Dev Call Jan 5, 2026

CraigElder · January 5, 2026, 10:52pm

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Release Update

github.com/ArduPilot/ardupilot

ArduPilot 4.6 issues list

opened 12:01AM - 14 Nov 24 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.6 testing. Issues for [C…opter/Rover-4.5 issues are here](https://github.com/ArduPilot/ardupilot/issues/26103) **Reports requiring investigation** - [ ] RC tuning of Loiter speed not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/41)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31584 - [ ] https://github.com/ArduPilot/ardupilot/issues/31484 - [ ] Internal Error (flow-of-control) during takeoff in AltHold ([discussion](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/4)) - [ ] F.Port not working with TradHeli ([discussion](https://discuss.ardupilot.org/t/trad-heli-tuning-fport-can-t-send-telemetry-back/138940/17)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31287 - [ ] https://github.com/ArduPilot/ardupilot/issues/31099 - [ ] EKF reset leads to bad roll estimate ([issue](https://github.com/ArduPilot/ardupilot/issues/31098), [discussion](https://github.com/ArduPilot/ardupilot/issues/31098)) - [ ] BLHeli_S ESC passthrough not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-2-released/136822/26)) - [ ] yaapu ver X7 1.8.0 using Taranis QX7 receiver not displaying data ([discussion](https://discuss.ardupilot.org/t/copter-4-6-2-released/136822/12)) - [ ] log download slow? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-1-released/135697)) - [ ] Plane LEDs not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/30331#issuecomment-2988401515), [PR with potential fix](https://github.com/ArduPilot/ardupilot/pull/30469)) - [ ] Bad battery ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/74)) - [ ] Micoair h743aio failing to restart ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/57)) - [ ] Bad Gyro Health on Yaapu ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/50)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30142 - [ ] Rover follow Lua bindings almost always returning nil ([discussion](https://discuss.ardupilot.org/t/issue-with-follow-object-in-lua-script-for-rover-to-follow-copter/131666/11)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30173 ([discussion](https://discuss.ardupilot.org/t/cube-orange-plus-over-loaded-processor/134003/41)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30156 - [ ] Solo gimbal not included on CubeSolo ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/5)) - [ ] uBlox fw update over DroneCAN with uCenter 24.x does not work - [ ] Since 4.6 NeoPixel strip led doesn’t work https://discuss.ardupilot.org/t/plane-4-6-release/134619/15?u=tridge - [ ] garbage data can be accepted as valid mavlink: https://github.com/ArduPilot/pymavlink/issues/1019 - [ ] FTP mission upload deadlock in 4.6.2: AP: CRITICAL Deadlock 814 FTP 0x3000AE6C **Confirmed issues** - [ ] AHRS orientation on startup ([discussion](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/5), [issue](https://github.com/ArduPilot/ardupilot/issues/30064)) -- known issue - [ ] AHRS upside soon after startup (reported by partners, [PR](https://github.com/ArduPilot/ardupilot/pull/29667), [issue](https://github.com/ArduPilot/ardupilot/issues/30064)) -- resolved for -beta6 but then re-opened - [ ] Hardfault on arming if CAN_SLCAN_CPORT set non-zero and have SERIAL6_PROTOCOL set to 22 (reported by @robertlong13, [Issue](https://github.com/ArduPilot/ardupilot/issues/30055)) -- also exists in 4.5 so not a blocker - [x] Internal error involved multiheap allocation for LUA in cygwin (https://github.com/ArduPilot/ardupilot/issues/29563) - [ ] EKF3 altitude runaway EK3_SRC1_POSZ = 2 (rangefinder) and rangefinder is out of range ([PR](https://github.com/ArduPilot/ardupilot/pull/29537)) - [ ] AM32 passthrough (without DroneCAN) not working ([issue](https://github.com/ArduPilot/ardupilot/issues/29348), [PR](https://github.com/ArduPilot/ardupilot/pull/29590)) - [ ] EKF3 velocity divergence before arming ([issue](https://github.com/ArduPilot/ardupilot/issues/29384), [PR](https://github.com/ArduPilot/ardupilot/pull/29434)) -- hoping PaulR will investigate (not a blocker) - [x] https://github.com/ArduPilot/ardupilot/issues/31108 ***Plane Specific Issues*** - [ ] Plane servos using IOMCU not moving ([issue](https://github.com/ArduPilot/ardupilot/issues/29759)) -- aiming for fix in 4.6.x point release (not 4.6.0) - [ ] the assisted_flight flag oscillates rapidly in fwd transition of tilt quadplanes, possibly leading to incorrect tllt slew rate https://github.com/ArduPilot/ardupilot/issues/28957 -- aiming to fix in 4.6.1 (or higher) - [ ] possible landing glide slope bug https://discuss.ardupilot.org/t/plane-4-6-release/134619/8?u=tridge - [ ] possible sink rate issue in AUTOLAND https://discuss.ardupilot.org/t/autoland-mode-4-7-dev-reports/135441 - [ ] https://github.com/ardupilot/ardupilot/issues/30227 **Enhancements or Issues that may not be resolved before the stable release** - [ ] Octaquad missing on F4 boards ([discussion](https://discuss.ardupilot.org/t/bug-in-firmware-upgrade-copter-4-6-0/134683/30)) -- same with 4.5.7 so we should potentially also remove Octa from F4 boards - [ ] BLHeli SERVO_BLH_RVMASK mapping is achieved through trial and error (raised by xfacta, [issue](https://github.com/ArduPilot/ardupilot/issues/29325)) - [ ] when the user has configured ESC, FFT or RPM notch and has INS_HNTCx_REF=0 then they end up with a fixed notch. We should have an arming check to tell them they need to set the REF to 1.0 (any non-zero value will do actually) https://github.com/ArduPilot/ardupilot/issues/28786 - [ ] ROS2 attitude control + thrust enhancement request ([discussion](https://discuss.ardupilot.org/t/ros2-interface-for-controlling-thrust-and-attitude/127694)) - [ ] AutoTune should have a vehicle specific (or configurable) AngleP max (reported by Tridge) - [ ] add a warning if the GCS system clock and UTC clock on the flight controller differs by over 20s and signing is active, as signing will fail with a 30s difference - [ ] Custom Build Server for CubeOrangePlus with OpenDroneID shows linker error when out of flash ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/4), [discussion2](https://discuss.ardupilot.org/t/copter-custom-firmware-build-issue-with-remote-id-support-latest-not-4-5-7/125177), [Issue](https://github.com/ArduPilot/CustomBuild/issues/114)) - [ ] Add LDRobot LD19 support ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/8), [issue](https://github.com/ArduPilot/ardupilot/issues/28662)) - [ ] need to provide a clearer message to users when the power status flags change, indicating loss of a power source in flight. A statustext at message level CRITICAL I think is warranted, maybe "POWER STATUS CHANGE" ? (Tridge has details) **Wiki issues/enhancement requests ([Wiki To-Do list](https://github.com/ArduPilot/ardupilot_wiki/issues/4274))** - None **Resolved issues** - [x] https://github.com/ArduPilot/ardupilot/issues/31402 -- resolved for 4.7 - [x] https://github.com/ArduPilot/ardupilot/issues/31386 -- resolved for 4.7 - [x] Rover: "field elevation set 0m" spamming GCS messages ([discussion](https://discuss.ardupilot.org/t/how-to-disable-a-continuous-field-elevation-set-0m-message-sent-on-console-every-sec-sitl-ardurover-4-5-5/122567), [PR](https://github.com/ArduPilot/ardupilot/pull/25114)) - [x] Ch6 tuning of WPSpeed not working on tradheli ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-3-released/140596/31), [discussion2](https://discuss.ardupilot.org/t/wpnav-speed-as-a-chan-6-tune-parameter-working/83217/18)) -- user error - [x] Lua related Internal error from multi-heap allocation ([issue](https://github.com/ArduPilot/ardupilot/issues/29563)) - [x] https://github.com/ArduPilot/ardupilot/issues/31404 -- resolved through documentation - [x] incorrect glide slope for terrain NAV_LAND. https://github.com/ArduPilot/ardupilot/pull/30041 - [x] find_by_name() in AP_Param.cpp uses a bogus strncasecmp() ([PR](https://github.com/ArduPilot/ardupilot/pull/30659)) - [x] https://github.com/ArduPilot/ardupilot/issues/30722 -- resolved ahead of 4.6.3-beta1 - [x] Firmware erase on ECC error on boards that store params in flash ([PR](https://github.com/ArduPilot/ardupilot/pull/30031)) -- TBS bootloader released with 4.6.0, what's next? -- solved in 4.6.2 - [x] LD06 sensitive to sunlight ([discussion](https://discuss.ardupilot.org/t/copter-4-6-1-released/135697/31)) -- not a regression since 4.5. hardware issue? - [x] Ark FPV board mentioned in release notes but not in 4.6 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/83), [PR](https://github.com/ArduPilot/ardupilot/pull/28603)) -- marked for backporting, may be included in 4.6.3 - [x] JFB110 SD card not working? ([discussion](https://discuss.ardupilot.org/t/jfb110-fc-mavftp-issue/134938), [related PR](https://github.com/ArduPilot/ardupilot/pull/26090), [potential fix PR](https://github.com/ArduPilot/ardupilot/pull/30387)) -- resolved for 4.6.2-beta1 - [x] Copter Pixhawk 2.4.8 "check frame and type" ([discussion](https://discuss.ardupilot.org/t/bug-in-firmware-upgrade-copter-4-6-0/134683)) -- no response from user - [x] CubeOrange AK09916 internal compass orientation Yaw270 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/44)) -- no functional impact - [x] “pitch level-off at takeoff altitude” is interfered with by the feature “pitch rotate speed for ground takeoff” ([discussion](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/165), [PR](https://github.com/ArduPilot/ardupilot/pull/29834)) -- resolved for 4.6.0 (randy thinks) - [x] DroneCan M10 GPS lock issue again (raised by TimT, [discussion](https://discuss.ardupilot.org/t/timts-dronecan-ublox-m10-num-sats-issue/132353)) -- waiting on Qiotek, no conclusive evidence of an issue - [x] LD19 average change makes it sensitive to sunlight ([discussion](https://discuss.ardupilot.org/t/looking-to-get-firmware-release-4-6-0-beta2-11-dec-2024/133422), [original PR](https://github.com/ArduPilot/ardupilot/pull/27045), [PR1](https://github.com/ArduPilot/ardupilot/pull/30016), [PR2](https://github.com/ArduPilot/ardupilot/pull/30107)) -- resolved ahead of 4.6.1-beta1 - [x] CubeOrangePlus 2nd IMU error ([discussion](https://discuss.ardupilot.org/t/imu-2-on-my-cubeorangeplus-errors/133691)) -- need log, no feedback from user - [x] SpeedyBee F4 running out of memory ([discussion](https://discuss.ardupilot.org/t/possible-side-problem/133917/2)) -- need log, no feedback from user - [x] Pixhawk6X IST8310 external compass not detected ([issue](https://github.com/ArduPilot/ardupilot/issues/29854)) -- need log, no feedback from user - [x] TBS parameter corruption on firmware update (reported by AndyP, [Issue](https://github.com/ArduPilot/ardupilot/issues/30058), [PR](https://github.com/ArduPilot/ardupilot/pull/30031)) -- TBS bootloaders released with 4.6.0 - [x] AIS not working on Copter? ([discussion](https://discuss.ardupilot.org/t/ais-no-work-daisy2-ac-45-46/131176), [related PR](https://github.com/ArduPilot/ardupilot/pull/29839#event-17337598051)) -- cannot reproduce, no response from user - [x] Secure bootloader doesn't work ([4.5 discussion](https://discuss.ardupilot.org/t/unable-to-update-signed-bootloader/133280/2)) -- could not reproduce - [x] Speedybee ENOMEM message ([discussion](https://discuss.ardupilot.org/t/logging-failed-failed-to-create-log-directory-apm-logs-enomem/132917), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/6768)) -- resolved, wiki updated ahead of -beta6 - [x] "No ap_message for mavlink id (271)" message ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta5-available-for-beta-testing/132624/23), [PR](https://github.com/ArduPilot/ardupilot/pull/29783)) -- resolved for -beta6 - [x] terrain following issue: https://github.com/ArduPilot/ardupilot/pull/29685 -- resolved for beta6 - [x] circle climb after terrain: https://github.com/ArduPilot/ardupilot/pull/29765 -- resolved for beta6 - [x] Microbrain UAV-R21 Proximity sensor ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/48), [discussion2](https://discuss.ardupilot.org/t/how-to-use-the-uav-h31-and-uav-r21-for-terrain-following-and-obstacle-avoidance/114423)) -- we do not support this model - [x] RPI PiPilot / Invensense ICM42688P hang ([issue](https://github.com/ArduPilot/ardupilot/issues/29572), [PR](https://github.com/ArduPilot/ardupilot/pull/29614)) -- resolved for beta6 - [x] on ICM45686 IMUs the SPI transfer overheads can be overwhelming on some boards, especially those with 3 of that sensor. Some PRs to address: https://github.com/ArduPilot/ardupilot/pull/28672 and https://github.com/ArduPilot/ardupilot/pull/27573 -- resolved for -beta6 - [x] [IMU temp cal pages](https://ardupilot.org/copter/docs/common-imutempcal.html) need updating -- no details on what needs updating - [x] Copter/TradHeli internal errors 0X4000000 and 0X4000020 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/23), [issue](https://github.com/ArduPilot/ardupilot/issues/29370), [PR](https://github.com/ArduPilot/ardupilot/pull/29409)) -- resolved for -beta5 - [x] SET_ROI_LOCATION support ([issue](https://github.com/ArduPilot/ardupilot/issues/28505#issuecomment-2709173400), [PR](https://github.com/ArduPilot/ardupilot/pull/29567)) -- resolved ahead of -beta5 - [x] Take Pic with no location ([issue](https://github.com/ArduPilot/ardupilot/issues/29530), [PR](https://github.com/ArduPilot/ardupilot/pull/29558)) -- fixed in master (won't backport) - [x] Pixhawk 5x ethernet not enabled ([issue](https://github.com/ArduPilot/ardupilot/issues/26397#issuecomment-2725220803), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/6697)) -- wiki PR merged ahead of -beta5 - [x] AP_Scripting should get follow binding for Rover ([discussion](https://discuss.ardupilot.org/t/issue-with-follow-object-in-lua-script-for-rover-to-follow-copter/131666/4), [PR](https://github.com/ArduPilot/ardupilot/pull/29548)) -- resolved for -beta5 - [x] Plane: fixed guided VTOL command in terrain mode ([PR](https://github.com/ArduPilot/ardupilot/pull/28406)) - [x] ARSPD_AUTOCAL can trigger while disarmed ([PR](https://github.com/ArduPilot/ardupilot/pull/29455)) -- resolved for -beta5 - [x] QuadPlane motors using BDShot making knocking noises ([discussion1](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/62), [discussion2](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/52), [PR1](https://github.com/ArduPilot/ardupilot/pull/29518), [PR2](https://github.com/ArduPilot/ardupilot/pull/29521)) -- fixed for beta5 - [x] Water Depth message too fast on boats ([discussion](https://discuss.ardupilot.org/t/water-depth-clogging-the-mavlink-transmission/131509), [PR](https://github.com/ArduPilot/ardupilot/pull/28877)) -- resolved for beta5 - [x] UBlox M10 can't get enough sats ([discussion](https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930/15)) -- testing is inconclusive - [x] Copter MOT_THST_HOVER param desc for lower limit should be 0.125 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/54), [PR](https://github.com/ArduPilot/ardupilot/pull/29478)) -- resolved for -beta5 - [x] iBUS telemetry not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta2-is-available-for-beta-testing/127445/11)) -- user error - [x] Mission option bit issue ([discussion](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/42), [PR](https://github.com/ArduPilot/ardupilot/pull/29435)) -- resolved for -beta5 - [x] CADDX GM2 update slow ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/38), [PR](https://github.com/ArduPilot/ardupilot/pull/29428)) -- resolved for -beta5 - [x] Unknown message 45 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/43), [discussion2](https://discuss.ardupilot.org/t/sending-unknown-message-44-on-mission-planner-with-speedybee-f405-v3-guided-mode/130303), [PR](https://github.com/ArduPilot/ardupilot/pull/29339)) -- resolved for -beta5 - [x] Holybro M10 waiting to configure GPS1 ([discussion](https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930/7), [PR](https://github.com/ArduPilot/ardupilot/pull/29320)) -- resolved for -beta5 - [x] LD06 support not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/27), [PR](https://github.com/ArduPilot/ardupilot/pull/29375)) -- fixed ahead of -beta5 - [x] Reboot loop after enabling Scripting ([discussion](https://discuss.ardupilot.org/t/reboot-loop-after-enabling-scr-enable-lua-scripts/130420), [issue](https://github.com/ArduPilot/ardupilot/issues/29315)) -- user using incorrect compiler - [x] possible regression in attitude control in quadplanes? https://github.com/ArduPilot/ardupilot/issues/29060 -- no evidence that there's been a regression despite much effort spent searching - [x] Takeoff throttle behavior for planes without airspeed sensor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/28775), [PR](https://github.com/ArduPilot/ardupilot/pull/28776)) -- intentional change - [x] ESC Telemetry logging issue ([issue](https://github.com/ArduPilot/ardupilot/issues/28807), [PR](https://github.com/ArduPilot/ardupilot/pull/29001)) -- resolved for beta3 - [x] Community dev struggles with build options ([discussion](https://discuss.ardupilot.org/t/build-from-sources-with-custom-features/127879)) -- no response from user - [x] https://github.com/ArduPilot/ardupilot/issues/28969 - [x] Autotune acceleration limiting is not effective ([PR](https://github.com/ArduPilot/ardupilot/pull/28911)) -- resolved for beta3 - [x] Orqa 3030 autopilot config issue ([discussion](https://discuss.ardupilot.org/t/orqa-3030-f450-issue/127483), [PR](https://github.com/ArduPilot/ardupilot/pull/28855)) -- resolved for beta3 - [x] BeagleBoneBlue RC not working with Copter ([discussion](https://discuss.ardupilot.org/t/rc-sbus-works-with-plane-but-not-copter-beaglebone-blue/127540/2)) -- user error related to running as a service - [x] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 ([PR](https://github.com/ArduPilot/ardupilot/pull/28792)) -- resolved for beta3 - [x] plane takeoff regression since 4.5.x: https://github.com/ArduPilot/ardupilot/issues/28681 -- ready for beta2 - [x] on plane when FENCE_AUTOENABLE=3 and FENCE_ENABLE=0 the fence does not enable when arming if there is a RCn_OPTION set to FENCE. This is a regression from 4.5.x. (Tridge has details) Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] on plane the pre-arm check for being inside polygon fence was lost since 4.5.x. Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] Navio2 GPS not working ([discussion](https://discuss.ardupilot.org/t/rover-4-6-0-beta1-is-available-for-beta-testing/126296/4), [conflicting report that it does work](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/9)) -- fixed by refreshing/resetting firmware - [x] arming at mid-stick question ([discuss](https://discuss.ardupilot.org/t/arming-with-throttle-at-mid-stick/127203)) -- no issue - [x] Crossfire receiver does not reconnect after failsafe ([issue](https://github.com/ArduPilot/ardupilot/issues/28797), [PR](https://github.com/ArduPilot/ardupilot/pull/28805)) -- resolved for -beta2 - [x] Copter AutoTune can produce very low maximum acceleration values ([issue](https://github.com/ArduPilot/ardupilot/issues/28799), [PR](https://github.com/ArduPilot/ardupilot/pull/28800)) -- resolved for -beta2 - [x] memory fragmentation and multiple memory regions mean lua scripting can fail with out of memory error even if you have plenty of free memory. Addressed in https://github.com/ArduPilot/ardupilot/pull/26517 - [x] system time may be unstable when using only first GPS timestamp, consider https://github.com/ArduPilot/ardupilot/pull/24022 or similar fix (Tridge has details) - [x] Plane fences ignored ([issue](https://github.com/ArduPilot/ardupilot/issues/28666)) -- cannot reproduce - [x] Plane: auto-deploy landing gear on fixed wing ([PR](https://github.com/ArduPilot/ardupilot/pull/29321)) - [x] guided error with terrain target https://github.com/ArduPilot/ardupilot/pull/29602 - [x] QuadPlane fast attitude recovery issue ([PR](https://github.com/ArduPilot/ardupilot/pull/29498)) - [x] https://github.com/ArduPilot/ardupilot/issues/29555 - [x] Plane FBWA doesn't support vectored thrust? ([issue](https://github.com/ArduPilot/ardupilot/issues/30159#issuecomment-2908030994))

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_Periph: add basic BMS support

master ← rmackay9:vimdrones-bms2

opened 11:50AM - 26 Dec 25 UTC

rmackay9

+2722 -4

This adds basic support for an AP_Periph BMS (battery management system ) device… using the [Texas Instruments BQ76952](https://www.ti.com/product/BQ76952) connected via I2C. The hardware is still a work in progress but the first prototype of the hardware developed by [VimDrones](https://vimdrones.com/) can be seen here on my [aerial photography copter blog post](https://discuss.ardupilot.org/t/aerial-photography-copter-using-ardupilot-blueos/140356/7). It consists of an STM32L4 connected via I2C to the [Texas Instruments BQ76952](https://www.ti.com/product/BQ76952). It has 8 LEDs and a button for the user to press. The user experience is similar to the 3DR solo battery (and perhaps many other smart batteries) in that the user can: 1. short-press the button to see the state-of-charge percentage via the LEDs 2. long-press the button to power-on or power-off the vehicle. during this long-press the LEDs are lit up one-by-one and so if the user releases before the LED animation is complete the power-up (or power-down) is aborted. There are more features that we plan to add including displaying errors by flashing the LEDs and ensuring the TI chip and STM32 use as little power as necessary when the battery is left powered-down for long periods of time. This has been reasonably well tested on real hardware. As you'll see from the commits this is a joint effort with @Huibean

github.com/ArduPilot/ardupilot

AP_Mount: move mavlink target timeout into update_mnt_target

master ← peterbarker:pr/move-rate-request-stop-thing

opened 02:45AM - 30 Dec 25 UTC

peterbarker

+9 -8

Moves the timeout into update_mnt_target. Really just to start getting rid of… instances where we are calling `get_mode` on the backends where we don't need to. Tested on a STorM32 gimbal. Timeouts still work - in fact it required https://github.com/ArduPilot/MAVProxy/pull/1659 for me to test properly as MAVProxy was only ever sending the command once.

github.com/ArduPilot/ardupilot

AP_Mount:add roll/pitch bf lock to select gimbals

master ← Hwurzburg:add_RP_lock_to_other_gimbals

opened 01:39PM - 31 Dec 25 UTC

Hwurzburg

+65 -4

This allows the RP aux switches and FPV_LOCK option to work in RC Targeting mode…s on gimbals without a command that we could add to the backend to do this.... high-end gimbals like XACTI and VIEWPRO have not been investigated yet but may need this added in the future.... The SERVO backend required a direct call since this is a shared backend, unfortunately, unless there is a way in the constructor to do it using the requires stabilization input to it...or some other header trick I don't know MAVLINK backend would require using the capabilities flags to determine if roll or pitch or both bf locks could be implemented directly in the MAVLink command structure it sends...a future project I intend to tackle next The math of the base method to remove the lean angles has been bench tested and verified by PeterB on STorM32 and by me on servo stabilized, but testing on AlexMOS and STorm32 (MAVLINK mode, which does not support queries) gimbals is welcomed

github.com/ArduPilot/ardupilot

AP_Math: Update shaping to use improved command model

master ← lthall:20260101_SqrtJerk_Controller

opened 11:02PM - 03 Jan 26 UTC

lthall

+344 -159

The current real time S-Curves have two problems that this PR addresses: 1. The…re is a small overshoot as it approaches the target position in some combinations of input. 2. The deceleration it generates is significantly less than the limits specify. This PR produces the full deceleration specified by the square root controller and maintains the time constant based approach to the position target. This time constant based approach makes this algorithm act as a filter making it suitable for noisy or inputs and means that the algorithm does not oscillate or buzz near the set-point. Below is a plot showing the original square root controller, the current Real Time S Curve, This Jerk Square Root algorithm and the standard rectangular jerk S Curve (Optimal). There are two reasons we would choose not to use the Optimal solution: 1. Computational Complexity. 2. Lack of any soft approach to set-point. Both of these make Optimal less appealing to high update rate applications. <img width="907" height="1022" alt="image" src="https://github.com/user-attachments/assets/81f10d8b-72c5-4f5e-b9ea-1c55f5295132" />

github.com/ArduPilot/ardupilot

Replace the Attitude Command Model with the improved Real Time S-Curve algorithm

master ← lthall:20260104_NewCommandModel

opened 02:36AM - 04 Jan 26 UTC

lthall

+443 -222

This updates the existing Sqrt Controller used for the attitude command model wi…th the new Real Time S-Curve algorithm. This results in a jerk limited response on both leaving the current attitude and approaching the new set point. Current problems are all related to lack of strict handling of command model parameters. - Heli can send zero acceleration with ff still on. - Plane sends a zero dt - Copter doesn't necessarily prevent these problems either. I still have a little work to ensure the acceleration state is recorded correctly and converted to the correct frame before use.

github.com/ArduPilot/ardupilot

AP_Param: work around Clang `-ftrapping-math` issue

master ← tpwrules:pr/clang-trapping-math-fix

opened 09:34PM - 04 Jan 26 UTC

tpwrules

+18 -8

In Clang (independent of OS or architecture), if three factors are true about a …static variable initialization (const or not): * `-ftrapping-math` is turned on * a double literal needs to be rounded and doesn't exactly equal a float * the initialization involves something which isn't constexpr then Clang will decline to do constant initialization, unlike GCC, or Clang if any one of these factors is not true. Constant initialization is where the object is initialized as part of the memory image and is ready to go when the program is loaded. Instead, Clang will generate code at runtime to do the initialization. This is fine in a vacuum, but it makes lots more variables suddenly vulnerable to the static initialization order fiasco. In particular, many of the `AP_Param::Info` tables for the parameter system meet all the factors. The use for these tables, `AP_Param::setup_object_defaults`, is part of constructors of objects which are usually constructed in a different file than the table. Due to the new runtime initialization, there is no longer a guarantee that the table has meaningful data at the time of that setup call. This causes many parameter defaults to not be loaded and the system generally crashes and burns. This PR addresses the issue by fixing the non-constexpr casts in `AP_VAROFFSET` and `AP_CLASSTYPE` to use things permissible in constexpr. The compiler then constant initializes these tables again, parameters get their defaults, and everybody is happy. This is probably easier than fixing all the double literals to be floats. This fix could be "locked in" and be made to cause a compiler error in case of a problem by declaring all tables `constexpr`, but that is a lot of effort. Examination of the binary symbol tables shows that all `var_info` tables are correctly constant initialized now. However, that examination also shows that other things are being initialized differently (unsure if they create an ordering problem): * all the Motor tables in SIM_Frame.cpp * a few constants which use floating point functions like AP_OLC::GRID_SIZE * a whole bunch of "MergedGlobals" symbols that I don't care to figure out Given that the vehicle starts up now instead of crashing, I'm choosing to believe these latter problems are minor and can be fixed later. This is also better than removing the flag and letting random crashes from ignored checks come back. But the ultimate fix may still be something different. The new macros are also probably more defined and safer than the old ones so we should keep this change in regardless. The whole situation is super weird so I also filed an issue with LLVM, but if there's something to fix I expect a very long time before we can remove any workarounds. Tested that there is no compiler output change on CubeOrange, so the new definitions do not trip up GCC. I also ran the Copter test suite on macOS and many things pass so it's no longer completely broken there. Before EKF3 wouldn't even start because its enabled default didn't load, and turning on terrain would instantly crash. It's unclear why it wasn't so bad on Linux Clang, maybe the version or linker behavior is significantly different.

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