Dev Call Jul 10, 2023

CraigElder · July 10, 2023, 10:57pm

Issues & Pull Requests

github.com/mavlink/qgroundcontrol

Use MAV_CMD_DO_SET_MODE to change modes on ArduPilot-base vehicles

mavlink:master ← peterbarker:pr/ardupilot-do-set-mode

opened 03:10AM - 10 Jul 23 UTC

peterbarker

+21 -9

ArduPilot has supported this command for 5.5 years now. Probably time to start …using it. Copter 3.6.0 has it, 3.5.x does not. Selecting a mode which can't be entered right now yields a message now: ![image](https://github.com/mavlink/qgroundcontrol/assets/7077857/d59af61a-0bcc-409a-a2f3-f86a4bc63bcb)

github.com/ArduPilot/ardupilot

Make many more commands available as COMMAND_INT

ArduPilot:master ← peterbarker:pr/try-all-commands-as-command-int

opened 10:35AM - 02 May 23 UTC

peterbarker

+101 -35

An alternative to https://github.com/mavlink/mavlink/pull/1982 ``` Board … AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal 56 * 56 56 48 48 56 HerePro 64 Hitec-Airspeed * KakuteH7-bdshot 64 * 56 64 56 64 64 MatekF405 56 * 48 56 48 48 48 Pixhawk1-1M-bdshot 48 56 56 56 48 56 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 56 * 56 56 56 56 56 skyviper-v2450 32 ``` ~Still need to test ROI works~

github.com/ArduPilot/ardupilot

AC_AttitudeControl: PosControl: Add hard Z velocity and accleration limits

ArduPilot:master ← IamPete1:Z_controller_hard_limits

opened 12:12AM - 20 Jun 23 UTC

IamPete1

+128 -2

This adds hard limits for vertical climb, descent and acceleration. In normal op…eration the vehicle will stay within the set pilot or way point limits, however if we have a position or velocity error those feed down into the lower level controllers and the vehicle can end up flying much more aggressively than expected. For example a simple climbing waypoint mission and using `SIM_GPS_GLITCH_Z` to cause a altitude error without these limit we see the vehicle go from its normal 2.5m/s to a 5m/s climb as it tries to catch up with where it thinks it should be. This overspeed is limited to double the target speed due to the position Z controller limits. However the acceleration demand is unconstrained (until hitting high or low throttle saturation), it depends on the velocity gain and error. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/604d3f6e-8e04-44ed-8fb9-1da851269f69) With the new climb rate limit set to 3 m/s we see that the speed is constrained. ![image](https://github.com/ArduPilot/ardupilot/assets/33176108/fc8b3ecc-026a-41b6-a121-c0c92dc2a2db) The key thing is to constrain to physical limits of the vehicle. Vehicles with large thrust to weight ratios can keep up with quite extreme overspends even if there only supposed to move relatively slowly. These constraints also apply to all modes including guided commands. By default the constraints are 0 for disabled. We may want to consider a arming check that the `WPNAV` and `PILOT` parameters are within these set vehicle constraints.

github.com/ArduPilot/ardupilot

CAN: support serial over DroneCAN

ArduPilot:master ← tridge:pr-uCenter-over-DroneCAN

opened 10:06AM - 26 Jun 23 UTC

tridge

+736 -614

This PR allows you to attach uCenter to a DroneCAN GPS, allowing for debugging s…ignal issues, changing configuration etc. It also makes it possible to update the firmware on a F9P DroneCAN GPS over DroneCAN. The capability is not uCenter specific, and allows tunnelling of any serial protocol. This is made possible with a new DroneCAN tunnelling protocol. For uCenter use the new DroneCAN GUI tool with the Serial Forwarding panel and connect on TCP port 2001 ![image](https://github.com/ArduPilot/ardupilot/assets/831867/34007e2c-e2b3-4e03-bd5e-affd61d70ff5) ![image](https://github.com/ArduPilot/ardupilot/assets/831867/39756663-6063-4553-af9f-cd30d2369405) ![image](https://github.com/ArduPilot/ardupilot/assets/831867/d595ac45-2460-402d-afbc-37a7190ba633) Main changes in this PR: - moved all the UART locking logic up to AP_HAL so it is available on all HALs - added serial monitoring on the UART driver (a serial line tap) - got rid of the unused set_blocking_writes call - fixed AP_Periph with --debug not to disable watchdog (which is needed for periph operation) I have flight tested this on a CubeOrange quadplane

github.com/ArduPilot/ardupilot

EFI: added efi MavLink class

ArduPilot:master ← Max-001:efi_mavlink_4.5.0_Dev

opened 09:43AM - 27 Jun 23 UTC

Max-001

+126 -1

I added a MavLink class to the EFI library to store EFI-data that is received ov…er MavLink. There are EFI systems that don't use the Cube as their "computer", those systems have their own "computer" and forward the EFI-data over MavLink. It can be usefull to store this data (using the EFI library). For example: If the EFI-data is stored, it can accessed using a LUA script. The accessing of EFI-data using a LUA script is already programmed in to the main branch. The new class called AP_EFI_MAV has a method called handle_EFI_message, that's the method that handles the MavLink data and stores it. This method gets called in GCS_Common.cpp at the moment that a MAVLINK_MSG_ID_EFI_STATUS message appears (this is done using the switch-case in the method GCS_MAVLINK::handle_common_message). To make this all work, the EFI_TYPE parameter has to be set to 9 (meaning MAV(link)). As an example I have writen this LUA script: ``` function update() local EFI_state = efi:get_state() gcs:send_text(6, EFI_state:intake_manifold_temperature()) gcs:send_text(6, EFI_state:throttle_out()) gcs:send_text(6, EFI_state:cylinder_status():cylinder_head_temperature()) -- run at 1hz return update, 10000 end return update() ``` The result of this LUA script (using the code in this pull-request) is shown below: ![image](https://github.com/ArduPilot/ardupilot/assets/80035972/7a797314-7271-49a5-9849-424d981ca114) You can see the incomming MavLink data of the EFI system on the MavLink inspector and you can see the output of the LUA script on the left side of the screenshot. Please notice that the shown data on the MavLink inspector is in Celsius while the data shown by the script is in Kelvin. Please refer to this earlier pull request: https://github.com/ArduPilot/ardupilot/pull/24113

github.com/ArduPilot/ardupilot

HeeWing F405 VTOL Flight Controller

ArduPilot:master ← andyp1per:pr-heewing-vtol

opened 07:51AM - 29 Jun 23 UTC

andyp1per

+1336 -0

hwdef for the custom HeeWing F405 flight controller that comes on the HeeWing T1…-Ranger VTOL RTF Flown with these parameters: [Ranger-4.4-HEEWING-4020-Tuned.zip](https://github.com/ArduPilot/ardupilot/files/11929809/Ranger-4.4-HEEWING-4020-Tuned.zip) bdshot works great. Flown with these parameters: [Ranger-4.4-HEEWING-8040-bdshot-Tuned.zip](https://github.com/ArduPilot/ardupilot/files/11931366/Ranger-4.4-HEEWING-8040-bdshot-Tuned.zip) for bdshot the servo outputs need to be re-arranged according to this scheme: ![image](https://github.com/ArduPilot/ardupilot/assets/2893260/259c7a67-11d2-412a-acc8-55947acdf5ee) So: - 7-8 <-> 1-2 - 9 -> 5 - 5-6 -> 3-4 - 3 -> 9 or 6 (servo power) Make sure that servo reversal travels with the servo. The ESCs also need to be updated to BlueJay firmware (I used 0.18.1)

github.com/ArduPilot/ardupilot

AP_Motors_test: Add tool for comparison of changes to heli motors library

ArduPilot:master ← Gone4Dirt:pr_heli_motors_comparison_tool

opened 03:15PM - 02 Jul 23 UTC

Gone4Dirt

+450 -99

This PR is part of AP_Heli_Motors improvement work. Tracker here: https://githu…b.com/ArduPilot/ardupilot/issues/23691 This adds a python tool to easily compare the outputs of AP_Motors before and after changes. To make this work some changes have been made to the AP_Motors_test.cpp to allow for frame_class changes at run time, as oppose to needing to change defines and rebuild. The output of the script is a series of correlation plots for each heli frame class. Before the new changes (old) on the y axis and with the changes on x (new). Red circles are limit cases, Blue X's are non-limit cases. If we are looking for no changes then everything should be on a straight 45 deg line. I prefer to inspect via a plot, instead of a completely automated test, as some changes to these plots are desirable. For example, the Heli Quad Motor outputs below are all zero, highlighting a bug in the AP code that needs fixing in the future. Instructions for running the python script are in the comments at the top of the file. ![image](https://github.com/ArduPilot/ardupilot/assets/34512430/7e970357-db57-43ad-a0ee-5bca8a19bbf2) ![image](https://github.com/ArduPilot/ardupilot/assets/34512430/2bdd2d0a-0a6d-4114-8e59-51c736aaf9be) I should add that the plots below for Dual and Quad are only available after this PR (#24177) is merged. The will only show up as "INIT FAILED" currently. ![image](https://github.com/ArduPilot/ardupilot/assets/34512430/21ca78e4-6053-4fba-bcfb-cfdcab280b83) ![image](https://github.com/ArduPilot/ardupilot/assets/34512430/33997f17-8168-4238-a704-8950f3296cf6) ![image](https://github.com/ArduPilot/ardupilot/assets/34512430/5a20c51e-7fa7-432d-8a96-b265b83d869d) ![image](https://github.com/ArduPilot/ardupilot/assets/34512430/67905170-28ca-4af0-8ef2-9f0da0f63ccb)

github.com/ArduPilot/ardupilot

AP_Motors: add arming check for VOLT_MIN and VOLT_MAX

ArduPilot:master ← IamPete1:motor_volt_scale_pre-arm

opened 03:02PM - 05 Jul 23 UTC

IamPete1

+44 -6

This adds a arming check to the thrust linearization class for bat min and bat m…ax. They must be configured if there is a none zero voltage reading from the selected monitor. This relies on battery monitor returning 0 for invalids battery index's. The arming check can be bypassed by setting the battery index to -1. Unfortunately there is not enough room to fit that in the pre arm message. This pre-arm is shown on both copter and plane. @bnsgeyer we might want to look at enabling it on heli in the future too.

github.com/ArduPilot/ardupilot

Create templated iterator creator and use it in AP_Logger

ArduPilot:master ← peterbarker:pr/logger-iterator

opened 12:15AM - 06 Jul 23 UTC

peterbarker

+78 -32

Comment on the GCS-iterator equivalent was that all the verbiage in the gcs clas…s was bad. So this moves it out into a template in common code. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal -192 * -272 -216 -216 -184 -208 HerePro -8 Hitec-Airspeed * KakuteH7-bdshot -56 * -88 -40 -24 -8 -208 MatekF405 -16 * -32 -32 24 -56 -64 Pixhawk1-1M-bdshot 8 72 -80 48 -8 64 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini -24 * -24 -40 -16 -16 8 skyviper-v2450 -40 ```

github.com/ArduPilot/ardupilot

RangeFinder: Move remaining enabled defines into AP_RangeFinder_config.h

ArduPilot:master ← peterbarker:pr/more-rangefinder-config

opened 04:27AM - 06 Jul 23 UTC

peterbarker

+221 -167

``` Board AP_Periph blimp bootloader copter heli iofirmware … plane rover sub Durandal * * * * * * * HerePro * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

Make safety switch in SITL affect RC outputs

ArduPilot:master ← peterbarker:wip/sitl-BRD_SAFETYENABLE

opened 03:31AM - 07 Jul 23 UTC

peterbarker

+68 -41

- makes this look a lot like the ChibiOS HAL - moves the state from being in S…ITL to being in RCOutput (same as in ChibiOS; the safety switch state should never have been in the simulation itself, in the same way that a real autopilot doesn't have a safety state as such. - adds a simple autotest ![image](https://github.com/ArduPilot/ardupilot/assets/7077857/460d6bb5-9f6a-4632-8c4e-eecb7a189f8a) .... tested in.... SITL.....

github.com/ArduPilot/ardupilot

AP_AHRS: give clearer prearm messages

ArduPilot:master ← Hwurzburg:messages

opened 03:32PM - 07 Jul 23 UTC

Hwurzburg

+6 -6

this comes up over and over.... two alternatives for improvement....the latter …commit being suggested by Tim T. and I think I agree....at least it gives the user directions on how to resolve it... but this is about as clear as you can make it unfortunately since the inconsistency can be from many sources whichever the group decides on I will remove the other/squash @peterbarker we need to discuss TIm's idea of automating this page also : https://ardupilot.org/plane/docs/common-prearm-safety-checks.html....I sent you a metadata format proposal edit: Peter and I have talked at length....there are 3 options: 1. I try to improve the wiki page on prearms....which I have done 2. we try to add metadata to selected cryptic prearms like this and parse to auto update the wiki docs in some manner...currently there are over ~400 potential messages although many don't need explanation 3. we add a mechanism to provide the GCS with json base information on selected prearms that allow clicking in the messages screen to provide detailed resolution data #3 is a very large effort #2 is many days of python work and testing plus the C++ effort (which Peter is unable to do with his current load) #1 is done, but any other nagging messages can be added and expanded... inflight error messages are another topic and beyond scope here

github.com/ArduPilot/ardupilot

AP_Motors: If frame specification is FALSE, frame name is unsupported

ArduPilot:master ← muramura:AP_If_frame_specification_is_FALSE_frame_name_is_unsupported

opened 09:40PM - 07 Jul 23 UTC

muramura

+3 -6

If unsupported by each frame method, the frame name is set to UNSUPPORTED and FA…LSE is returned in the processing result. This frame name is tied to FALSE. Therefore, when the processing result is FALSE, the frame name should be changed to "set to unsupported. When the setup_deca_matrix method is FALSE, it is not unsupported. This bug will no longer occur.

Filter Tool
https://firmware.ardupilot.org/Tools/FilterReview/

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.4.x 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 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] add check for RC3_MAX at least 100 above RC3_MIN - [ ] scripting bug: https://github.com/ArduPilot/ardupilot/pull/24106#pullrequestreview-1499782284 - [ ] calculate USB strings at compile time for flash savings - [x] https://github.com/ArduPilot/ardupilot/pull/13760 - [ ] pre-gen lua mavlink on firmware server - [ ] we should scale baro height process noise with pressure altitude - [ ] CANFD incorrect timing, giving bus off errors - [ ] add tcp option for support.ardupilot.org - [ ] lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms) - [ ] EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod - [ ] make stabilize mode use proper rate control - [ ] AUTOTUNE needs to reset SMAX to 0 during twitch - [ ] possible problem with disconnected RC on H16 - [ ] resting voltage can be very bad - [ ] quadplane precland - [ ] fix i2c probing of LEDs - [ ] add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool - [x] possible bug in ICE restart - [ ] mavcan to multiple clients at once - [ ] can gui tool panel for secure commands - [ ] add rate limited filter to airspeed to prevent large spike from corrupting airspeed - [x] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] propogate Dmod up to angle loop - [x] look at using -g -O2 for stable builds for better crash dump analysis - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] motor_lost_index never reset and not exposed in lua - [x] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.4.0 issues list

opened 03:45AM - 13 Mar 23 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.4 testing. The ol…der [4.3 issues list can be found here](https://github.com/ArduPilot/ardupilot/issues/21711). Reports requiring investigation: - [ ] Lane switching warning (reported by Partner, [issue](https://github.com/ArduPilot/ardupilot/issues/24181)) - [ ] MSP on Matek board ([discussion](https://discuss.ardupilot.org/t/msp-problem-no-gps-comp-and-baro-data/103043)) - [ ] CSRF and Mount Siyi boot loop ([see bottom of this issue](https://github.com/ArduPilot/ardupilot/issues/23815)) - [ ] very short ELRS failsafes ([issue](https://github.com/ArduPilot/ardupilot/issues/23853), [PR](https://github.com/ArduPilot/ardupilot/pull/24170)) - [ ] endless climb with vertical bendy ruler? ([discussion](https://discuss.ardupilot.org/t/rtl-and-auto-mode-working-in-strange-mode/100132/4)) - [ ] Baro TCal not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/21438)) - [ ] EKF error on small quad ([reported by MichelleR](https://github.com/ArduPilot/ardupilot/issues/23594)) Confirmed issues: - [ ] RockBlock only works with MAVProxy ([discussion](https://discuss.ardupilot.org/t/rockblock-iridium-sbd-and-mission-planner/102728), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/5263)) -- Stephen Dade will raise wiki and MP/QGC issues - [ ] Gremsy ZIO zoom and focus not working? ([discussion](https://discuss.ardupilot.org/t/gremsy-zio-mavlink-commands-not-working/103080)) -- needs backport from 4.5 - [ ] GSF on Rover not working below 5m/s ([discussion](https://discuss.ardupilot.org/t/yaw-not-aligning-to-gsf-anymore-after-updating-from-4-2-3-to-4-4-0-beta1/101844/2), [related PR](https://github.com/ArduPilot/ardupilot/pull/23515), [issue](https://github.com/ArduPilot/ardupilot/issues/24183), [PR](https://github.com/ArduPilot/ardupilot/pull/24206)) - [ ] KDECAN not working ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/11)) -- needs backport from 4.5. - [ ] users keep forgetting to set CAM1_TYPE (or CAM_TRIGG_TYPE) ([discussion](https://discuss.ardupilot.org/t/mav-cmd-set-camera-zoom-command-doesnt-work/100613/4)) - [ ] Yaapu reports battery 2 error but only one battery is installed ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/7)) Enhancements or Issues that may not be resolved before the stable release: - [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9) - [ ] Enable 10hz PID logging - [ ] RPLidarA2M12 not working ([discussion](https://discuss.ardupilot.org/t/rp-lidar-a3-integration-with-ardupilot/101792/11)) - [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 ([issue](https://github.com/ArduPilot/ardupilot/issues/23782)) Resolved issues: - [x] yaw reset from low flying copter passing over bridge (Randy has logs) -- older version of AP, new versions should be a little better - [x] Request to add Custom Build Server support for beta builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta2-available-for-beta-testing/102158/7), [issue](https://github.com/ArduPilot/CustomBuild/issues/54, [PR](https://github.com/ArduPilot/CustomBuild/pull/55))) -- resolved for -beta3 - [x] Gremsy WE not working ([4.4 discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/15), [4.3.7 discussion](https://discuss.ardupilot.org/t/gremsy-pixy-we-not-working-with-4-3-5/99163)) -- Gremsy software issue. Fix from Gremsy coming soon - [x] Siyi A8 ROI not working (reported by Kelly Schrock on facebook, [discussion](https://discuss.ardupilot.org/t/siyi-a8-roi-issue/102091), [PR](https://github.com/ArduPilot/ardupilot/pull/24011)) -- resolved for -beta3 - [x] MatekF405-TE-bdshot only 2 channels working (see Painless360's channel) -- user error - [x] FPV406 watchdog due to cracked SD card ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/48)) -- no logs - [x] Mount serial gimbal param description confusion ([discussion](https://discuss.ardupilot.org/t/ip-cameras-rtsp-mavlink-support/99893/20)) -- fixed for beta3 - [x] serial pass through (for GPS) broken ([issue](https://github.com/ArduPilot/ardupilot/issues/21114), [PR](https://github.com/ArduPilot/ardupilot/pull/23888)) -- fixed in -beta2 - [x] RC loss+regain issue ([PR](https://github.com/ArduPilot/ardupilot/pull/23844)) -- fixed in -beta2 - [x] MP scales set-ekf-origin-here altitude incorrectly ([MP issue](https://github.com/ArduPilot/MissionPlanner/issues/3083)) -- fixed in MP 1.3.80 build 1.3.8522.19145 - [x] Custom build server broken for Matek405 builds ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/13)) - [x] CubeOrangePlus not booting due to early memory corruption (reported by rmackay9, investigated by Tridge, PeterB, Sid) - [x] RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall, [PR](https://github.com/ArduPilot/ardupilot/pull/23553)) - [x] Watchdog using CSRF ([discussion](https://discuss.ardupilot.org/t/copter-4-4-0-beta1-available-for-beta-testing/99941/18), [PR](https://github.com/ArduPilot/ardupilot/pull/23648)) -- resolved for beta2