Dev Call Jan 10, 2022

CraigElder · January 10, 2022, 10:59pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET

ArduPilot:master ← lthall:20211002_GuidedAttitudeRate

opened 08:01AM - 03 Oct 21 UTC

lthall

+76 -74

This PR supports the full Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET message as …it is specified. It now supports - quaternion attitude - quaternion attitude + roll and/or pitch and/or yaw rate - thrust or climb rate (climb rate is not to spec and must be turned off using GUID_OPTIONS) - roll and/or pitch and/or yaw rate. We need to look at how we support the old but incorrect behaviour of attitude roll/pitch + rate yaw. I also need to add the getter message associated with the setter message.

github.com/ArduPilot/ardupilot

Copter: Add Airspeed Support

ArduPilot:master ← hendjoshsr71:pr/heli_airspeed

opened 08:57AM - 01 Oct 21 UTC

hendjoshsr71

+415 -166

To be added after PR https://github.com/ArduPilot/ardupilot/pull/18838 which mov…es AP_Airspeed usage up into AP_Vehicle @bnsgeyer This adds airspeed support to copter and replaces https://github.com/ArduPilot/ardupilot/pull/8430 & Closes https://github.com/ArduPilot/ardupilot/issues/7654 I tried to incorporate most of the comments in the above PR. It does not incorporate any control elements or autocal. This is reporting only. **Notes**: This PR adds 13.6 KB to copter it is defined out for boards 1MB or lower **Questions not addressed** in above PR: What happens in the EKF if someone tries to use airspeed? **Tested in SITL only:** Type == Analog ![arspd_analog_data_flash](https://user-images.githubusercontent.com/69225461/135593033-746dffdb-9477-4cb9-94ad-f7e3029ab418.png) Type == MS5525 Weird Data here between mode types ![arspd_ms5525_data_flash](https://user-images.githubusercontent.com/69225461/135593036-9f55ac14-6541-4244-90e6-227e21c31fa3.png)

github.com/ArduPilot/ardupilot

Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET

ArduPilot:master ← lthall:20211002_GuidedAttitudeRate

opened 08:01AM - 03 Oct 21 UTC

lthall

+76 -74

This PR supports the full Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET message as …it is specified. It now supports - quaternion attitude - quaternion attitude + roll and/or pitch and/or yaw rate - thrust or climb rate (climb rate is not to spec and must be turned off using GUID_OPTIONS) - roll and/or pitch and/or yaw rate. We need to look at how we support the old but incorrect behaviour of attitude roll/pitch + rate yaw. I also need to add the getter message associated with the setter message.

github.com/ArduPilot/ardupilot

AP_Airspeed move into AP_Vehicle

ArduPilot:master ← hendjoshsr71:pr/move_airspeed_to_ap_vehicle

opened 06:05AM - 04 Oct 21 UTC

hendjoshsr71

+309 -161

This moves AP_Airspeed into AP_Vehicle as a basis for next adding airspeed into …copter in this PR https://github.com/ArduPilot/ardupilot/pull/18813 I could use a little help with the #ifdefs as I couldn't figure out a way to get everything I wanted without putting vehicle specific defines in AP_Airspeed.?? The biggest being Airspeed must be enabled for all vehicles & boards it is currently enabled on. And then be able to exclude APM_BUILD_ArduCopter being built-in by default.

github.com/ArduPilot/ardupilot

Plane: tailsitter: always give full priority to pitch in mixing, calculate min throttle based on outflow velocity

ArduPilot:master ← IamPete1:tailsitter_mixing

opened 07:37PM - 14 Nov 21 UTC

IamPete1

+136 -40

A couple of improvements for tailsitters. Firstly taisitters now do there own… elevon and V tail mixing, this allows them to give full priority to pitch, any remaining range is given to yaw/roll. Unlike the existing mixer the remaining range is used symmetrically so yaw does not cancel out pitch. Fixes https://github.com/ArduPilot/ardupilot/issues/9412 A min outflow speed parameter has been added for use in conjunction with the disk loading gain scaling option and parameter. This will give a varying minimum throttle level depending on airspeed. This prevents difficulty when descending, but still allows low throttle at other times. Fixes https://github.com/ArduPilot/ardupilot/issues/16322 Finally a change to makes sure elevator/aileron/rudder are configured before setting motor limit flags based on there value.

github.com/ArduPilot/ardupilot

AP_RangFinder: various maxbotix serial sonar

ArduPilot:master ← chobitsfan:pr_maxbotix_serial_scaling

opened 12:49PM - 21 Nov 21 UTC

chobitsfan

+23 -4

fix #7885 and fix #16749 Maxbotix serial sonar may report reading in inch, cm… or mm. Current implementation assume it gives the metrics in inches. This PR add 2 additional rangfinder type: 35 for MaxbotixSerial cm reading and 36 for MaxbotixSerial mm reading. P.S: some Maxbotix serial sonar (MB1240, for example) may need to set InvertRX in SERIALx_OPTIONS Test ok in MB1240 (cm reading)

github.com/ArduPilot/ardupilot

Compass: per instance params take 2

ArduPilot:master ← IamPete1:compass_rename_take_2

opened 01:37PM - 11 Dec 21 UTC

IamPete1

+766 -714

This reinstated the per instance params and fixes the bug that cause the revert.… https://github.com/ArduPilot/ardupilot/pull/19429 Fix is to convert the dev id param. https://github.com/ArduPilot/ardupilot/commit/a037cfd99e53650ee91374b9e9706c344050f8d3 I had omitted the conversion because I misunderstood how the dev id stuff worked. In my testing everything worked as expected, because the compasses were still in the default order, so the dev id's came up and were auto populated in the same order. If the compass were in a different order the omitted dev id caused the compass priority stuff to swap the other params round. I have tested the fix with @tridge 's eeperom example from the revert PR.

github.com/ArduPilot/ardupilot

AC_PosControl: Clean up initialisation functions and limit initial xy accelerations based on max lean angle

ArduPilot:master ← lthall:20220101_PR_Position_Control_Initalisation

opened 11:35AM - 01 Jan 22 UTC

lthall

+27 -46

This PR incorporates most of the feedback in this PR without causing the aircraf…t to twitch provided the lean angle and instantaneous acceleration is within the navigation acceleration range. https://github.com/ArduPilot/ardupilot/pull/19635 without causing the aircraft to twitch provided the lean angle and instantaneous acceleration is within the navigation acceleration range.

github.com/ArduPilot/ardupilot

Plane: quadplane: add transition failure action

ArduPilot:master ← IamPete1:trans_fail_action

opened 07:53PM - 03 Jan 22 UTC

IamPete1

+44 -16

Funded by Arace This adds a new param `Q_TRANS_FAIL_ACT`, this allows the use…r to select either QLAND, QRTL or warning only actions to take when `Q_TRANS_FAIL` time runs out. The force complete option still works for tiltrotors, they will now take the new action if the ground speed threshold is not met. I have added a new case to QRTL to jump straight to POS2 if the mode reason is `VTOL_FAILED_TRANSITION`. Tested in SITL by setting `THR_MAX` 0

github.com/ArduPilot/ardupilot

AC_Autotune: remove most GCS messages

ArduPilot:master ← IamPete1:autotune_message_cutdown

opened 07:24PM - 04 Jan 22 UTC

IamPete1

+20 -139

Extract from https://github.com/ArduPilot/ardupilot/pull/15267, this removes the… majority of autotune messages. We now just get the axis and stage ![image](https://user-images.githubusercontent.com/33176108/148111271-34e90e1e-daa0-4b12-88da-5179c01ecb12.png) Current master is rather spammy: ![image](https://user-images.githubusercontent.com/33176108/148111448-d67792d6-cc46-4da2-be65-21c6fa827fdb.png) All the information removed form the GSC messages is still in the `ATUN` and `ATDE` log messages at a higher rate.

github.com/ArduPilot/ardupilot

Fixed f405-MatekGPS CAN bootloader and storage location

ArduPilot:master ← tridge:pr-bl-storage-page

opened 05:38AM - 06 Jan 22 UTC

tridge

+1572 -909

The f405-MatekGPS had a typo that meant that it didn't enable CAN for bootloader… on an AP_Periph device Once that is fixed the bootloader becomes more than 16k, which means it doesn't fit in one sector. Unfortunately STORAGE_FLASH_PAGE was set to 1, meaning only 1 sector available. The fix is to move storage to sectors 2 and 3, leaving 32k for the bootloader This will reset parameters on boards that are updated, but fixes the long term issue

github.com/ArduPilot/ardupilot

scripting: Added ability to add new parameters

ArduPilot:master ← tridge:pr-script-params

opened 06:01AM - 07 Jan 22 UTC

tridge

+431 -76

This is another attempt at adding parameter tables for lua scripts. It is a much… simpler approach than the one that @IamPete1 took See examples/param_add.lua for an example of how it is used key features and limitations: - only float params - max 10 additional tables (so at most 10 scripts that create param tables can be run on one board at a time) - max 63 parameters per table - script needs to specify a param table key. Protection against re-using a param table key is given by the crc of the table prefix provided by the script, stored in a hidden AP_Int32 The main advantage of this approach is it is very simple

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: do not emit config for more ports than we use in hwdef

ArduPilot:master ← peterbarker:pr/shrink-serial-port-count

opened 08:24AM - 08 Jan 22 UTC

peterbarker

+0 -1

The number of serial ports in the device list here flows through to SERIALMANAGE…R_NUM_PORTS and that (at least) increases the size of AP_SerialManager::var_info Saves 108 bytes on Hitec-Airspeed, which defines a single serial port but we end up with 4 entries in the list. Marked Draft because I'm really just taking a punt here :-)

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 - [ ] option t…o 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: - [ ] 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)

New Swag Store
https://www.redbubble.com/people/ArduPilot/explore

CraigElder · January 11, 2022, 4:50am

Attendee count (max): 26

UTC1100 - Add mount_mode to MOUNT_STATUS by hendjoshsr71 · Pull Request #236 · ArduPilot/mavlink · GitHub

Transport mount mode in mavlink
Merged!

UTC1104 - Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET by lthall · Pull Request #18833 · ArduPilot/ardupilot · GitHub

Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET
Josh has looked at this a lot
0-length quaternions have meaning in mavlink as “not used”
Some disagreement as to whether we should carry a boolean or a magically-values quaternion
Tested in SITL using “message” command
Good for acrobatics in multirotors

UTC1118 - Copter: Add Airspeed Support by hendjoshsr71 · Pull Request #18813 · ArduPilot/ardupilot · GitHub

Move AP_Airspeed into AP_Vehicle
Works in AP_Periph
EKF consuming this?
- This only moves the code
- Won’t affect Copter ATM as fly-forward isn’t set
Follow up will allow use in Heli
Why does this save code on Copter?
- More bits can be compiled out
Bill will test related PR on copter

UTC1129 - GPS: Implement KSXT message for Unicore NMEA by tridge · Pull Request #19029 · ArduPilot/ardupilot · GitHub

add support for KSXT message from Unicore NMEA
Merged
Also adds logging for data-in on GPSs

UTC1134 - Plane: tailsitter: always give full priority to pitch in mixing, calculate min throttle based on outflow velocity by IamPete1 · Pull Request #19249 · ArduPilot/ardupilot · GitHub

always give full priority to pitch in mixing, calculate min throttle based on outflow velocity
Merged!

UTC1137 - AP_RangFinder: various maxbotix serial sonar by chobitsfan · Pull Request #19323 · ArduPilot/ardupilot · GitHub

Various maxbotix serial sonar
Use r_metric instead?
Expose the scale factor
- Use the scaling factor in the backend instead?

UTC1146 - Compass: per instance params take 2 by IamPete1 · Pull Request #19490 · ArduPilot/ardupilot · GitHub

Needs testing
Per-instance compass parameters
More testers on this one would be really good
Tridge will fly this weekend
Positive user reports desired

UTC1152 - Move rate limits from Autotune to Attitude Control by lthall · Pull Request #19583 · ArduPilot/ardupilot · GitHub

Move rate limits from autotune to attitude control
- Moves tridge’s limits to where they should be
  - Worked for rates but max-angle-step didn’t account for max-angle rate
- merged!

UTC1155 - Kakute H7 Mini by andyp1per · Pull Request #19646 · ArduPilot/ardupilot · GitHub

KakuteH7 Mini support
Merged!
Substitute parts in supply chain… laser-etching vs actual part is different!

UTC1158 - AC_PosControl: Clean up initialisation functions and limit initial xy accelerations based on max lean angle by lthall · Pull Request #19648 · ArduPilot/ardupilot · GitHub

Didn’t initialise correctly in some circumstances
- Happened in tailsitters
Merged!

UTC0001 - Plane: quadplane: add transition failure action by IamPete1 · Pull Request #19664 · ArduPilot/ardupilot · GitHub

Adds transition failure action
Go to qrtl rather than qland
- Forces the qpos state so you don’t try to transition to fixed wing
Integer wrap issue gone
Merged!

UTC0002 - AC_Autotune: remove most GCS messages by IamPete1 · Pull Request #19677 · ArduPilot/ardupilot · GitHub

Remove most autotune messages
Don’t want to conflict with Bill’s work
- PH to work with Bill on getting one of these both in

UTC0004 - AP_NavEKF3: remove user unintelligible GCS message by Hwurzburg · Pull Request #19679 · ArduPilot/ardupilot · GitHub

Remove unintelligible message
Just remove it entirely and ask Paul to approve it

UTC0005 - Tools: add more categories and reorganize a bit by amilcarlucas · Pull Request #19690 · ArduPilot/ardupilot · GitHub

Rearrange custom build server options
Merged!

UTC0008 - Move RPM sensor logging into AP_RPM by peterbarker · Pull Request #19694 · ArduPilot/ardupilot · GitHub

Moves RPM sensor logging into the library from all vehicles
Merged!

UTC0009 - AP_Scripting:Update plane aerobatics scripts with adds and fixes by Hwurzburg · Pull Request #19698 · ArduPilot/ardupilot · GitHub

Update Plane aerobatics scripts
The gang has to agree on this one
- Another development session with Andy Palmer
Want to get parameters PR in first

UTC0011 - GPS: fixed default GPS lag and make SITL GPS lag be in milliseconds by tridge · Pull Request #19703 · ArduPilot/ardupilot · GitHub

Fixed default GPS lag
Gps history is a bit of an issue
Marked as MergeOnCIPass

UTC0017 - Fix memory leak in file-content logging by peterbarker · Pull Request #19704 · ArduPilot/ardupilot · GitHub

Fixes memory leak in logging file content out to log
Need to make sure we can extract logs from dataflash logs still
Can be merged after extraction tested

UTC0028 - Fixed f405-MatekGPS CAN bootloader and storage location by tridge · Pull Request #19706 · ArduPilot/ardupilot · GitHub

F405 MatekGPS_CAN device fixed
- No CAN support
Can’t avoid losing parameters on upgrade
Overlapping bootloader and storage could happen
- Many sanity checks added
  - Picked up several more bugs
merged!

UTC0033 - scripting: Added ability to add new parameters by tridge · Pull Request #19715 · ArduPilot/ardupilot · GitHub

Add named parameters inside scripts
All float parameters
- No flags or integer parameters
Up to 63
Mechanism to protect against multiple scripts using same key
Table key gets added to 300 and that becomes the top-level parameter key
Most vehicles use only top 256
- We hae 9 bits in top-level
- One vehicle uses 260
- Scripting parameters start at 300
- Nothing disastrous happens
  - Parameter tree creation would be refused
What happens if existing parameter name used?
Maybe have a scripting option which makes global variables visible to all scripts
Could someone consume bytes in eeprom with this?
Table-key choosing is critical
- Scripts have to have unique keys
Int32 hidden parameter crc of prefix
- To avoid loading bad data
- E.g. SHIP_ gets crc’d and stored so you tree won’t be used by someone else using same numeric key
Mavlink command for garbage collection?
Fixes ftp param download bug
- File size wasn’t being fixed
PH wants a bit more verbosity around errors
- Handle it in docs!
When you saved a hidden variable it was sent to GCS, which is bad
Peter will look at this this-arvo and merge if he’s happy

UTC0054 - Plane update

Ship-landing hooks wanted in
Tailsitter stuff for 4.2 is going to be wonderful
Tilt-rotor stuff is also going to better
- Less climbing in back-transition
Hooks for bendy-ruler avoidance in LUA scripts
Update navigation target from LUA script in race-free manner
Only a very small hook needed
LUA script good for ship landing?
- Different wave-off behaviours etc etc
Copies in LUA are a bit tricky
- Trap when copying vectors and locations
- Vector2f a
- B = a
- That doesn’t do a copy, it takes a reference!

UTC0107 - Copter: 4.1.0 issues list · Issue #16478 · ArduPilot/ardupilot · GitHub

Copter update
4.1.3 is looking OK
No plans for a 4.1.4
- New boards?
  - Pixhawk5x and several others
  - There’s a backport
- Position controller relax fix by lthall · Pull Request #19743 · ArduPilot/ardupilot · GitHub
Start a 4.1.4 end of next week?
Still an issue with yahoo scripts

UTC0112 - Rover: 4.1.0 issues list · Issue #17116 · ArduPilot/ardupilot · GitHub

Rover update
A few bits and pieces
Dshot reverse issue
Balancebots in acro mode
SCurve dev work is going reasonably well
Couple of remaining issues
Pivots are slower than in 4.1
Randy is hopeful default gains will be OK
- Position control is interesting in Copters because sideways acceleration is proportional to mass/tilt given consistent height but not in Rover
Scurves + sailboats!
- Need to test
- Tack planning in the future for sailboats might be a thing
- “Temporary waypoints”?
- Scurves is a really big change with “no going back”
  - No L1 controller any more!

UTC0113 - swag!

https://www.redbubble.com/people/ArduPilot/explore
ArduPilot will get 20%
- Price is increased so redbubble get their money
- Percentage-per-product
Would be nice if partners shipped a sticker or two

UTC0130 - close