Dev Call Jul 20, 2026

CraigElder · July 20, 2026, 10:53pm

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github.com/ArduPilot/ardupilot

ArduPilot 4.7 issues list

opened 12:30AM - 07 Mar 26 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.7 testing. [Issues for 4….6 are here](https://github.com/ArduPilot/ardupilot/issues/28612) ### Reports requiring investigation - [ ] FlywooF405HD-AIOv2 - Onboard barometer not detected ([discussion](https://discuss.ardupilot.org/t/flywoof405hd-aiov2-onboard-barometer-not-detected-baro1-devid-0-on-two-different-boards/144589)) - [ ] https://github.com/ArduPilot/ardupilot/issues/33722 - [ ] Rover throttle failsafe interferes with GCS failsafe? ([discussion](https://discuss.ardupilot.org/t/rover-gcs-failsafe/144533/6)) - [ ] https://github.com/ArduPilot/ardupilot/issues/33725 - [ ] https://github.com/ArduPilot/ardupilot/issues/33720#issuecomment-4972870205 - [ ] https://github.com/ArduPilot/ardupilot/issues/33538 ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta7-is-available-for-beta-testing/144197/25), [discussion2](https://discuss.ardupilot.org/t/potential-incomplete-initialization-on-ap-flashstorage/144440), [PR](https://github.com/ArduPilot/ardupilot/pull/33640)) - [ ] https://github.com/ArduPilot/ardupilot/pull/33136 - [ ] https://github.com/ArduPilot/ardupilot/issues/28876 (4.6 issue) ### Confirmed issues - [ ] https://github.com/ArduPilot/ardupilot/issues/33327 ([PR](https://github.com/ArduPilot/ardupilot/pull/33362)) - [ ] QuikTune Lua script should restrict which modes it operates in ([PR](https://github.com/ArduPilot/ardupilot/pull/33025)) ### Copter Specific Issues - [ ] Mount POI sometimes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64), [PR](https://github.com/ArduPilot/ardupilot/pull/33396)) - [ ] Copter crash while using AutoTune with fast rates ([discussion](https://discuss.ardupilot.org/t/crash-during-autotune-uncommanded-pitch-movement-during-roll-tuning-arducopter-4-7-0-beta3/143598), [PR](https://github.com/ArduPilot/ardupilot/pull/32404)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### Tradheli Specifc Issues - None ### Plane Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32606 - [ ] https://github.com/ArduPilot/ardupilot/issues/32518 -- @IamPete1 or @samuelctabor to resolve ### Rover Specific Issues - [ ] Rover jump after 8+ hours with RTK GPS ([discussion](https://discuss.ardupilot.org/t/large-position-jumps-after-sitting-indoors-for-several-hours/144094), [issue](https://github.com/ArduPilot/ardupilot/issues/33388), [PR](https://github.com/ArduPilot/ardupilot/pull/33392), also 4.6) ### Mission Planner Issues - [ ] https://github.com/ArduPilot/MissionPlanner/issues/3751 ### QGC Issues - None ### Wiki Issues - QuadPlane tuning process instructions need updating (reported in "documentation" channel by Ep, Bob Long) ### Enhancements or Issues that may not be resolved before the stable release - [ ] Copter PosHold/Loiter/PosControl not handling yaw resets completely? ([discussion](https://discuss.ardupilot.org/t/new-beta-fly-away/144128)) - [ ] Rover home position saved to storage at 1hz ([discussion](https://discuss.ardupilot.org/t/learning-ardupilot-starting-with-esp32/115834/36), [issue](https://github.com/ArduPilot/ardupilot/issues/33602)) - [ ] https://github.com/ArduPilot/ardupilot/issues/33125 (4.6 issue as well) - [ ] SpeedyBeeF405AIO not detecting Adafruit MMC56x3 compass ([discussion](https://discuss.ardupilot.org/t/adafruit-mmc56x3-with-speedybeef405aio/143395), also not working with 4.6) - [ ] https://github.com/ArduPilot/ardupilot/issues/32444 (also present in 4.6 and earlier) - [ ] https://github.com/ArduPilot/ardupilot/issues/32862 - [ ] https://github.com/ArduPilot/ardupilot/issues/32689 (4.6.3, not 4.7 yet) - [ ] Circle point-mount-at-ROI should only apply when circle radius > 0 (e.g. do not apply during panorama) ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/71), [issue](https://github.com/ArduPilot/ardupilot/issues/32641)) - [ ] Copter's SmartRTL always rises 2m before landing ([discussion](https://discuss.ardupilot.org/t/smartrtl-rises-to-2m-after-reaching-home-before-landing/143126/2)) -- present in 4.6 so not a blocker ### Resolved issues - [x] https://github.com/ArduPilot/ardupilot/pull/33715 -- resolved ahead of 4.7.1 - [x] set-target-angle-and-climbrate used by scripting has climbrate scaling issue ([PR](https://github.com/ArduPilot/ardupilot/pull/33692)) -- resolved ahead of 4.7.0-beta8 - [x] follow init bug affecting yaw ([PR](https://github.com/ArduPilot/ardupilot/pull/33652)) -- resolved ahead of 4.7.0-beta8 - [x] https://github.com/ArduPilot/ardupilot/issues/33451 ([PR](https://github.com/ArduPilot/ardupilot/pull/33607), also in 4.6) -- resolved ahead of 4.7.0-beta8 - [x] https://github.com/ArduPilot/ardupilot/issues/33612 ([PR](https://github.com/ArduPilot/ardupilot/pull/33613)) -- resolved ahead of 4.7.0-beta8 - [x] Copter PosHold start-stop during acceleration ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0b7-strange-behaviour-in-poshold-mode/144301), [issue](https://github.com/ArduPilot/ardupilot/issues/33588), [PR](https://github.com/ArduPilot/ardupilot/pull/33590), [related PR](https://github.com/ArduPilot/ardupilot/pull/30358)) -- resolved ahead of 4.7.0-beta8 - [x] GPS-for-yaw fails to fuse if delay set too long ([PR](https://github.com/ArduPilot/ardupilot/pull/33643), also in 4.6) -- resolved ahead of 4.7.0-beta8 - [x] https://github.com/ArduPilot/MissionPlanner/issues/3743 -- fixed with MP beta release on 03Jul2026 - [x] Loiter braking essentially disabled by coordinated turns ([PR](https://github.com/ArduPilot/ardupilot/pull/33631)) -- resolved for -beta8 - [x] broken COMPASS_DISBLMSΚ for hwdef-ed compasses ([master PR](https://github.com/ArduPilot/ardupilot/pull/33562), [AP4.7 PR](https://github.com/ArduPilot/ardupilot/pull/33553), [related PR](https://github.com/ArduPilot/ardupilot/pull/31591)) -- resolved ahead of 4.7.0-beta8 - [x] crash with harmonic notch logging showing NaN ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta7-is-available-for-beta-testing/144197/3)) -- assumed AIO ESC hardware issue - [x] Loiter mode drifts agressively ([discussion](https://discuss.ardupilot.org/t/loiter-mode-drone-drifts-aggressively-after-releasing-sticks-to-neutral-regression-in-4-8-0dev-works-fine-on-4-6/144203), [issue](https://github.com/ArduPilot/ardupilot/issues/33454)) -- user was not expecting coordinated turns - [x] plane transitions worse? ([discussion](https://discuss.ardupilot.org/t/arduplane-4-7-0-beta-4-vtol-attitude-problem/144037)) -- no response to request for logs - [x] EKF using GPS-for-yaw loses attitude estimate after 2 hours ([discussion](https://discuss.ardupilot.org/t/large-position-jumps-after-sitting-indoors-for-several-hours/144094/15)) - [x] https://github.com/ArduPilot/ardupilot/issues/33403 -- fixed before 4.7.0-beta8 (or official release) - [x] Pre-arm stick arming issues ([issue](https://github.com/ArduPilot/ardupilot/issues/33386), [PR](https://github.com/ArduPilot/ardupilot/pull/33402)) -- resolved for 4.7.0-beta7 - [x] Mount POI lock not included in default firmware ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/43), [PR](https://github.com/ArduPilot/ardupilot/pull/33372)) -- resolved ahead of 4.7.0-beta7 - [x] Quadplane QLand over speed ([discussion](https://discuss.ardupilot.org/t/qland-vertical-speed/143366/2)) -- no response from user - [x] still GCC 10? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta6-is-available-for-beta-testing/144106/3)) -- yes - [x] https://github.com/ArduPilot/MissionPlanner/issues/3731 ([PR](https://github.com/ArduPilot/MissionPlanner/pull/3732)) -- resolved ahead of 4.7.0-beta6 but not a flight code issue - [x] https://github.com/ArduPilot/ardupilot/issues/33230 ([PR](https://github.com/ArduPilot/ardupilot/pull/33232), also in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33161 ([PR](https://github.com/ArduPilot/ardupilot/pull/33275) also in 4.6) - [x] LIS2MDL / IIS2MDC found to be duplicate parts, consolidation required ([PR](https://github.com/ArduPilot/ardupilot/pull/33140)) -- **blocker** - [x] https://github.com/ArduPilot/ardupilot/issues/32624 ([PR](https://github.com/ArduPilot/MissionPlanner/pull/3697)) -- resolved ahead of 4.7.0-beta6 (but not an AP flight code issue anyway) - [x] Extended Tuning needs updating ([discussion](https://discuss.ardupilot.org/t/speedybee-f405-v4-parameter-not-shown-in-mission-planner/142797/3), [issue](https://github.com/ArduPilot/MissionPlanner/issues/3678), [PR](https://github.com/ArduPilot/MissionPlanner/pull/3685)) -- resolved ahead of 4.7.0-beta6 (but not an AP flight code issue anyway) - [x] https://github.com/ArduPilot/ardupilot/pull/33156 -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33168 ([PR](https://github.com/ArduPilot/ardupilot/pull/33169), also in 4.6) -- resolved ahead 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33083 ([PR](https://github.com/ArduPilot/ardupilot/pull/33093), also exists in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/33165 ([discussion](https://github.com/ArduPilot/ardupilot/issues/33165)) -- user error - [x] https://github.com/ArduPilot/ardupilot/issues/32977 ([PR](https://github.com/ArduPilot/ardupilot/pull/33016), also exists in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] Copter follow mode alt overshoot bug ([PR](https://github.com/ArduPilot/ardupilot/pull/33109)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32491 ([PR](https://github.com/ArduPilot/ardupilot/pull/33005), 4.6 issue) -- resolved ahead of 4.7.0-beta6 - [x] Spool up changes causing spurious errors (reported by AndyP, [PR](https://github.com/ArduPilot/ardupilot/pull/32955)) -- resolved ahead of 4.7.0-beta6 - [x] buffer overflow related to CAN logging (reported by PeterB, [PR](https://github.com/ArduPilot/ardupilot/pull/33031)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32811 ([PR1](https://github.com/ArduPilot/ardupilot/pull/33020)) -- resolved ahead of 4.7.0-beta6 - [x] Copter follow mode bug ([PR](https://github.com/ArduPilot/ardupilot/pull/33038)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32942 ([PR](https://github.com/ArduPilot/ardupilot/pull/32943), also present in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] plane when enabling safety surfaces to to full deflection on tridge's hero, need to look with saleae, fixed in https://github.com/ArduPilot/ardupilot/pull/32979 -- included in 4.7.0-beta5 - [x] Payload place may get stuck based on alt field ([PR](https://github.com/ArduPilot/ardupilot/pull/32634)) -- resoled ahead of -4.7.0-beta5 - [x] copter-circle-speed script not working correctly ([issue](https://github.com/ArduPilot/ardupilot/issues/32799)) -- could not reproduce, appears to work fine - [x] Terrain downloaded to SD card unnecessarily reloaded in flight? ([issue](https://github.com/ArduPilot/ardupilot/issues/32773), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7690)) - [x] Altitude estimate offset when switching between baro and rangefinder source ([discussion1](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/28), [discussion2](https://discuss.ardupilot.org/t/re-baro-alt-reset/143333), [issue](https://github.com/ArduPilot/ardupilot/issues/32612), [PR](https://github.com/ArduPilot/ardupilot/pull/32931)) -- resolved for 4.7.0-beta4 - [x] ELRS RC related crash ([issue1](https://github.com/ArduPilot/ardupilot/issues/32653), [issue2](https://github.com/ArduPilot/ardupilot/issues/32862), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7701)) -- existing issue, workaround added to wiki, covered by [issue 32862](https://github.com/ArduPilot/ardupilot/issues/32862) - [x] TradHeli PID gain multiplier reset issue ([PR](https://github.com/ArduPilot/ardupilot/pull/32725)) -- resolved ahead of 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/pull/32892 -- resolved ahead of 4.7.0-beta4 - [x] Copter surface tracking altitude error not limited? ([discussion](https://discuss.ardupilot.org/t/surface-tracking-issues/142851/3), [issue](https://github.com/ArduPilot/ardupilot/issues/32740), [PR](https://github.com/ArduPilot/ardupilot/pull/32789), 4.6 issue as well) -- resolved in 4.8, not immediately planning to backport unless there is demand for it - [x] Rover watt limiter not working correctly ([relevant PR](https://github.com/ArduPilot/ardupilot/pull/31285), [discussion](https://discuss.ardupilot.org/t/rover-4-7-0-beta2-available-for-beta-testing/143065/10), [PR](https://github.com/ArduPilot/ardupilot/pull/32788)) -- resolved for 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/issues/32741 - [x] crash dump on custom FC ([discussion](https://discuss.ardupilot.org/t/watchdog-crash-dump-bin-arducopter-4-7-0-dev-on-custom-flight-controller/143475)) -- unsupported board, can't help - [x] https://github.com/ArduPilot/ardupilot/issues/32688 -- user error - [x] Mission Planner SITL gets 4.6.2-beta1 binary ([SITL firmware](https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/Beta/), [should be fixed by this job](https://github.com/ArduPilot/ardupilot/actions/runs/24375398698/job/71187757542), reported by @tridge) -- fixed ahead of 4.7.0-beta3 - [x] SBF GPS driver issue ([issue](https://github.com/ArduPilot/ardupilot/issues/32631), [PR1](https://github.com/ArduPilot/ardupilot/pull/32633/changes), [PR2](https://github.com/ArduPilot/ardupilot/pull/32642)) -- resolved for 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/issues/32724 ([PR](https://github.com/ArduPilot/ardupilot/pull/32730), 4.6 issue as well?) -- resolved ahead of 4.7.0-beta4 - [x] Rover custom build server issue ([issue](https://github.com/ArduPilot/ardupilot/issues/32666?reload=1), [relevant PR](https://github.com/ArduPilot/ardupilot/pull/31285), [discussion](https://discuss.ardupilot.org/t/rover-4-7-0-beta2-available-for-beta-testing/143065/10), [PR](https://github.com/ArduPilot/ardupilot/pull/32687)) -- resolved for 4.7.0-beta3 - [x] Loiter/QLoiter feels slower, looks like inaccurate position hold. Likely due to consider how we can make it feel closer to 4.6 automatically. Or provide instructions on parameter changes ([relevant PR](https://github.com/ArduPilot/ardupilot/pull/31848), [PR](https://github.com/ArduPilot/ardupilot/pull/32643), [discussion](https://discuss.ardupilot.org/t/how-do-althold-and-loiter-feel-in-4-7-vs-4-6/143300)) -- resolved for 4.7.0-beta3 - [x] Realflight quadplanes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/72)) -- could not reproduce the problem, RF evolution seems to work OK - [x] ArcWaypoints listed as WIP (reported by lthall, [PR](https://github.com/ArduPilot/mavlink/pull/497)) -- resolved for 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/7604 -- wiki updated ahead of 4.7.0-beta3 - [x] ARMING_SKIPCHK of 10 not skipping gyro and accel checks? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/86)) -- misunderstanding - [x] https://github.com/ArduPilot/ardupilot/pull/32382 ([PR](https://github.com/ArduPilot/ardupilot/pull/32626)) -- resolved for 4.7.0-beta3 - [x] Circle mode points mount straight down when doing panorama ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64)) -- user misunderstanding - [x] https://github.com/ArduPilot/MissionPlanner/issues/3693 -- resolved in MP ahead of 4.7.0-beta3 release - [x] RC_OPTIONS = 1 (Ignore RC Receiver) is not being respected ([discussion](https://discuss.ardupilot.org/t/rc-options-to-1-make-copter-yaw-spinning/142948), [PR](https://github.com/ArduPilot/ardupilot/pull/32488)) -- resolved for 4.7.0-beta3 - [x] BRD_SAFETY_DFLT = 0 should force BRD_SAFETYOPTION = 0? should update param desc? ([discussion](https://discuss.ardupilot.org/t/rover-4-6-3-arming-issues-when-trying-to-arm-second-time/142747/12)) -- working as expected, not new to 4.7 - [x] https://github.com/ArduPilot/ardupilot/issues/32511 -- could not reproduce, no response from user, created [security wiki page](https://ardupilot.org/dev/docs/security-landing-page.html) and improved [secure firmware instructions](https://github.com/ArduPilot/ardupilot/tree/master/Tools/scripts/signing) - [x] CUAV Pixhawk V3C not detecting IST8310 compass ([discussion](https://discuss.ardupilot.org/t/cuav-pixhawk-v3-ist8310-not-detected-with-4-7beta1/142785), [PR](https://github.com/ArduPilot/ardupilot/pull/32462)) -- resolved for 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot/issues/32506 ([PR](https://github.com/ArduPilot/ardupilot/pull/32508)) -- resolved ahead of 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot/pull/29087 missing from release notes ([discussion](https://discuss.ardupilot.org/t/plane-4-7-0-beta1-available-for-beta-testing/142742/9)) -- @IamPete1 updated the plane 4.7.0-beta1 release notes - [x] Plane Follow's FOLLP_SIM_TlF_FN should have upper case L ([PR](https://github.com/ArduPilot/ardupilot/pull/32456)) -- resolved for 4.7.0-beta2 - [x] UM982 GPS-for-yaw on CUAV V6X not working ([discussion](https://discuss.ardupilot.org/t/ardurover-4-7-0-new-issues-with-um982-moving-baseline/142916)) -- resolved by updating the UM982 firmware - [x] https://github.com/ArduPilot/ardupilot/issues/31584 -- resolved for 4.7.0-beta2 - [x] QGC altitude slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed for daily build on 18Mar2026 - [x] QGC takeoff slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed in QGC 14148 - [x] QGC Parameters need updating (@rmackay9 and @DonLakeFlyer discussed if dev-team channel, [PR](https://github.com/mavlink/qgroundcontrol/pull/14148)) -- fixed in QGC daily on 17-Mar-2026 - [x] EKF's use of rangefinder and baro never switches back to rangefinder after switching to baro ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- user error - [x] update PSC_ACCZ_I and PSC_ACCZ_P tuning advice https://ardupilot.org/copter/docs/initial-tuning-flight.html#test-althold ([PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7482)) -- wiki updated ahead of 4.7.0-beta2 - [x] https://github.com/ArduPilot/ardupilot/pull/32381 -- resolved for 4.7.0-beta2 - [x] ATC_ACC conversion didn't work ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/8)). Should we remove the "configured" checks ([code](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp#L1161)). Caused by installing 4.7.0-dev prior to release of beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/32428 -- resolved for 4.7.0-beta2

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: Add SaamPixV1_1 board support (#32582)

master ← ashwanisihag:saam/pr-v11-only

opened 12:41PM - 28 Mar 26 UTC

ashwanisihag

+1387 -0

## Summary Add SaamPixV1_1 board support to ArduPilot (board ID 1215), includin…g board registration, hwdef files, defaults, README, and bootloader artifacts for this board. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request - [ ] Autotest included ## Description This PR adds SaamPixV1_1-only support (STM32F427xx). Included changes: - Add board ID entry for SaamPixV1_1 (1215) in the bootloader board type registry. - Add SaamPixV1_1 board hwdef and bootloader hwdef. - Add SaamPixV1_1 defaults parameter file. - Add SaamPixV1_1 board README. - Add generated SaamPixV1_1 bootloader bin and hex artifacts. Build verification performed from a clean branch based on current upstream master: - ./waf configure --board SaamPixV1_1 - ./waf copter Build completed successfully. Scope note: SaamPixV1_2 is intentionally excluded and will be submitted separately.

github.com/ArduPilot/ardupilot

autotest: fix up example runner script (#32585)

master ← tpwrules:pr/examples-fixup

opened 05:45PM - 28 Mar 26 UTC

tpwrules

+12 -12

## Summary Fix some weirdness in the example runner script. ## Testing (mo…re checks increases chance of being merged) - [X] Checked by a human programmer - [X] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description Please see commit messages for details. Tested that there is no change in runtime or success/failure behavior before and after these changes.

github.com/ArduPilot/ardupilot

Add option bit to accept commands to any component, change default to ignoring (#33493)

master ← peterbarker:pr-claude2/command-for-other-component

opened 04:32AM - 19 Jun 26 UTC

peterbarker

+81 -3

### Summary Stops accepting messages targeted at component IDs which are not …our component ID. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description ~The mavlink spec says that if you have not seen a component then the autopilot is expected to look at commands sent to that component. This is for things like having a "mission planner" component either on your companion computer or on-board.~ The mavlink spec has now been updated by [@hamishwillee 's PR](https://github.com/mavlink/mavlink-devguide/pull/725) We've thought this insane for years. Now we act on it. I've put an option bit in to force the old behaviour.

github.com/ArduPilot/ardupilot

AP_AHRS: check backend return values when setting common origin (#32661)

master ← Shubham07-bit:bugfix/ahrs-common-origin-check

opened 01:32PM - 02 Apr 26 UTC

Shubham07-bit

+41 -12

## Summary Fixes #32539 When one AHRS backend (EKF2, EKF3, or ExternalAHRS…) acquires a GPS origin, it propagates that origin to the other backends via `setOriginLLH()` / `set_origin()`. Previously, `done_common_origin` was set to `true` unconditionally regardless of whether those calls succeeded, meaning a backend that failed to accept the origin would never have it set again. ## Changes ### AP_AHRS.cpp - Accumulate the return values of all backend `setOriginLLH()` / `set_origin()` calls using `&=` and only set `done_common_origin` to `true` when all active backends succeed. - Guard each backend call with `_ekf2_started`, `_ekf3_started`, and `external.initialised()` so that backends which are compiled into the firmware but disabled at runtime (e.g. `EKF2_ENABLE=0`, `core == nullptr`) are skipped rather than causing `done_common_origin` to never become `true`. ### AP_NavEKF2.cpp / AP_NavEKF3.cpp - In `setOriginLLH()`, return `true` when the requested origin matches the one already set (`same_loc_as`), instead of always refusing with a warning. This prevents repeated retry/log spam when both backends independently acquire the same origin at startup. ### AP_ExternalAHRS.cpp - Same fix in `set_origin()`: return `true` when the requested origin matches the existing one, consistent with the EKF2/EKF3 behaviour above. ## Root Causes Addressed 1. **Disabled backends** — EKF2 / ExternalAHRS can be compiled in but disabled at runtime. Their `setOriginLLH()` / `set_origin()` returns `false` immediately (`core == nullptr` / no backend). Without the `_started` guard, `done_common_origin` would never become `true`, causing an infinite retry on every update cycle. 2. **Concurrent origin acquisition** — Both EKF2 and EKF3 can acquire their own origin independently at roughly the same time. When one tries to sync to the other, the second backend already has `common_origin_valid = true` and returns `false`. The `same_loc_as` check returns `true` in this case, allowing `done_common_origin` to be set correctly. ## Testing - [x] Tested in SITL with EKF3 only (`EKF2_ENABLE=0`) — confirms `done_common_origin` is set correctly without infinite retry - [x] Tested in SITL with both EKF2 and EKF3 enabled — confirms origin is propagated correctly to all backends - [x] Confirmed no "EKF2 refusing set origin" / "EKF3: origin already set" warning spam in logs during normal startup

github.com/ArduPilot/ardupilot

mavlink: reference master commit (#32663)

master ← peterbarker:pr/update-mavlink

opened 10:31PM - 02 Apr 26 UTC

peterbarker

+6 -2

### Summary Reference master commit in ardupilot mavlink repo ### Classifi…cation & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description reference master commit; double-shuffle fail somewhere

github.com/ArduPilot/ardupilot

.github: Add Python and Scripting labels to pull requests (#32700)

master ← cclauss:patch-7

opened 11:54AM - 07 Apr 26 UTC

cclauss

+38 -0

Add ___Python___ and ___Scripting___ labels to pull requests that add, delete, o…r modify files containing those languages. <img width="72" height="60" alt="image" src="https://github.com/user-attachments/assets/02c50c74-df62-4fc7-8792-efe886f134cc" /> is added to pull requests that modify `.py` files. [`Scripting`](https://github.com/ArduPilot/ardupilot/pulls?q=label:Scripting) is added to pull requests that modify `.lua` files. ### Summary ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] Non-functional change - [x] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description Lua is currently 4.8%, and Python is 12.7% of this repo, so most pull requests will not modify these files. However, some contributors will have expertise in these languages and will be interested in reviewing pull requests that modify them. This quick GitHub Action will add labels to enable the rapid isolation of pull requests that contain these minority languages. ### How was this tested? * ArduPilot/ardupilot_wiki#7626 * https://github.com/cclauss/labels_by_language It is quite difficult to test `pull_request_target` triggered GitHub Actions on a repo that you are not a maintainer of because GitHub purposefully makes it difficult to generate `pull_request_target` events.

github.com/ArduPilot/ardupilot

SITL: Support SIM_GPSn_FIXTYPE in UBX simulator (#32706)

master ← Ryanf55:sim-gps-fix-type

opened 10:17PM - 07 Apr 26 UTC

Ryanf55

+62 -4

### Summary This allows changing the GPS fix type. We have software that reli…es on RTK fix, and has different behavior if fix regresses to 3D lock, so we want to be able to simulate/test it in SITL. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [x] Logs attached - [ ] Logs available on request [gps_fixtype_logs.txt](https://github.com/user-attachments/files/26576342/gps_fixtype_logs.txt) ### Description Can use SIM_GPS1_FIXTYPE to change between 0-6 and then observe the fix type in the mavproxy console change. Docs for UBX: https://content.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_UBX-13003221.pdf?utm_content=UBX-13003221 To run autotest: ``` ./Tools/autotest/autotest.py build.Copter test.CopterTests1d.GPSFixTypes ``` Only the ublox simulator supports this for now, but others can be added in follow up PR's. An example test do test multiple GPS types could look like so: ```python3 def GPSFixTypes(self): '''Test that SIM_GPS1_FIXTYPE maps correctly to GPS_RAW_INT.fix_type''' gps_types = [1] # 1 is ublox for gps_type in gps_types: self.start_subtest("Testing GPS type %u" % gps_type) self.set_parameter("SIM_GPS1_TYPE", gps_type) self.reboot_sitl() self.wait_ready_to_arm() for fix_type in range(6, -1, -1): self.start_subsubtest("Testing fix type %u" % fix_type) self.set_parameter("SIM_GPS1_FIXTYPE", fix_type) self.wait_message_field_values('GPS_RAW_INT', { "fix_type": fix_type, }, timeout=10) self.set_parameter("SIM_GPS1_FIXTYPE", 6) self.wait_ready_to_arm() ``` I ran through the ublox parser in GDB changing SIM_GPS1_FIXTYPE to verify the fix type is set and checked in the mavproxy console it behaves as correctly. ### TODO - [x] Add autotest - [ ] Consider adding or use existing enum for fix type in SITL - [x] Get fix type 0,1,2 and 5 working ### Ublox Documentation <img width="719" height="1311" alt="image" src="https://github.com/user-attachments/assets/0f687fed-3b90-4a67-986b-4eedb9283088" /> <img width="761" height="1541" alt="image" src="https://github.com/user-attachments/assets/05dc0b6b-9516-4316-90b6-41bee1b18d47" /> <img width="1030" height="1517" alt="image" src="https://github.com/user-attachments/assets/b35ae411-c092-46e4-960e-d063c0a3edc1" /> <img width="1055" height="1576" alt="image" src="https://github.com/user-attachments/assets/1e07e589-57b9-4936-99ed-38c9b587a27b" /> ### Disclosure * Claude wrote the autotest. I wrote the rest of it manually.

github.com/ArduPilot/ardupilot

Add sanity check that a submodule update references a commit which exists in AP repo (#32709)

master ← peterbarker:pr-claude/CI-submodule-reference-must-exist

opened 02:17AM - 08 Apr 26 UTC

peterbarker

+169 -13

### Summary Third part of PRs showing a CI job which ensures that if you are …updating a submodule that the commit exists in the AP repo. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description This is a PR against my own repo, which contains the hash being referenced - the new test is *skipped* as the PR is not against AP master: https://github.com/peterbarker/ardupilot/pull/36 This is the same branch PR'd against ArduPilot master, which fails because the commit does not exist in the AP repo: https://github.com/ArduPilot/ardupilot/pull/32708

github.com/ArduPilot/ardupilot

AP_RangeFinder: add NOAVG param to LightWareSerial driver (#32726)

master ← magate:rngfnd-lightware-noavg

opened 12:03AM - 10 Apr 26 UTC

magate

+14 -5

### Summary Add a per-instance `RNGFND*_NOAVG` parameter (default 0) to opt… out of averaging in the LightWareSerial rangefinder driver. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request ### Description `AP_RangeFinder_LightWareSerial::get_reading()` reads every byte available on the UART in a single call and, until now, returned the average of all valid distances it decoded. For applications that want to filter the rangefinder signal themselves, that in-driver averaging adds noise that is hard to undo downstream. The function's own docstring ("return last value measured by sensor") suggests the averaging was drift from the original intent. This PR adds a per-instance `RNGFND*_NOAVG` parameter (`AP_Int8`, default `0`). Behavior: - `NOAVG = 0` (default): unchanged — `get_reading()` returns `sum / valid_count` across all valid readings decoded during the call. - `NOAVG = 1`: `get_reading()` returns the **last** valid reading decoded during the call, discarding earlier ones. The gate is implemented by rewriting the in-loop accumulator as `sum = no_avg ? dist : sum + dist` (and the cm→m variant for the binary protocol), then returning `no_avg ? sum : sum / valid_count`. When `NOAVG = 0`, the emitted code path is byte-identical to master. Scope is intentionally narrow: - Only `AP_RangeFinder_LightWareSerial` is touched; other drivers are unaffected. - No new log messages, no new getters on `RangeFinder`, no autotest changes. **Testing**: <img width="1132" height="570" alt="image" src="https://github.com/user-attachments/assets/0fcf6a8b-6ad0-4444-9e9c-6818482c6ddf" /> Tested on SF11C. These ghost points are not helping performance.

github.com/ArduPilot/ardupilot

AP_Periph: BMS enhancements and fixes (#33627)

master ← rmackay9:vimdrones-bms3-simple

opened 01:55AM - 02 Jul 26 UTC

rmackay9

+1465 -1201

### Summary This makes a significant number of enhancements and bug fixes to th…e VimDrone L431 BMS and the accompanying AP_BattMonitor_TIBQ76952 driver. The most critical fix is that it allows charging the battery! TIBQ driver changes: 1. Update TIBQ configuration so that regulator 1 (aka REG1) outputs 5V, regulator 2 outputs 3.3v. These power the main STML431 and 8 LEDs. Somewhat unusually the BMS chip can turn on/off the main CPU when it goes into "deep sleep" 2. BATT_CFG_UPDATE parameter allows users to change when the BMS is configured by the main CPU. 0 = never, 1 = just once, 2 = on each startup. See note below that we should consider whether this parameter belongs here on as an AP_Periph parameter 3. checksum fix 4. BMS configuration change to enable more protections 5. Current coulomb counter and capacity gain definitions added to allow customisation in hwdef (not yet required because only the VimDrones BMS exists so far) 6. Initialisation fixed to configure FETS to allow charging 7. Charging state detection fixes. AP_Periph uses this state to display different LED patterns when charging vs discharging 8. Removed unused definitions, functions and members including state-of-health-pct 9. Current reading fixed (sign was reversed) 10. Health reporting improved (tested by disconnecting L431 and BMS to confirm it became unhealthy) 11. BMS_SLEEP_SEC parameter allows user to define when battery BMS will sleep. BMS wakes up if users pushes button or charges battery 12. Init's clearing of alerts fixed (was writing 2 bytes instead of just 1) 13. restructured/renamed read and write commands to more cleanly separate them into "direct" and "indirect" commands AP_Periph BMS changes: 14. Charging LED pattern improved. Now displays the battery PCT but the final LED flashes 15. Battery PCT displayed using LEDs immediately after startup 16. VimDrones BMS hwdef update to match latest hardware and define some parameters. CAN_NODE is set to 32 (instead of dynamic) to allow the Periph to operate without an FC attached 17. VimDrone BMS bootloaders updated Known Issues / Questions: - Periph LED charging patterns become erratic especially when the battery is nearly fully charged because the current flow becomes quite low and the charging state detection oscillates between charging and IDLE. I hope in the future we can add some filtering to resolve this - Should the BATT_CFG_UPDATE and BATT_SLEEP_SEC be in AP_BattMonitor (where they are now) or AP_Periph? - CAN_NODE = 32 but is there a better way to allow the battery to operate without an autopilot? Testing: This has been quite heavily tested on real hardware by both myself and @Huibean <img width="1279" height="891" alt="image" src="https://github.com/user-attachments/assets/c8e046c9-0a03-4da5-913c-dc210455ddcf" /> ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [x] Tested on hardware - [ ] Logs attached - [ ] Logs available on request

github.com/ArduPilot/ardupilot

AP_DroneCAN: NodeStatus logging: fix logger docs enum errors (#32744)

master ← IamPete1:DroneCAN_status_logging_fixup

opened 04:35PM - 11 Apr 26 UTC

IamPete1

+2 -2

### Summary Embarrassingly I missed the `1` in the enum logger documentation …in https://github.com/ArduPilot/ardupilot/pull/32672. This fixes it. Many thanks to @tpwrules for spotting my mistake. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] Non-functional change - [x] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request

github.com/ArduPilot/ardupilot

.github: Add a missing comma to labels-by-language workflow (#32748)

master ← cclauss:patch-7

opened 04:19AM - 12 Apr 26 UTC

cclauss

+1 -1

### Summary Add a missing comma to the labels-by-language workflow. * https:…//github.com/ArduPilot/ardupilot/actions/workflows/labels.yml * `SyntaxError: Unexpected identifier 'pull_number'` > [!NOTE] > One of the strange things about failing GitHub Actions `pull_request_trigger` jobs is that they will continue to fail until ___after___ they are merged. This is because `pull_request_trigger` jobs run on the `master` branch, not on the pull request branch. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description

github.com/ArduPilot/ardupilot

Tools: Simplify the installation of `python3-venv` (#32754)

master ← cclauss:Tools-simplify-the-use-of-python3-venv

opened 07:51PM - 12 Apr 26 UTC

cclauss

+10 -17

### Summary `python3-venv` works on all currently supported Debian and Ubuntu… distros, so let's simplify the installation logic. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below ~(e.g. SITL)~ - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description `ubuntu:jammy` and `debian:bullseye` also work the same way. Should we change them as well? Also, `pip install -U` can be quite opaque to readers because pip install currently has six `--u*` options, including `--user`. `pip install --upgrade` makes the intention clearer in code that others will read. % `python3 -m pip install --help | grep "\-\-u"` ``` --user Install to the Python user install directory for -U, --upgrade Upgrade all specified packages to the newest --upgrade-strategy <upgrade_strategy> --use-pep517 Use PEP 517 for building source distributions --use-feature <feature> Enable new functionality, that may be backward --use-deprecated <feature> Enable deprecated functionality, that will be ``` % `python3 -m pip install --help | grep "\-\-f"` ``` --force-reinstall Reinstall all packages even if they are already at --find-links URLs -f, --find-links <url> If a URL or path to an html file, then parse for ``` ### How was this tested? % `docker run -it ubuntu:noble` ``` # apt update && \ DEBIAN_FRONTEND=noninteractive apt install --yes lsb-release python3-venv && \ lsb_release -ds && \ python3 -m venv --upgrade-deps .venv && \ source .venv/bin/activate && python -V && \ pip -V   Ubuntu 24.04.4 LTS Python 3.12.3 pip 26.0.1 from /.venv/lib/python3.12/site-packages/pip (python 3.12) ``` --- % `docker run -it debian:bookworm` ``` Debian GNU/Linux 12 (bookworm) Python 3.11.2 pip 26.0.1 from /.venv/lib/python3.11/site-packages/pip (python 3.11) ``` --- % `docker run -it ubuntu:jammy` ``` Ubuntu 22.04.5 LTS Python 3.10.12 pip 26.0.1 from /.venv/lib/python3.10/site-packages/pip (python 3.10) ``` --- % `docker run -it debian:bullseye` ``` Debian GNU/Linux 11 (bullseye) Python 3.9.2 pip 26.0.1 from /.venv/lib/python3.9/site-packages/pip (python 3.9) ``` --- > [!NOTE] > This month, Plucky will probably disappear from https://ports.ubuntu.com/ubuntu-ports/dists

github.com/ArduPilot/ardupilot

modules: update mavlink submodule to include ONBOARD_COMPUTER_STATUS … (#32779)

master ← marifante:feature/include-onboard-computer-status

opened 05:42AM - 14 Apr 26 UTC

marifante

+1 -1

### Summary Bumps the modules/mavlink submodule pointer to pick up the sync o…f ONBOARD_COMPUTER_STATUS (id=390) from upstream mavlink/mavlink. ### Classification & Testing (check all that apply and add your own) - [ ] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description ONBOARD_COMPUTER_STATUS is a standard MAVLink message designed for companion computers to report hardware status (CPU, RAM, storage, temperature, network links) to the flight controller. It has been part of mavlink/mavlink common.xml since August 2019 (PR #1186). The ArduPilot/mavlink fork at the current submodule pin (37d35a66) does not include this message. Because ArduPilot builds its CRC_EXTRA map and routing table at compile time from the XML definitions, any incoming frame with id=390 arrives with an unknown CRC_EXTRA → the routing layer rejects it silently. Companion computers implementing this message have no way to report hardware status to the flight controller or to ground station software connected to other serial ports. See the following issue: https://github.com/ArduPilot/ardupilot/issues/32777

CraigElder · July 21, 2026, 5:30pm

Attendee count (max): 17

UTC2300 - CI ci · Workflow runs · ArduPilot/ardupilot · GitHub

A bunch of little random failures
Peter’s been getting patches merged with Pierre’s approval
There’s an ESP32 PR ther which might reduce some infrastructure flakes

UTC2303 - vehicle update

Do we push the button on the release?
Uninitialised value thing can go into 4.7.1
GRF500 problem?
- Rishabh is looking
Copter dead-reckoning was broken
Copter dead-reckoning fix in
Synthetic fusion - fusing when we shouldn’t in dead-reckoning
- Synthetic airspeed is fused for planes without airpseed sensor when dead-reckoning · Issue #33720 · ArduPilot/ardupilot · GitHub
Terrain tile prearm check still a problem
Dronecan parameters in MissionPlanner missing
- Tridge has improved things a lot in the dronecan_gui_toool
4.7.0 is a go!
- PR merged
- Tagging will be done soon

UTC2320 - AP_HAL_ChibiOS: Fix missing CAN3 by Huibean · Pull Request #32254 · ArduPilot/ardupilot · GitHub

Fix CAN3
CANs are not independent
- They share some registers and clocking and whatnot
G474 might be broken in the release?
Merged!

UTC2323 - AP_HAL_ChibiOS: Add SaamPixV1_1 board support by ashwanisihag · Pull Request #32582 · ArduPilot/ardupilot · GitHub

SaamPix1
MergeOnCIPass

UTC2327 - Fixes for embedded-JSON-and-parms by peterbarker · Pull Request #32985 · ArduPilot/ardupilot · GitHub

Fixes for embedded JSON and parms
Why the LAND_DISARMDELAY?
Peter to look at again and then merge
We should move away from the default model

UTC2341 - Add option bit to accept commands to any component, change default to ignoring by peterbarker · Pull Request #33493 · ArduPilot/ardupilot · GitHub

Add option bit to gate acceptance of commands to components other than the autopilot’s component ID
Tridge is really worried that people might be trying to send to the component ID
“nobody reads the spec” - PH
[9:49 AM]rmackay9: no, it would be sent to the autopilot
[9:51 AM]rmackay9: nah, let’s get rid of it
[9:52 AM]rmackay9: it’s part of a major release, we can add a release warning
[9:52 AM]rmackay9: i agree
Option bit?
- To turn it back on?
Tridge wants a warning added so that if it does happen we should send a message
Leonard found this to be a problem when building support for a gimbal
Randy is strongly opposed to the option bit
Tridge is strongly for the option bit

UTC0027 - AP_Periph: BMS enhancements and fixes by rmackay9 · Pull Request #33627 · ArduPilot/ardupilot · GitHub

BMS enhancements and fixes
Randy’s worried about the interface used to write parameters to storage
- Tridge is OK with it
Merged!

UTC0038 - RC_Channel: reserve AuxFunc IDs 250 through 254 for external use by peterbarker · Pull Request #33661 · ArduPilot/ardupilot · GitHub

Reserve a range of aux function IDs for local work
Would be good to encourage people to reserve if they want to merge
Merged!

UTC0040 - AP_Math: fix lateral acceleration spike at velocity zero-crossing in limit_accel_xy by ChrisRosser · Pull Request #33663 · ArduPilot/ardupilot · GitHub

Fix lateral acceleration spoke
Alternative: AC_PosControl: build accel limiter cross-track reference from velocity and acceleration by lthall · Pull Request #33754 · ArduPilot/ardupilot · GitHub
We’ll probably merge Leonard’s
Can be merged once Randy and Pete’s problems addressed

UTC0052 - AP_AIS: Indexing safety fixes and use correct MAVLink invalid values by IamPete1 · Pull Request #33700 · ArduPilot/ardupilot · GitHub

AIS fixes and cleanups
Merged!

UTC0053 - https://github.com/ArduPilot/ardupilot/pull/33706

Correct moving baseline GPS yaw for vehicle attitude
Will split the debug logging out
Still needs some testing

UTC0100 - AP_RangeFinder: TFMiniPlus: add small delay to improve read reliability by IamPete1 · Pull Request #33709 · ArduPilot/ardupilot · GitHub

TFMiniPlusI2c fixes
Why haven’t we noticed this before?
- On real vehicles it can happen
- It’s just marginal
- Only occasionally would report unhealthy to GCS
Merged!

UTC0106 - AP_HAL_SITL: fix double-EAS2TAS in pitot model by robertlong13 · Pull Request #33713 · ArduPilot/ardupilot · GitHub

Fix double-application of eas2tas in SITL
Merged!

UTC0110 - Remove reset values from AHRS outputs by peterbarker · Pull Request #33726 · ArduPilot/ardupilot · GitHub

Remove reset values from AHRS outputs
Can be merged once CI is happy

UTC0113 - AP_Filesystem: correct fgets for last-line-missing-termination by peterbarker · Pull Request #33744 · ArduPilot/ardupilot · GitHub

Missing line termination issue
Can be merged after the fix

UTC0121 - AP_FW_Controller: add ticks check to make sure there are no duplicate or missed calls by IamPete1 · Pull Request #33748 · ArduPilot/ardupilot · GitHub

Add tick-check for running attitude controller
Merged!

UTC0124 - hwdef: support SPL06 barometer in FlywooF405S-AIO and HD boards by mbuzdalov · Pull Request #33779 · ArduPilot/ardupilot · GitHub

SPL06 on FlywooF405S-AIO
Merged!

UTC0132 - off the floor

Anything in the 4.7 backports *will* go in, no question!

Attendee count (max): 17

UTC2300 - CI ci · Workflow runs · ArduPilot/ardupilot · GitHub

UTC2303 - vehicle update

UTC2320 - AP_HAL_ChibiOS: Fix missing CAN3 by Huibean · Pull Request #32254 · ArduPilot/ardupilot · GitHub

UTC2323 - AP_HAL_ChibiOS: Add SaamPixV1_1 board support by ashwanisihag · Pull Request #32582 · ArduPilot/ardupilot · GitHub

UTC2327 - Fixes for embedded-JSON-and-parms by peterbarker · Pull Request #32985 · ArduPilot/ardupilot · GitHub

UTC2341 - Add option bit to accept commands to any component, change default to ignoring by peterbarker · Pull Request #33493 · ArduPilot/ardupilot · GitHub

UTC0027 - AP_Periph: BMS enhancements and fixes by rmackay9 · Pull Request #33627 · ArduPilot/ardupilot · GitHub

UTC0038 - RC_Channel: reserve AuxFunc IDs 250 through 254 for external use by peterbarker · Pull Request #33661 · ArduPilot/ardupilot · GitHub

UTC0040 - AP_Math: fix lateral acceleration spike at velocity zero-crossing in limit_accel_xy by ChrisRosser · Pull Request #33663 · ArduPilot/ardupilot · GitHub

UTC0052 - AP_AIS: Indexing safety fixes and use correct MAVLink invalid values by IamPete1 · Pull Request #33700 · ArduPilot/ardupilot · GitHub

UTC0053 - https://github.com/ArduPilot/ardupilot/pull/33706

UTC0100 - AP_RangeFinder: TFMiniPlus: add small delay to improve read reliability by IamPete1 · Pull Request #33709 · ArduPilot/ardupilot · GitHub

UTC0106 - AP_HAL_SITL: fix double-EAS2TAS in pitot model by robertlong13 · Pull Request #33713 · ArduPilot/ardupilot · GitHub

UTC0110 - Remove reset values from AHRS outputs by peterbarker · Pull Request #33726 · ArduPilot/ardupilot · GitHub

UTC0113 - AP_Filesystem: correct fgets for last-line-missing-termination by peterbarker · Pull Request #33744 · ArduPilot/ardupilot · GitHub

UTC0121 - AP_FW_Controller: add ticks check to make sure there are no duplicate or missed calls by IamPete1 · Pull Request #33748 · ArduPilot/ardupilot · GitHub

UTC0124 - hwdef: support SPL06 barometer in FlywooF405S-AIO and HD boards by mbuzdalov · Pull Request #33779 · ArduPilot/ardupilot · GitHub

UTC0132 - off the floor

UTC0133 - close