ ] quadsour's Pixracer Pro BLHeli passthrough issues but stable works ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/36)) -- fixed with latest? @andyp1per knows. - [ ] acro mode loses control when throttle at zero even in airmode ([discussion](https://discuss.ardupilot.org/t/acro-mode-motor-authority-lost-when-rc-throttle-drops-to-zero-even-with-air-mode-enabled/75080)) - [ ] Small EKF alt oscillations when using GPS for alt ([discussion](https://discuss.ardupilot.org/t/altitude-testing-of-beta-5/73228)) - [ ] IMU1 failure handling not working ([4.0.x discussion](https://github.com/ArduPilot/ardupilot/issues/12477)) - [ ] EKF3 yaw drift with no compass higher than EKF2 ([issue](https://github.com/ArduPilot/ardupilot/issues/17030)) - [ ] EKF2 regains GPS while falling, produced invalid climb rate (using modified 4.0.5) (Randy, Tridge, PaulR have logs) - [ ] watchdog reset on modified omnibusf4pro ([issue](https://github.com/ArduPilot/ardupilot/issues/15915)) - [x] FS_OPTIONS not working with RC failsafe? ([issue](https://github.com/ArduPilot/ardupilot/issues/17483), [issue2](https://github.com/ArduPilot/ardupilot/issues/17527)) -- GCS failsafe was disabled. need to improve docs or add pre-arm check? SCurve known issues: - Vehicle will fly below target speed if waypoints are too close together even if vehicle will not stop at waypoints -------- Unresolved issues that will not be resolved in time for 4.1.0 - [ ] Lumenier LUX-H7 (ultimate) F7 board missing 2nd IMU (apaprently same as MatekH743) ([discussion](https://discuss.ardupilot.org/t/arducopter-firmware-on-lumenier-h743-f7-flight-controller-matekh743-firmware-target/72917/2)) - [ ] pre-arm "EK3 sources require RangeFinder" if only 2nd rangefinder is setup [discussion](https://discuss.ardupilot.org/t/prearm-ahrs-ek3-sources-require-rangefinder-error-message-copter-4-1-0/74323/9), [issue](https://github.com/ArduPilot/ardupilot/issues/18205)) - [ ] DShot passthrough not working on Nora and Tekko 35A ESCs ([discussion](https://discuss.ardupilot.org/t/dshot-passthrough-not-working-in-4-1/74186/2)) - [ ] Morse simulator Loiter unstable after PR https://github.com/ArduPilot/ardupilot/pull/17345 (reported by rishabh). Morse closing down it seems so we recommend users move to AirSim -------- Resolved issues that will be included in future releases (but not 4.1.0) - [x] allow aligning viso yaw when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/vio-alignment-in-primary-lane/72308/5), [issue](https://github.com/ArduPilot/ardupilot/issues/13903)) -- in master, maybe 4.1.1 -------- Resolved issues: - [x] loiter-to-alt moves too quickly (4.0 issue) ([code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_auto.cpp#L977-L984)) -- may or may not be backported to 4.1 - [x] SBUS on PH4-mini not working for at least one user ([discussion](https://discuss.ardupilot.org/t/sbus-rc-receivers-on-pixhawk4-mini/78789/2), [discussion2](https://discuss.ardupilot.org/t/pixhawk-4-mini-radio-input-problems/79477/21)) -- resolved in Copter-4.1.3 - [x] TradHeli bug fix for continue after land ([PR](https://github.com/ArduPilot/ardupilot/pull/19383)) -- resolved in Copter-4.1.3 - [x] SET_POSITION_TARGET_LOCAL_NED has incorrect flags? ([issue](https://github.com/ArduPilot/ardupilot/issues/19462)) -- user error although there is also a change in behaviour that should be better documented - [x] Copter-4.1 branch does not build ([issue](https://github.com/ArduPilot/ardupilot/issues/19523)) - [x] surface tracking is resetting incorrectly after a glitch (reported by Yamaguchi-san, [PR](https://github.com/ArduPilot/ardupilot/pull/19207)) -- included in 4.1.2 - [x] QGC can't download parameters over wifi (USB connection on Windows is OK) ([discussion](https://discuss.ardupilot.org/t/copter-4-1-1-rc1-available-for-beta-testing/77234/11), [discussion2](https://discuss.ardupilot.org/t/mavftp-arduplane-4-1-2-parameters-do-not-load/77359)) -- caused by SERIALx_PROTOCOL default changed to "2" (MAVlink 2) and some ESP radios being on an older version of the firmware that can't handle mavlink2. - [x] missing IMU on Matek H743 ([Rover discussion](https://discuss.ardupilot.org/t/rover-4-1-1-rc1-available-for-beta-testing/77275)) -- caused by changing the meaning of the bits in the INS_ENABLE_MASK and users changing the value from the default. - [x] ExtendedSysStatus flags change ([discussion](https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996)) -- resolved in 4.1.1 - [x] autopilot reboot if batt monitor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/18780)) -- could not reproduce - [x] Scary Guided ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/36)) -- resolved in -rc4 - [x] Yaw change after Guided mode takeoff completes ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/24), [PR](https://github.com/ArduPilot/ardupilot/pull/18700)) -- included in 4.1.0-rc3 - [x] Guided mode not ignoring pilot yaw during takeoff is GUID_OPTIONS bit is set ([issue](https://github.com/ArduPilot/ardupilot/issues/17951), [PR](https://github.com/ArduPilot/ardupilot/pull/18559)) -- included in 4.1.0-rc3 - [x] Drift mode controls reversed? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/18)) -- could not reproduce, seems to be fine. - [x] Matek H743-Slim serial1 not working ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/10), [PR](https://github.com/ArduPilot/ardupilot/pull/18661)) -- resolved for -rc2 - [x] Dijkstra's in Guided mode not working (reported by Yamaguchi-san, [PR](https://github.com/ArduPilot/ardupilot/pull/18603)) -- resolved for beta9 - [x] Ch6 tuning of WP speed causes div-by-zero in SITL ([discussion](https://discuss.ardupilot.org/t/wp-speed-on-in-flight-tuning-not-functioning/75226/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18560)) -- resolved for beta9 - [x] laggy suface tracking ([discussion](https://discuss.ardupilot.org/t/altitude-overshoot-on-ascent-descent-tuning-help-please/74756/3), [PR](https://github.com/ArduPilot/ardupilot/pull/18531)) -- resolved for beta9 - [x] uLanding driver broken ([discussion](https://discuss.ardupilot.org/t/ainteins-us-d1-radar-not-working-with-arducopter-4-1-beta/75414), [PR](https://github.com/ArduPilot/ardupilot/pull/17660)) -- resolved for beta9 - [x] check Andy Piper's items in comments below (RunCam, etc) -- all but one issue seems resolved in -beta8. The one remaining issue seems to be a 4.0 issue as well so not technically a blocker. - [x] FrSky on KakuteF7 with R9 MX OTA Receiver ([discussion](https://discuss.ardupilot.org/t/frsky-f-port-telemetry-issue-on-kakute-f7-with-r9-mx-ota-receiver/70747), [issue](https://github.com/ArduPilot/ardupilot/issues/17332)) -- resolved with beta7 (or earlier). - [x] mRo Pixracer Pro gyro & accel health failures + GSF constrain nan internal error (ask Randy for logs) -- could not reproduce - [x] DJI MSP OSD requires turning off serial flow control on H7 ([issue](https://github.com/ArduPilot/ardupilot/issues/17814)) -- hardware issue - [x] SBusOut setup for Matek (and other) boards ([discussion](https://discuss.ardupilot.org/t/sbus-out-functionality-missing-brd-sbus-out-not-in-my-parameters/71148/3), [Wiki](https://ardupilot.org/copter/docs/common-sbus-out.html)) -- resolved through documentation on how to setup SBUS on any serial port - [x] SmartAudio setup with Crossfire TBS ([discussion](https://discuss.ardupilot.org/t/controlling-tbs-vtx-power-with-smart-audio/71687)) -- seems resolved. many questions and answers - [x] SegFault: `./Tools/autotest/autotest.py --gdb --debug build.Copter test.Copter.OpticalFlow --force-ahrs-type=2` ([PR](https://github.com/ArduPilot/ardupilot/pull/18456)) -- resolved for beta8 - [x] QGC doesn't allow changing params with 4.1.0 with blank params? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/53)) -- QGC issue - [x] motor test causes main_loop_stk internal error ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta5-has-been-released-for-beta-testing/73110/30)) -- cannot replicate, might have been fixed with logging improvements in subsequent betas - [x] Internal error 0x1000000 (imu_reset) on PXFmini ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x1000000-l-168-imu-reset/71658/19)) --we assume this is a hardware issue - [x] Matek fails on boot if ESC Telemetry used ([discussion](https://discuss.ardupilot.org/t/help-about-using-dshot-on-tail-rotor/73269/13)) -- follow-up request received no answer so closing - [x] OSD range finder panel not visible on omnibusf4pro even though rangefinder is present (reported by Henry) -- re-checked with Henry and seems resolved. - [x] I2C ports not working on CubeOrange if UAVCAN GPSs are used ([issue](https://github.com/ArduPilot/ardupilot/issues/17879)) -- was issue with tfluna lidar - [x] position controller safety improvements from Leonard -- resolved for beta8 - [x] Internal error in position controller on Matek H743 (https://github.com/ArduPilot/ardupilot/issues/17763. [PR](https://github.com/ArduPilot/ardupilot/pull/18416)) -- resolved for beta8 - [x] Sergey reports OSD on iFlight Beast7 does not show flight time ([discuss](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/44), [youtube](https://www.youtube.com/watch?v=JYFzID5rUBk)) -- user resolved it. seems to be related to a low output throttle. - [x] bad heading after 10min ([discussion](https://discuss.ardupilot.org/t/mag-failure-copter-4-1-0-latest-is-that-a-bug/71963)) -- no response to request for logs. note: involves non-default AHRS_ORIENT. - [x] M8030 based GPSes do not work due to autobauding issue ([issue](https://github.com/ArduPilot/ardupilot/issues/18252), [PR](https://github.com/ArduPilot/ardupilot/pull/16007)) -- resolved for beta7 (we think) - [x] BAT_ARM_VOLT not working? ([discussion](https://discuss.ardupilot.org/t/orange-cube-won-t-arm/74868/8)) -- works fine - [x] circle mode does not respond to changes in CIRCLE_RADIUS parameter (reported by Arace, [PR](https://github.com/ArduPilot/ardupilot/pull/18434)) -- resolved for beta8 - [x] Internal Error after 68ms delay on Matek ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta7-has-been-released-for-beta-testing/74794/4), [issue1](https://github.com/ArduPilot/ardupilot/issues/18196), [issue2](https://github.com/ArduPilot/ardupilot/issues/18376)) -- resolved for beta8 - [x] Flywoo external compass support still broken? ([PR](https://github.com/ArduPilot/ardupilot/pull/18340)) -- merge for beta8 - [x] Helicopter Guided mode takeoff issue (PR: https://github.com/ArduPilot/ardupilot/pull/15826, PR: https://github.com/ArduPilot/ardupilot/pull/17043) -- resolved for beta8 - [x] MP's PX4flow "focus mode" seems broken ([discussion](https://discuss.ardupilot.org/t/px4-flow-sensor-image-no-calibration-in-mission-planner-or-q-ground-control-when-connected-via-micro-usbb/74878)) -- fixed in beta MP on 20-Aug-2021 - [x] tricopter crash after wp2 ([discussion](https://discuss.ardupilot.org/t/unexplained-crash-on-auto-mode-with-beta-6/74787/3)) -- we think this is a power issue. no indication of Watchdog reset and radio seems to lose power with autopilot - [x] Pixhawk4 LEDs are swapped ([issue](https://github.com/ArduPilot/ardupilot/issues/15739), [discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta6-released-for-beta-testing/74139/14), [PR](https://github.com/ArduPilot/ardupilot/pull/18235)) -- resolved for beta8 - [x] Very slow main loops based on RC out configuration (https://github.com/ArduPilot/ardupilot/issues/17891) -- resolved for beta6 (or earlier) - [x] request that Guided velocity control go beyond WPNAV_SPEED_UP/DN limits ([discussion](https://discuss.ardupilot.org/t/set-position-target-global-int-velocity-bound-by-wpnav-speed/73988/7)) -- resolved for beta7 - [x] GSF Yaw source can only be executed EK3_GSF_RST_MAX times ([discussion](https://discuss.ardupilot.org/t/loss-of-correction-after-switching-couple-times-between-yaw-compass-source-and-gsf-source/72687/18), [PR](https://github.com/ArduPilot/ardupilot/pull/18225)). This hopefully resolves these items too -- resolved for beta7 - [x] EKF3 Core x unhealthy if using GSF for yaw ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/67)) -- resolved for beta6 or beta7 (we think) - [x] GPS glitch and emergency yaw reset (GSF) ([discussion](https://discuss.ardupilot.org/t/testing-compass-less-copter-gsf-gps-glitch-yaw-aligned-using-gps/73338)) -- resolved for beta6 or beta7 (we think) - [x] issues switching between GSF and Compass yaw sources ([discussion](https://discuss.ardupilot.org/t/loss-of-correction-after-switching-couple-times-between-yaw-compass-source-and-gsf-source/72687), [discussion2](https://discuss.ardupilot.org/t/gps-yaw-and-gsf-in-different-sources/74011)) -- resolved for beta6 or beta7 (we think) - [x] Flywoo external compass support ([PR](https://github.com/ArduPilot/ardupilot/pull/18219)) -- resolved for beta7 - [x] vehicle may crash into terrain in Guided ([discussion](https://discuss.ardupilot.org/t/terrain-following-in-auto-may-hit-terrain/74365/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18212)) -- resolved for beta7 - [x] support very fast auto missions ([discussion](https://discuss.ardupilot.org/t/high-speed-auto-mission/74217/10), [PR](https://github.com/ArduPilot/ardupilot/pull/18190)) -- resolved for -beta7 - [x] Position controller target velocity vibration ([issue](https://github.com/ArduPilot/ardupilot/issues/17702)) -- lthall thinks the vibration is not a significant issue. - [x] Guided with high rate position target updates don't work (see issue https://github.com/ArduPilot/ardupilot/issues/17795, [PR](https://github.com/ArduPilot/ardupilot/pull/17539)) -- resolved with -beta6 - [x] remove parameter reset internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/17628)) -- Randy and Tridge decided to leave this in place. It happens so rarely that it is not annoying for users. - [x] copter reversing with spline waypoints switching from rel to terrain ([discussion](https://discuss.ardupilot.org/t/terrain-following-question/74224/2)) -- expected behaviour - [x] rapid POS oscilliation when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/ekf3-position-still-going-mad-in-beta5-drone-crashed/73859)) -- resolved in -beta6 - [x] Arming check does **not** trigger with EK3_SRC1_YAW = GPS (2) but GPS is not actively providing yaw ([discussion](https://discuss.ardupilot.org/t/gps-yaw-let-the-drone-arm-in-loiter-mode-when-rtk-is-not-fixed-but-it-was-fixed-before/74197/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18154)) -- resolved for beta7 - [x] yaw rate timeout bug ([PR](https://github.com/ArduPilot/ardupilot/pull/18156)) -- resolved for beta7 - [x] QMC compass not detected on Goku autopilot ([discussion](https://discuss.ardupilot.org/t/external-compass-not-detected-on-flywoo-goku-f745-nano/73921)) -- not an officially supported autopilot (yet) - [x] do-set-speed broken in Auto? ([issue to add autotest to stop this from happening](https://github.com/ArduPilot/ardupilot/issues/18078)) -- not sure if it was really broken, certainly resolved for beta6 - [x] S-Curves OA PR: https://github.com/ArduPilot/ardupilot/pull/17003 -- resolved for beta6 - [x] Auto terrain following may hit terrain (or fly too high) if terrain is too steep ([issue](https://github.com/ArduPilot/ardupilot/issues/17952), [PR](https://github.com/ArduPilot/ardupilot/pull/18049)) -- resolved for beta6 - [x] XTrack reporting broken? ([PR](https://github.com/ArduPilot/ardupilot/pull/17631), [PR2](https://github.com/ArduPilot/ardupilot/pull/17734), [PR3](https://github.com/ArduPilot/ardupilot/pull/18076)) -- resolved for beta6 - [x] Heli tail rotor control check broken ([issue](https://github.com/ArduPilot/ardupilot/issues/17937), [PR](https://github.com/ArduPilot/ardupilot/pull/17981)) -- resolved for beta6 - [x] AP_Logger: stuck thread (write)" on a Matek-405 ([discussion](https://discuss.ardupilot.org/t/bi-directional-dshot-support/70210/59), [issue](https://github.com/ArduPilot/ardupilot/issues/17767)) -- probably fixed in -beta5 with logging improvements - [x] watchdog reset on Pixhawk1MB ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/75)) -- probably fixed in -beta5 with logging improvements - [x] logs not created on force arm ([PR](https://github.com/ArduPilot/ardupilot/pull/17912)) - [x] Copter: guided mode update to use PosControl tools ([PR](https://github.com/ArduPilot/ardupilot/pull/17539)) - [x] Copter: guided mode update (PR https://github.com/ArduPilot/ardupilot/pull/17539) - [x] Guided terrain following may hit terrain (or fly too high) if terrain is too steep -- resolved before beta6 - [x] Internal Error 1048576 in Guided mode if velocity control used after attitude control ([issue](https://github.com/ArduPilot/ardupilot/issues/17954)) -- resolved before beta6 - [x] build env on mac ([discussion](https://discuss.ardupilot.org/t/errors-setting-up-build-environment-on-mac/72882/4), [PR](https://github.com/ArduPilot/ardupilot/pull/17860)) -- resolved post beta5 (need to backport?) - [x] SITL Tri frame still broken ([discussion](https://discuss.ardupilot.org/t/sitl-fly-away-in-land-mode-with-tricopter/73001)). SITL issue https://github.com/ArduPilot/ardupilot/issues/17876 - [x] Terrain following in Auto bouncey (aka "Dolphin") and "ERR:Terrain" in logs ([discussion](https://discuss.ardupilot.org/t/dolphin-fly-big-altitude-oscillation-in-rangefinder-based-auto-mission/72008), [PR](https://github.com/ArduPilot/ardupilot/pull/17765), [PR](https://github.com/ArduPilot/ardupilot/pull/17852)) -- resolved for beta5 - [x] "loiter bucketing" when EKF origin is far from vehicle position ([issue](https://github.com/ArduPilot/ardupilot/issues/17793), [PR](https://github.com/ArduPilot/ardupilot/pull/17803)) -- resolved for beta5 - [x] MP still evaporating for XinChengGe and others ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/38)) -- fixed for beta5 (MP version 1.3.74.2 and higher OK) - [x] position jump during OptFlow->GPS source switch ([discussion](https://discuss.ardupilot.org/t/regarding-lane-switching-between-optical-flow-position-and-gps-position/72777), [discussion2](https://discuss.ardupilot.org/t/optical-flow-for-loiter-mode/72641/7), [PR](https://github.com/ArduPilot/ardupilot/pull/17850)) -- resolved for beta5 - [x] rocking loiter - loiter braking active, non-zero desired climb rate when sticks in mid position ([discussion](https://discuss.ardupilot.org/t/drone-rocking-back-and-forth-in-loiter-mode-before-taking-off/72630), [PR](https://github.com/ArduPilot/ardupilot/pull/17838)) -- resolved for beta5 - [x] Auto WP->RTL alt drop (reported by Tridge in copter channel, [PR](https://github.com/ArduPilot/ardupilot/pull/17826)) -- resolved for beta5 - [x] EKF position going bad on CubeOrange with GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/ekf3-position-going-mad-bug-in-4-1-0-beta3-or-defective-cube-orange/72369), [PR](https://github.com/ArduPilot/ardupilot/pull/17787)) -- resolved for beta5 - [x] FLTMODE_CH and RCx_OPTION conflict ([PR](https://github.com/ArduPilot/ardupilot/pull/17788)) -- resolved for beta5 - [x] EKF3 origin alts not consistent across cores ([issue](https://github.com/ArduPilot/ardupilot/issues/17789), [Plane issue1](https://github.com/ArduPilot/ardupilot/issues/16450), [Plane issue2](https://github.com/ArduPilot/ardupilot/issues/10812), [PR](https://github.com/ArduPilot/ardupilot/pull/17786)) -- resolved for beta5 - [x] Vibration failsafe is broken ([issue](https://github.com/ArduPilot/ardupilot/issues/17834) [PR](https://github.com/ArduPilot/ardupilot/pull/17837)) -- resolved for beta5 - [x] low LOIT_ACC_MAX leads to incorrect loiter speed ([issue](https://github.com/ArduPilot/ardupilot/issues/17747), [PR](https://github.com/ArduPilot/ardupilot/pull/17815)) -- resolved for beta5 - [x] 6DOF frame broken ([PR](https://github.com/ArduPilot/ardupilot/pull/17819)) -- resolved for beta5 - [x] AP_Motors: correct expo parameter description and internal limits ([PR](https://github.com/ArduPilot/ardupilot/pull/17540)) -- resolved for beta5 - [x] Sergbokh's low desired climb rate when switching from Stab->AltHold while falling ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/65)) -- seems OK. this is input shaping - [x] UAVCAN GPS can't get satellites on 4.0.7 but works on 4.1 ([discussion](https://discuss.ardupilot.org/t/gps-neo3-suddenly-stopped-working/72310), question only, can then be moved to resolved) -- hardware power issue - [x] brake accel not reset ([4.0.7 issue](https://github.com/ArduPilot/ardupilot/issues/17709), [PR](https://github.com/ArduPilot/ardupilot/pull/17717)) -- resolved for beta5 - [x] BLHeli current reporting incorrect ([issue](https://github.com/ArduPilot/ardupilot/issues/17656), [PR](https://github.com/ArduPilot/ardupilot/pull/17657)) -- resolved for beta5 - [x] SCurve internal error when origin and destination very close ([PR](https://github.com/ArduPilot/ardupilot/pull/17671)) -- resolved for beta5 - [x] SCurve issues ([discussion](https://discuss.ardupilot.org/t/copter-4-1-scurve-issues/69961)): - [x] internal error after arming from auto (AUTO_OPTIONS=3) (reported by Peter Barker) -- old, marking as resolved - [x] twitch when switching from SCurves to Loiter (reported by Giacomo Pinagli, awaiting log) -- old, marking as resolved - [x] at end of RTL, vehicle spends more time waiting above home (reported by Giacomo Pinagli) -- old, marking as resolved - [x] wild movement getting to the first waypoint (reported by Andy Piper in "copter" discord channel) -- old, marking as resolved - [x] TeraRange Evo 60m has large spikes, no readings under 80cm ([discussion](https://discuss.ardupilot.org/t/tera-ranger-evo-60m-driver-issue/71806), same issue with 4.0.7) -- IR sensor has low range outdoors, updated wiki - [x] EKF3: becomes unhealthy beyond 38km from origin (EKF2's limit is about 130km) https://github.com/ArduPilot/ardupilot/issues/16736 -- probably SITL only 'cuz real-flights at up to 120km done with EKF2 and EKF3 - [x] scheduler jump due to overflow ([issue](https://github.com/ArduPilot/ardupilot/issues/17642), [PR](https://github.com/ArduPilot/ardupilot/pull/17708)) -- resolved for beta4 - [x] MOT_PWM_MIN/MAX not being set to 1000/2000 when MOT_PWM_TYPE is set to a DShot type, but SERVO_BLH_* parameters not setup. Looks like a regression from 4.0 -- resolved for beta4 - [x] PreArm: Internal errors 0x1000000 l:168 imu_reset on Matek H743 ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x1000000-l-168-imu-reset/71658)) -- we believe it is a hardware issue, reported to Matek. - [x] SITL tri broken. Appears to move yaw in wrong direction ([issue](https://github.com/ArduPilot/ardupilot/issues/17645)). Fix here #17695 -- resolved in beta4 - [x] DO_SET_MODE command segfaults in SITL ([discussion](https://discuss.ardupilot.org/t/segmentation-fault-with-mav-cmd-do-set-mode/72191)) -- intentional to find unsupported messages. - [x] "PreArm: DCM **Roll/Pitch** inconsistent by X deg" when actually **yaw** is inconsistent ([issue](https://github.com/ArduPilot/ardupilot/issues/17442), [PR](https://github.com/ArduPilot/ardupilot/pull/17630)) -- resolved in beta4 - [x] EKF3 is still using ExtNav even when source is switch to Baro (reported by David Astesas, Randy has log) -- cannot reproduce - [x] improve SITL yaw tuning ([discussion1](https://discuss.ardupilot.org/t/unstable-yaw-angles-in-octa-frames/71935), [discussion2](https://discuss.ardupilot.org/t/high-yaw-oscillations-when-descending-fast-in-sitl/71216), [PR](https://github.com/ArduPilot/ardupilot/pull/17634)) - [x] do-change-speed requires fractional speeds (?!) ([discussion](https://discuss.ardupilot.org/t/4-1-vehicle-speed/70752/4)) -- could not reproduce (think fixed as part of SCurves) - [x] EKF ground effect compensation not working with EKF3? ([discussion](https://discuss.ardupilot.org/t/gnd-effect-comp-not-working-as-good-as-in-copter-4-0/71421), [issue](https://github.com/ArduPilot/ardupilot/issues/17552), [PR](https://github.com/ArduPilot/ardupilot/pull/17575)) -- fix included in -beta4 - [x] Yaw imbalance warning too tight for Helicopters at least ([discussion](https://discuss.ardupilot.org/t/yaw-imbalance-how-to-troubleshoot/70259), PR: https://github.com/ArduPilot/ardupilot/pull/17574) -- fixed in beta4 - [x] Serial passthrough not working on serial ports configured to "GPS" with GPS protocol set to ublox (issue: https://github.com/ArduPilot/ardupilot/issues/17269) -- also happens with 4.0. workaround is to set the SERIAL_PROTOCOL = -1 or GPS_TYPE = 0. [updated docs](documentation.) - [x] SITL copter-optflow.parm file out-of-date ([issue](https://github.com/ArduPilot/ardupilot/issues/17400), [PR](https://github.com/ArduPilot/ardupilot/pull/17590)) -- developer issue but fixed for beta4 - [x] MP crashing after trying to load params using MAVFTP ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/14)) -- fixed in beta MP before beta4 - [x] dma.txt file can't be downloaded the first time (PR https://github.com/ArduPilot/ardupilot/pull/17615 makes it return an emtpy file the firs time, MP's error message has been improved) -- included in beta4 - [x] Pix32v5 IMU heater not operations? reported by holybro ([PR](https://github.com/ArduPilot/ardupilot/pull/17605)) -- included in beta4 - [x] EKF terrain estimate incorrect? ([PR](https://github.com/ArduPilot/ardupilot/pull/17561)) -- probably not a problem but will go out with beta4 - [x] little motor cuts ([discussion](https://discuss.ardupilot.org/t/little-motor-cuts-in-gps-mode-beta-3/71759)) -- could not reproduce, no logs. - [x] EKF3 becomes unhealthy if source is switched to Optflow and then T265 (ok if switched to GPS). Reported by Randy -- user error in EK3_SRCx_YAW. - [x] do change speed not working ([discussion](https://discuss.ardupilot.org/t/4-1-vehicle-speed/70752/4)) -- known limitation of Scurves - [x] SITL crashes if optflow enabled but rangefinder disabled/unhealthy ([issue](https://github.com/ArduPilot/ardupilot/issues/17565), [PR](https://github.com/ArduPilot/ardupilot/pull/17577)) -- fixed in beta4 - [x] firmware version is not displayed in banner ([issue](https://github.com/ArduPilot/ardupilot/issues/17515), [PR](https://github.com/ArduPilot/ardupilot/pull/17549)) -- fixed in beta4 - [x] Holybro Pix32v5 is not automatically understood by MP during upload ([PR](https://github.com/ArduPilot/ardupilot/pull/17563)). -- fixed in beta4 - [x] HC-SR02 sonar not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/62), [wiki](https://ardupilot.org/copter/docs/common-rangefinder-hcsr04.html)) -- PeterB could not reproduce - [x] Copter/QuadPlane: set yaw rate to zero during arming ([PR](https://github.com/ArduPilot/ardupilot/pull/17541)) -- included in beta4 - [x] No PSZ logging unless in mode with 3D control ([issue](https://github.com/ArduPilot/ardupilot/issues/17441), [PR](https://github.com/ArduPilot/ardupilot/pull/17548)) -- included in beta4 - [x] CUAV X7 rebooting and getting hot ([discussion](https://discuss.ardupilot.org/t/cuav-x7-safety-led-not-working-on-copter-4-1/71444)) -- USB power issues, not software. - [x] CUAV X7 safety LED not working ([discussion](https://discuss.ardupilot.org/t/cuav-x7-safety-led-not-working-on-copter-4-1/71444), [related issue?](https://github.com/ArduPilot/ardupilot/issues/17481)) -- somehow fixed in beta3 - [x] MP's link status is very low for Matek H743-slim (same as 4.0) ([discussion](https://discuss.ardupilot.org/t/terrible-link-quality-over-usb-mavlink-is-this-expected/71647)) -- problem went away when switched to Sik radio - [x] Visual Odometry "Calibration" (aka yaw alignment) via aux switch seems to have an issue which means that after the aux switch is moved, VISP.Yaw does not equal ATT.Yaw. ([PR](https://github.com/ArduPilot/ardupilot/pull/17551)) -- fixed in beta4 - [x] ACRO_RP_EXPO constraint incorrect ([PR](https://github.com/ArduPilot/ardupilot/pull/17486), [discussion](https://discuss.ardupilot.org/t/acro-rp-p-and-acro-rp-expo-range-check/71385)) -- included in beta4 - [x] Copter: position controller updates (PR https://github.com/ArduPilot/ardupilot/pull/17345) - [x] new bootloader fails on trad heli firmware at least on some boards ([issue](https://github.com/ArduPilot/ardupilot/issues/17487)) -- bootloader changes reverted in master and for beta2 - [x] yaw oscillations during high speed descent ([discussion](https://discuss.ardupilot.org/t/high-yaw-oscillations-when-descending-fast-in-sitl/71216)) -- SITL tuning issue - [x] EKF3 does not regain position estimate after loss of GPS (see PR https://github.com/ArduPilot/ardupilot/pull/17104) -- could not reproduce - [x] PSC_ACCZ_FLTx param defaults don't match recommendations from @lthall and @andyp1per? ([discussion](https://discuss.ardupilot.org/t/psc-accz-fltd-function/70528/27)) -- Leonard says it's fine as it is and it's his page - [x] EKF3: GPS-for-yaw timeout broken (issues: https://github.com/ArduPilot/ardupilot/issues/17314, PR https://github.com/ArduPilot/ardupilot/pull/17342) -- included in beta2 - [x] RC failsafes with KakuteF7 & CRSF & Yaapu telemetry during mode changes ([discussion](https://discuss.ardupilot.org/t/radio-failsafe-with-crsf-with-yaapu-telemetry-with-frsky-taranis-log-analysis-help-requested/70544), [discussion2](https://discuss.ardupilot.org/t/4-1-beta-autotune-failsafe/70698)) -- fixed with "latest" (should become beta2) - [x] KakuteF7, DShot150 motor failure when using 6s ([discussion](https://discuss.ardupilot.org/t/quad-tilted-to-the-left-and-hit-ground/70680)). User was on 4.0.7 - [x] PixRacer, luminousbee5, Radiolink Mini Pix LED/Buzzer issue ([discussion](https://discuss.ardupilot.org/t/radiolink-mini-pix-with-radiolink-buzzer-led-switch-k170725-problem/70587)). -- fixed in beta2 - [x] MatekF9 GPS almanac upload (AP_Periph) ([discussion](https://discuss.ardupilot.org/t/ublox-assistnow-with-gps-via-ap-periph/70631/2)). enhancement request added to issues list https://github.com/ArduPilot/ardupilot/issues/17305. - [x] Splines require terrain database (see issue https://github.com/ArduPilot/ardupilot/issues/17250, PR: https://github.com/ArduPilot/ardupilot/pull/17280. reported by Peter Barker) - [x] FPort not supported on VR Brain? ([discussion](https://discuss.ardupilot.org/t/ac-4-1-and-vr-ubrain/70330/6)) -- board has very few serial ports so user wanted an enhancement to all usign FPort on the regular RC input (I think). Not a bug but rather just a question. - [x] Flywoo board's onboard logging not working ([close issued](https://github.com/ArduPilot/ardupilot/issues/17245) - should have been raised on discuss) - [x] EK3_DRAG_BCOEF_Y param are reset to default on reboot (see issue https://github.com/ArduPilot/ardupilot/issues/17167, PR https://github.com/ArduPilot/ardupilot/pull/17228) - [x] Move DEV_OPTIONS bit "2" (thrust as thrust) to GUIDED_OPTIONS (issue https://github.com/ArduPilot/ardupilot/issues/17161, PR https://github.com/ArduPilot/ardupilot/pull/17185) - [x] Sebbb's "PreArm: Internal errors 0x800000 l:57 stack_ovrflw" when using SmartAudio on master (discord, general, PR: https://github.com/ArduPilot/ardupilot/pull/17226) - [x] S-curves PR: https://github.com/ArduPilot/ardupilot/pull/15896 - [x] Durandal Vcc fix - [x] COMPASS_USE=0, COMPASS_USE2=1 results in no compass being used (issue: https://github.com/ArduPilot/ardupilot/issues/16509, PR:https://github.com/ArduPilot/ardupilot/pull/17047) - [x] UAVCAN GPS ordering PR: https://github.com/ArduPilot/ardupilot/pull/16156 - [x] DMA Locking with Thread Priority Inheritance PR:https://github.com/ArduPilot/ardupilot/pull/15984 - [x] mRo Pixracer Pro Baro issue: https://github.com/ArduPilot/ardupilot/pull/16993, PR:https://github.com/ArduPilot/ardupilot/pull/17054 - [x] All boards building on autotest server (see below) SCurve resolved issues: - [x] apparent "climb away" in RTL after spline mission (reported by Peter Barker, Randy has logs). Caused by Rallypoints alt=90 - [x] waypoints in a straight line can cause the vehicle to not reach top speed (reported by Ryan Beall). Leonard says expected behaviour - [x] vehicle took-off in Guided but then descended (reported by @tridge). no problem. - [x] Auto mission Loiter-Turns broken (issue: https://github.com/ArduPilot/ardupilot/issues/17126, PR: https://github.com/ArduPilot/ardupilot/pull/17142)

Rover

github.com/ArduPilot/ardupilot

Rover: 4.1.0 issues list

opened 07:51AM - 07 Apr 21 UTC

rmackay9

Rover DevCallTopic ReleaseAdmin

This is a list of known issues especially blockers for the 4.1.0 rover release. … The equivalent Copter issue is https://github.com/ArduPilot/ardupilot/issues/16478 Issues requiring investigation: - [ ] BalanceBot broken in Acro mode? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-3-rc1-released-for-beta-testing/79751/3)) - [ ] DSHOT reverse range is inverted (4.2 issue. see [issue](https://github.com/ArduPilot/ardupilot/issues/19346)) - [ ] Kenny Trussell suggestions for GPS-for-yaw config improvements ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) - [ ] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) - [ ] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) - [ ] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) - [ ] another Matek H7 imu reset internal error report ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/47)) - [ ] Lost accel calibration parameters ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/23)) - [ ] Rover avoidance of fence OK? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/19)) - [ ] PRX missing from 1MB boards for Rover although it probably would fit ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beat4-released-for-beta-testing/72504/12)), simple avoidance not working with TFLuna? ([discussion](https://discuss.ardupilot.org/t/how-should-i-resolve-the-error-system-overflowexception/71800/10)) - [ ] Speed controller I-term build-up when motors are saturated ([discussion](https://discuss.ardupilot.org/t/pidachieved-opposite-to-piddesired/71911/14)) - [ ] PreArm: Internal errors 0x8000 l:428 main_loop_stk ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x8000-l-404-main-loop-stk-after-upgrading-to-latest-4-1-0-dev/66476/4)) Existing 4.0 issues - [ ] MP's Frame Type screen shows copter values ([discussion](https://discuss.ardupilot.org/t/about-frame-havent-boat-to-choose/74680/2), [issue](https://github.com/ArduPilot/MissionPlanner/issues/2673)) Resolved issues: - [x] MIS_DONE_BEHAVE not working ([discussion](https://discuss.ardupilot.org/t/issues-in-balance-bot/74844)) -- misunderstanding / confusion over Loiter and Hold options which are implemented from within Auto and Acro and Manual options that do cause a real change in flight mode. - [x] Nick Nunno's report of EKF attitude going bad and position jumping ([issue](https://github.com/ArduPilot/ardupilot/issues/18169)) -- can't reproduce. probably resolved for beta6 - [x] EKF yaw not recovering if GPS-for-yaw lost (i[ssue](https://github.com/ArduPilot/ardupilot/issues/17658)) -- resolved for beta7 (we think) - [x] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) -- resolved for beta7 (we think) - [x] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) -- resolved for beta7 (we think) - [x] ArduSimple F9 GPS does not work with GPS-for-yaw unless GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/107)) -- resolved for beta7 (we think) - [x] Kenny Trussell suggestions for GPS-for-yaw config improvements when GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) -- resolved for beta7 (we think) - [x] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) -- resolved for beta7 (we think) - [x] GPS_POS_X/Y/Z relative to IMU or COG? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/25), [PR](https://github.com/ArduPilot/ardupilot/pull/18264)) -- resolved for -beta7 - [x] EKF issues mentioned on the Copter-4.1 issue https://github.com/ArduPilot/ardupilot/issues/16478 -- resolved for beta6 - [x] Rovers cannot backup in Acro when simple avoidance is active ([issue](https://github.com/ArduPilot/ardupilot/issues/17518), [PR](https://github.com/ArduPilot/ardupilot/pull/17571)) - [x] Pre-arm check "DCM Roll/Pitch inconsistent by 32 deg" when using GPS-For-Yaw ([see code here](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp#L2080), [PR](https://github.com/ArduPilot/ardupilot/pull/17630)). Reported by @tatsuy. Note: the issue may be that body-frame roll and pitch are not actually being compared. -- should be fixed in beta4 - [x] THR logging shows lateral acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/17682), [PR](https://github.com/ArduPilot/ardupilot/pull/17689)) -- included in beta4 - [x] Waypoint delay of -1 leads to 65k of delay ([discussion](https://discuss.ardupilot.org/t/delay-time-issue-at-a-waypoint/71410), [issue](https://github.com/ArduPilot/ardupilot/issues/17488)) -- included in beta4 - [x] DShot not working with -beta3 ([discussion](https://discuss.ardupilot.org/c/ardurover/rover-41/158), [PR](https://github.com/ArduPilot/ardupilot/pull/17598)) -- included in beta4 - [x] Fence Radius are being truncated to integers ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/38), [PR](https://github.com/ArduPilot/ardupilot/pull/17619)) -- included in beta4 - [x] QGC with gamepad doesn't work ([discussion](https://discuss.ardupilot.org/t/qgc-fails-mavlink-parameters-with-gamepad-joystick-connected/71668)) -- QGC issue - [x] Twitching at waypoints if WP_RADIUS set to 0.05m (issue https://github.com/ArduPilot/ardupilot/issues/17417, PR https://github.com/ArduPilot/ardupilot/pull/17494) -- fixed in beta2 - [x] GPS-for-yaw wiki params incorrect ([wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/3512)) - [x] RFND messages missing (see issue: https://github.com/ArduPilot/ardupilot/issues/17334, [PR](https://github.com/ArduPilot/ardupilot/pull/17355)) -- fixed in beta2 - [x] AP_Button's use of aux functions executes both high and low positions ([reported by RobertoN](https://discuss.ardupilot.org/t/rover-4-1-0-beta1-released/69868/8)) -- may be changed as part of a future enhancement - [x] Rover param meta data for Fence includes Altitude (issue https://github.com/ArduPilot/ardupilot/issues/17207)

CraigElder · February 8, 2022, 3:50pm

Attendee count (max): 22

Pre-Agenda:

Scripting work on non-AETR?
- yes as the k_elevator etc functions are being used
Discussion of system identification in Helicopters

UTC1100 - https://github.com/ArduPilot/ardupilot_wiki/pull/4110

Improving the Wiki in regards to system identification
- Part of a thesis
Why a DC offset for a rate controller?
- -10 to -15dBs
- Bodie plot pitch.png
- Coherence is nearly zero so you can’t trust anything
  - Can only trust data on the plot where the coherence is greater than 0.6
  - …. Found one with good coherence…
Working on documenting system ID and getting it documented and useful
Units?
- Should be good
Bill will look at the data with his tools and see what he finds

UTC1107 - https://github.com/ArduPilot/mavlink/pull/243

Adds AUTOTUNE_AXIS to a mavlink message
Merged!

UTC1109 - https://github.com/ArduPilot/mavlink/pull/242

Deprecate SET_HOME_POSITION mavlink message (use the command…)
Merged!

UTC1112 - https://github.com/ArduPilot/ardupilot/pull/18580

Move send position target local and global up
What data should we actually send through?
Target accels/vels/pos as the position controller has them
- Not the commanded input mode
- Yaw rates would send all the controller outputs
- Why send all zeroes?
  - Gcs could generate plotted trajectories
- Attitude targets went this way recently?
- Is this really supposed to be just an echo?
  - Do we add an extension field indicating it is an echo?
  - Should we always send an echo?!
    - Bandwidth?
Why does Plane only return data only in guided mode?
- Maybe not send this for now?

UTC1120 - https://github.com/ArduPilot/ardupilot/issues/19702

Include axes to tune in MAV_CMD_DO_AUTOTUNE_ENABLE
This is an oddball message
- Not many people use this particular message
Would we accept the linked 19742?
- Problems with orthogonality with Copter
- Tridge has never wanted to autotune a single axis in Plane
- PR was good, just not a feature we want to burn flash on
Close issue and PR

UTC1129 - https://github.com/ArduPilot/ardupilot/pull/19851

MacOSX warning fixes
We’ll give it a flight test before merging

UTC1134 - https://github.com/ArduPilot/ardupilot/pull/19859

Updates Plane weathervaning
Rebased….
RC_Option to turn it off
Scaling done tridge’s way…
You need to set the weathervaning to what you want
- Off by default
- Nose-in, nose-out, side-on
- None-on-takeoff works well for takeoff to not fly into trees
- Landing side-on on tailsitter worked well
- Nose-into-wind on tiltrotor worked well

UTC1138 - https://github.com/ArduPilot/ardupilot/pull/19903

Obeying estop for turtle and forward flight
Randy will look at it

UTC1139 - https://github.com/ArduPilot/ardupilot/pull/19904

Atmospheric model correction
Discussed last week?
Probably just didn’t have label removed

UTC1140 - https://github.com/ArduPilot/ardupilot/pull/19906

Back from EU call
Create f405-matekairspeed
Merged!

UTC1141 - https://github.com/ArduPilot/ardupilot/pull/19908

pause/continue concept with SCurves
Not de-tagged from last week

UTC1141 - https://github.com/ArduPilot/ardupilot/pull/19910

Fix compilation when INS temperature calibration disabled
Parameters in SITL is a bit of a pain
We allow for changing the structure and numbering of SITL parameters
- I.e. we’ll break stuff
We’d like to have SITL parameters in the Wiki
Merged!

UTC1145 - QGC can’t flash ArduPilot ATM?

Qgroundcontrol uploading ardupilot firmware failed due to missing tags in the apj file
Compressed lump of parameter docs inside the apj?!
- PR against QGC to allow flashing without parameter docs?
  - So we can flash older firmwares…
- Where do these docs get stored?
  - Maybe they’re stashed with the git hash as a key?
- Empty tags for 4.2?
Selection of firmware is really quite nice in QGC
- Just a shame flashing seems to have been broken

UTC1149 - https://github.com/ArduPilot/ardupilot/pull/19919

Even if a single developer goes elsewhere for dropping weapons it’s a win even if this is a bit misleading
Merged!

UTC1153 - https://github.com/ArduPilot/ardupilot/pull/19922

Avoid direct use of alt in location
Merged!

UTC1158 - https://github.com/ArduPilot/ardupilot/pull/19923/files

Default implementation for basically TODO item
Merged!

UTC0000 - https://github.com/ArduPilot/ardupilot/pull/19929

Build against all.xml
Merged!

UTC0001 - https://github.com/ArduPilot/ardupilot/pull/19931

Move logging of home-is-set event up
Consistency!
Merged

UTC0004 - https://github.com/ArduPilot/ardupilot/pull/19932

Turn off all frames off by default
Then include just the ones you want
Merged!

UTC0006 - https://github.com/ArduPilot/ardupilot/pull/19939

Limit number of sensors in SkyViper
Merged!

UTC0007 - https://github.com/ArduPilot/ardupilot/pull/19951

Improve real-time S-Curve response to small input
Randy will look at it…

UTC0008 - https://github.com/ArduPilot/ardupilot/pull/19960

Extend build options to backend modules
E.g. smbus and generator backends
How is this saving flash?!
- We should be eliding the code already!
- Bug in build system?
- Maybe this makes no size difference?
F405 still seems to have the smbus stuff in there!
- Where’s it being used from?
- Maybe things aren’t being elided properly?
- Virtual methods?
Tridge will do a quick check to see if this is a noop ornot

UTC0019 - https://github.com/ArduPilot/ardupilot/pull/19970/files

Avoid passing mission singleton into terrain class
Merged!

UTC0020 - https://github.com/ArduPilot/ardupilot/issues/19973

Our parameter restore doesn’t restore other things…
Missions disappearing all the time……
32kB for parameters
Mission area and fence area can be
Stg file on SD card isn’t restored
- We only restore from the parameter backup area
- Could potentially grab mission from SD card on a restore if it is mounted?
- Can’t distinguish between case where user has deliberately wiped parameters and an accident….
Restoring would be great!
But the problem is the user doesn’t get notified that this has happened and it is confusing an annoying
Quietly losing fence is bad?
Half-a-dozen to a dozen examples only…
- In all examples only the first 1 or 200 bytes was affected
Need to simulate this and deliberately corrupt the parameters in the same way

UTC0030 - https://github.com/ArduPilot/ardupilot/pull/19980

Pull out some common code
We’ll be limiting the ROI to 83km up
In frame vs out frame
Order of parameters?
- Peter to reorder parameters
- And frame to in_frame
- Can be merged after this

UTC0045 - https://github.com/ArduPilot/ardupilot/pull/19983

Reset integrators when landed in auto modes
Missed these on previous passes….
4.1-backport….
merged!

UTC0048 - https://github.com/ArduPilot/ardupilot/issues/16478

Copter update
4.1.4 is out there in beta
- Same as Plane 4.1.6?
- Good feedback so far
- Benewake-CAN lidar issues?
- Stable version today or tomorrow
Should we make a 4.1.5?
- Bill’s not too fussed with the integrator thing
- But we’ll do a 4.1.5 just for it
  - Short run
  - Maybe a release for heli but not for Copter?
Ping Randy on stuff you really want in 4.1.5…

UTC0055 - https://github.com/ArduPilot/ardupilot/issues/17116

Rover
SCurves might not make it into 4.2
- Sailboats
- Yuri on non-pivot corners
- Slow and uneven turns
- May make things worse in some cases

UTC0056 - https://github.com/ArduPilot/ardupilot/issues/15941

Plane update
4.1.7 beta due out today
More ship landing stuff
- Copter stuff later!
- Same simulated truck test platform…
  - Ignition gives you vehicle interaction…
  - Ocean model with rolling/pitching boats coming
    - Simulated cameras!
    - Depth sensors and cameras and stuff
    - Ship Landing Ignition Simulation - #18 by rhys
    - Vision-based avoidance in SITL will be good
    - Quadplane landing doesn’t run in real-time… close…
    - Rhys is looking for a GSoCstudent to do Ignition models
Henry’s aerobatic stuff went in
- Lots of RCGroups interest!
- Looking forward to seeing what people do
- Sample applets are great
- Tridge wants to see people swapping aerobatics scripts…

UTC0102 - shout-out for AP_Cloud

Log-file upload and drone management stuff
Good stuff Buzz and Stephen!
Strange there aren’t commercial packages out there to do this…
https://github.com/ArduPilot/AP_Cloud

UTC0112 - add read-size limits on ftp

Merged!

UTC0112 - fix bidirectional d-shot on omnibusf4pro

Merged

UTC0112 - allow bootloader to boot px4 can node

Needs Sid or Peter to look at
Hopefully Sid can look at this one…

UTC0113 - set-position-target-local-ned to be above origin

Sub-only patch to fix frame
Merged!

UTC0114 - correct alt reporting

Mergeoncipass

UTC0117 - remove STRT message

Doesn’t add anything
Merged!

UTC0118 - correct spelling of mot_lotier_qland

Merged!

UTC0119 - remove ancient convert_mixers code

Merged!

UTC0120 - close

timtuxworth · February 12, 2022, 3:40am

About UTC1145 - QGC can’t flash ArduPilot ATM?
I think I’ve noticed the same problem as I use QGC (Daily build) for flashing my PixRacer and PixHawk1-1M. I got the attached message when I flashed from Beta just now.

But notice that it did actually flash.
Also, I don’t get this message if I use my own build of master.

This is the QGC I’m running
Screen Shot 2022-02-11 at 7.41.44 PM

If I should put this comment somewhere else please let me know.