Dev Call Jun 1, 2026

CraigElder · June 1, 2026, 11:04pm

CI Workflows

Release Update

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 - [ ] https://github.com/ArduPilot/ardupilot/issues/33230 ([PR](https://github.com/ArduPilot/ardupilot/pull/33232), also in 4.6) - [ ] https://github.com/ArduPilot/ardupilot/pull/33136 - [ ] https://github.com/ArduPilot/ardupilot/issues/28876 (4.6 issue) - [ ] Mount POI sometimes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64)) - [ ] 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)) - [ ] Quadplane QLand over speed ([discussion](https://discuss.ardupilot.org/t/qland-vertical-speed/143366/2)) ### Confirmed issues - [ ] https://github.com/ArduPilot/ardupilot/issues/33161 ([PR](https://github.com/ArduPilot/ardupilot/pull/33275) also in 4.6) - [ ] QuikTune Lua script should restrict which modes it operates in ([PR](https://github.com/ArduPilot/ardupilot/pull/33025)) - [ ] 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)) ### Copter Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### 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 - None ### Mission Planner Issues - None ### QGC Issues - None ### Wiki Issues - None ### Enhancements or Issues that may not be resolved before the stable release - [ ] 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] 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/mavlink

Plane/Copter: ardupilotmega's RADIO and common's RADIO_STATUS messages disagree on txbuf definition but are treated the same

opened 01:29AM - 22 Jul 21 UTC

nickwithers

DevCallTopic

[Not sure if this should be considered an `ArduPilot/MAVLink` issue or a `MAVLin…k/MAVLink` upstream one but feel here's the best place to start] The "ardupilotmega" dialect defines a `RADIO` message with the same field names and types as the "common" `RADIO_STATUS` message (with a different ID). ArduPilot appears to treat both messages the same in MAVLink handling code, e.g.: https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/GCS_Mavlink.cpp#L1283 . In ardupilotmega against the `RADIO` message, `txbuf` is described as being `How full the tx buffer is` as a percentage [ https://mavlink.io/en/messages/ardupilotmega.html#RADIO , https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/ardupilotmega.xml#L1236 ] and in common, the inverse (`Remaining free transmitter buffer space`) [ https://mavlink.io/en/messages/common.html#RADIO_STATUS , https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/common.xml#L4092 ] for `RADIO_STATUS`. Sending a `RADIO` message to ArduPilot with `txbuf` set to 0 to indicate, according to _its_ description, that "the tx buffer" is 0% full leads to it throttling back messaging (see `GCS_MAVLINK::handle_radio_status()`). Is the ardupilotmega description of the `RADIO` messages `txbuf` flag in need of correction? Should the `RADIO` and `RADIO_STATUS` messages be treated differently?

github.com/ArduPilot/ardupilot

RC_Channel: add RC_OPTIONS bit to clear RC override by RC input change

master ← tatsuy:pr-clear-override-by-rc

opened 01:06AM - 21 Jan 22 UTC

tatsuy

+316 -4

This PR introduces a new option to clear the RC override, allowing the pilot to …regain control by operating roll, pitch, throttle, or yaw during an RC override situation. While this functionality was previously possible using RCx_OPTION(46), the new option provides a more direct and safer method for pilots to cancel overrides using basic RC inputs. ## Required parameters The following settings are required `RC_OPTIONS = 16384` (bit 14, `CLEAR_OVERRIDES_BY_RC`) enables the feature `RCx_OPTION = 46` (`RC_OVERRIDE_ENABLE`) Re-enable RC overrides ## Per-vehicle behavior Vehicles override `RC_Channels::has_pilot_input_for_override_clear()` to define which axes count as pilot input: | Vehicle | Axes that clear an active override | |---|---| | Copter / Plane / Blimp | roll, pitch, yaw out of trim deadzone, or throttle moved beyond deadzone since the override began | | Rover | steering (rcmap roll), throttle; plus lateral on omni rovers | | Sub | forward, lateral, yaw, plus throttle (= vertical) | ## Testing Tested manually in SITL with Copter, Rover, and Plane. Added autotest: `RCOverridesClearByPilotInput` on Copter (all four primary axes each clear) and Rover (steering/throttle clear; pitch/yaw must not), plus held-while-neutral and bit-off regression checks.

github.com/ArduPilot/ardupilot

Add support for MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET

master ← peterbarker:pr/MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET

opened 11:11AM - 03 Mar 23 UTC

peterbarker

+381 -50

Closes https://github.com/ArduPilot/ardupilot/issues/7658 ~~I've only tested …this as far as QGC can upload a site-scan mission and the vehicle seems to run it through to completion.~~ ~~I have not made sure the gimbal actually tracks the next waypoint location properly...~~ Now includes a simple autotest. The the way this waypoint works seems to be pretty straight forward in its use by sitescan. The vehicle flies parallel to a polygon defining the structure. The gimbal is instructed to point towards the next waypoint - but with a 90-degree yaw - so pointing at the structure. In the case of a circular structure the craft follows a regular polygon approximating a circle - so I would imagine that the gimbal would not keep the circular building centered in the frame. I think this functionality could probably reasonably be put behind a define....

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: hwdef: YARI_GNSS Board Support

master ← KarthiAru:new-board-yari-gnss

opened 03:02AM - 25 Oct 25 UTC

KarthiAru

+1467 -0

Adds support for the [YARI GNSS Module](https://yarirobotics.com/products/yari-g…nss-module-m9n) product. ## Testing Checklist ### Physical Interfaces - [x] CAN - [x] Debug - [x] USB ### Functionality - [x] Bootloader update via Debug port - [x] Firmware update via CAN (using DroneCAN GUI) - [x] LED indicators - [x] Safety Switch operation - [x] GNSS, Compass, and Barometer data verified in Mission Planner / ArduPilot logs - [x] GNSS signal data verified in u-center 2 - [x] Parameter changes persist after reboot Logs: https://drive.google.com/drive/folders/1g558cPozz-uQG3untLwdT94ALYHc7URc?usp=sharing

github.com/ArduPilot/ardupilot

AP_Compass: report specific failure reason when fit rejected

master ← christianpetri:compass-cal-early-abort

opened 03:02AM - 13 Apr 26 UTC

christianpetri

+174 -45

### Summary Extend the `CompassCalibrator::Status` enum with three new terminal… failure values (`BAD_OFFSETS=8`, `BAD_DIAG_SCALING=9`, `BAD_FITNESS=10`) and refactor `fit_acceptable()` to set the appropriate specific status instead of falling back to the generic `FAILED`. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) ### Description Previously `fit_acceptable()` returned a silent `false` — the GCS and user had no way to know *why* calibration was rejected. This PR maps each rejection condition to a specific `Status` value that is transmitted in the `MAG_CAL_REPORT.cal_status` field. **New `Status` enum values (extend `MAG_CAL_STATUS` MAVLink enum):** | Value | Name | Condition | |---|---|---| | 8 | `BAD_OFFSETS` | Any offset component ≥ `COMPASS_OFFS_MAX` | | 9 | `BAD_DIAG_SCALING` | Diagonal or off-diagonal scaling out of range | | 10 | `BAD_FITNESS` | `_fitness > sq(_tolerance)` | `BAD_RADIUS` (7) was already present. All four conditions were previously collapsed into `FAILED` (5). **Behaviour changes:** - `fit_acceptable()` loses `const` (it now calls `set_status()`). - `set_status(FAILED)` is guarded against overwriting any of the five specific `BAD_*` statuses (previously only `BAD_ORIENTATION` and `BAD_RADIUS` were protected). - `update_cal_status()`, `failed()`, `is_calibrating()`, and `send_cal_report()` all handle the three new cases identically to `BAD_RADIUS`. - No `GCS_SEND_TEXT` calls added; flash cost +48 bytes on CubeOrange plane (measured via `Tools/scripts/size_compare_branches.py`). **Note:** The new integer values (8/9/10) are transmitted immediately. GCS will display the raw number until a matching `MAG_CAL_STATUS` entry is added in the upstream mavlink/mavlink XML and a pymavlink bump lands in ArduPilot. The autotest uses `getattr(mavutil.mavlink, 'MAG_CAL_BAD_FITNESS', 10)` fallbacks pending that bump. ### Related - Discussion: https://discuss.ardupilot.org/t/proposal-early-abort-compass-calibration-when-magnetic-field-is-extreme/143374 - MAVLink enum update: https://github.com/mavlink/mavlink/pull/2478 — adds `MAG_CAL_BAD_OFFSETS/BAD_DIAG_SCALING/BAD_FITNESS` to common.xml - MissionPlanner GUI update: https://github.com/ArduPilot/MissionPlanner/pull/3722 — surfaces failure codes in calibration dialogs ### Testing Builds clean on SITL and CubeOrange (`./waf configure --board CubeOrange && ./waf plane`). Flash delta vs master: **+48 bytes** (measured on CubeOrange plane via official ArduPilot size_compare_branches.py tool). SITL autotest `SITLCompassCalibration` passes: ``` Tools/autotest/autotest.py test.Copter.SITLCompassCalibration ``` Two new subtests added: 1. **Tight-fit test** (`COMPASS_CAL_FIT=0.001`) — all compasses report `MAG_CAL_BAD_FITNESS (10)` instead of `MAG_CAL_FAILED (5)`. 2. **Selective-failure test** (`SIM_MAG1_OFS_X/Y/Z=2000`) — compass 0 reports `MAG_CAL_BAD_OFFSETS (8)`; remaining compasses still succeed. This contribution was AI-assisted (GitHub Copilot).

github.com/ArduPilot/ardupilot

hwdef: Add JFB200 of JAE flight controllers

master ← jfbblue0922:pr-Add_hwdef_JFB200

opened 10:48AM - 15 Apr 26 UTC

n-ito2222

+2474 -0

### Summary Add hwdef JFB200 for a JAE new flight controller. ### 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) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request

github.com/ArduPilot/ardupilot

Tools: autotest: plane: add test for starting loiter inside circle

master ← IamPete1:loiter_inside_circle_test

opened 01:23PM - 16 May 26 UTC

IamPete1

+72 -3

### Summary This adds a test for the inside loiter circle roll issue. … ### 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) - [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

github.com/ArduPilot/ardupilot

AP_Compass: persist dev_id when backend registers

master ← dakejahl:compass-persist-devid

opened 09:43PM - 20 May 26 UTC

dakejahl

+6 -0

## Summary Save `COMPASS_DEV_IDn` whenever a backend registers, so a priority s…wap followed by a reboot does not corrupt the dev_id / offsets slots. ## Problem `AP_Compass_Backend::set_dev_id()` only does `set_and_notify()`. When a compass shows up at runtime (e.g. a DroneCAN GPS+mag plugged in after boot), `_update_priority_list()` persists `COMPASS_PRIOn_ID`, but the corresponding `COMPASS_DEV_IDn` is never written to EEPROM. If the user then re-orders priorities (so the runtime-detected compass becomes prio 1) and reboots, `_reorder_compass_params()` walks `_priority_did_list[]` and tries to match each entry to a slot via `_state[j].dev_id`. The new compass is not in any saved slot, so it is skipped. A later priority then swaps the previously-calibrated compass out of slot 0 — leaving `COMPASS_DEV_ID = 0` and the saved offsets / scale_factor / diagonals in the wrong slot. Subsequent mag cal attempts misbehave. Reproduction: 1. Calibrate an I2C mag (slot 0 saved). 2. Connect a DroneCAN mag — detected at runtime, registers in slot 1 in RAM only. 3. Swap priorities so DroneCAN is prio 1, I2C is prio 2. 4. Reboot → `COMPASS_DEV_ID = 0`, `COMPASS_DEV_ID2 = i2c_devid`, offsets moved. ## Solution In `set_dev_id()`, persist the dev_id after `set_and_notify()`, gated on `!suppress_devid_save` so first-boot behavior is unchanged. The save is async-queued and a no-op when EEPROM already holds the same value, so steady-state operation is unaffected. With dev_ids persisted alongside their priority entries, `_reorder_compass_params()` finds every priority's matching state slot and the swap stays consistent.

github.com/ArduPilot/ardupilot

AP_Param: Purge param_overrides from default_list

master ← LachlanConn:pr/clean-default_list-after-param_overrides-populates

opened 05:12AM - 22 May 26 UTC

LachlanConn

+73 -0

### Summary Removes out of sync defaults from defaults_list that sneak in befor…e the param_overrides[] is populated by embedded defaults. An example would be the servo constructor that sets SERVOx_FUNCTION for servo's >16 to -1. ### 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 - [ ] Logs available on request ### Description Found this out by chasing down the servo_function problem with defaults but seems to fix the NET_IP params too. Tested on cubeorange plus on bench with firmware for carbonix ottano which uses SERVOx_FUNCTION parameters >16 for motors. Before we would see -1 for defaults for all function params >16 now they correctly show the embedded defaults. <img width="1477" height="1219" alt="image" src="https://github.com/user-attachments/assets/f0bd87f1-107b-4c4f-bd06-b4512f32058b" />

github.com/ArduPilot/ardupilot

AP_AHRS: combine copy_estimates_from_backend_estimates and update_state

master ← peterbarker:pr/AP_AHRS-combine-methods

opened 12:33AM - 28 May 26 UTC

peterbarker

+20 -34

### Summary Combines two methods to keep the logic together ### Classifica…tion & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] 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 ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * * Durandal -24 -16 * -16 -24 -16 -24 -16 Hitec-Airspeed * * KakuteH7-bdshot -16 -16 * -24 -16 -24 -24 -16 MatekF405 -24 -16 * -16 -16 -24 -24 -16 MatekH7A3 -24 -24 * -24 -24 -16 -24 -16 Pixhawk1-1M-bdshot -24 -16 -24 -24 -24 -16 -24 SITL_x86_64_linux_gnu 0 0 0 0 0 0 0 YJUAV_A6SE -16 -16 * -16 -16 -16 -16 -16 f103-QiotekPeriph * * f303-MatekGPS * * f303-Universal * * iomcu * mindpx-v2 -16 -24 * -24 -16 -24 -24 -16 revo-mini -16 -16 * -24 -16 -24 -24 -24 skyviper-v2450 -16 speedybeef4 -16 -24 * -24 -24 -24 -24 -16 ``` ### Description gets all of the same logic into the same method. They were both already updating global state and state state The method may eventually be replaced with a simple assignment (or eliminated as everything is fetched from the relevant backend estimates pointer)

github.com/ArduPilot/ardupilot

AP_AHRS: remove primary IMU

master ← peterbarker:pr/remove-primary-IMU

opened 12:27PM - 28 May 26 UTC

peterbarker

+101 -108

### Summary Removes the primary_IMU method and instead pushes the primary-imu…/primary-gyro down into the results object. Alternative to https://github.com/ArduPilot/ardupilot/pull/33223 ### 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * * Durandal 8 8 * 8 0 8 0 8 Hitec-Airspeed * * KakuteH7-bdshot 0 0 * -8 -8 -16 -8 0 MatekF405 -16 -8 * -16 -16 -8 -16 -8 MatekH7A3 0 0 * -8 -32 -24 0 -16 Pixhawk1-1M-bdshot 0 0 72 64 -88 -40 -96 SITL_x86_64_linux_gnu -64 -64 -64 -64 -120 -72 -64 YJUAV_A6SE -16 -24 * -8 -8 -40 0 16 f103-QiotekPeriph * * f303-MatekGPS * * f303-Universal * * iomcu * mindpx-v2 -8 -8 * -16 -8 -16 -16 -8 revo-mini -16 -16 * 16 56 72 -80 -48 skyviper-v2450 -8 speedybeef4 0 -8 * -64 16 -64 0 -32 ``` ### Description keep primary accel and primary gyro Turns out we should be doing a lot better when reporting this information. The EKFs will move to using first-usable if they're having issues with their allocated IMU: ``` if (ins.use_accel(imu_index)) { accel_active = imu_index; } else { accel_active = ins.get_first_usable_accel(); } ``` Something to fix into the future: we don't actually report that up the chain as we should... (that's a `_core` function, BTW)

github.com/ArduPilot/ardupilot

Avoid over-reading valid data in an array

master ← peterbarker:pr/harmonicnotch-fix

opened 05:21AM - 29 May 26 UTC

peterbarker

+6 -5

### Summary Avoid valid-data-overread in harmonic notch logging. ### Class…ification & 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description Closes https://github.com/ArduPilot/ardupilot/issues/33230 This is a blunt approach to avoiding a valid-buffer-data-overread which the issue explains. I have not done any sort of deep-dive into these harmonic-notch arrays to see whether there actually really, really should be valid data written to the offsets which are causing problems - it may actually be that the correct fix is not to constrain the read here but to work out why there's no valid data at these offsets to be read! If the latter really is the problem it could be a rather more serious bug than reported. i.e. I don't trust claude's appraisal here. Either I need to find time to deep-dive this code or someone who is more familiar with it will need to weigh in. Valgrind doesn't pick this up because the space *is* allocated appropriately. ASAN *does* pick the problem up as no valid data is written there. I'm going to bring patches to allow `--asan` to `autotest.py` - which does fail the autotest which picked this problem up as well as at least one more test.

github.com/ArduPilot/ardupilot

Fix behaviour with RC overrides when overriding no-overrides channel

master ← peterbarker:pr-claude/rc-override-override-fail

opened 05:53AM - 01 Jun 26 UTC

peterbarker

+83 -0

### Summary Fixes behaviour with overrides-allowed channel not being honoured… correctly. ### 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 Included test fails before / passes afterwards. ### Description Closes https://github.com/ardupilot/ardupilot/issues/33161 ``` 1. GCS sends chan10_raw = 1000. Overrides are currently enabled, so set_override() stores it. 2. update() sees has_override() is true → radio_in = 1000 (LOW). 3. Aux function reads LOW → calls set_gcs_overrides_enabled(false). 4. GCS keeps sending chan10_raw = 1000, but now set_override() returns early — override timer for ch10 is never refreshed. 5. After 3 sim-seconds the override expires. update() falls back to the TX value (2000 = HIGH). 6. Aux function reads HIGH → re-enables overrides. Back to step 1. ```

github.com/ArduPilot/ardupilot

hwdef: AcctonGodwit GA1: hwdef_bl.dat update

ArduPilot-4.7 ← erickao-hy:ArduPilot-4.7

opened 09:07AM - 01 Jun 26 UTC

erickao-hy

+2442 -2433

### Summary Corrected the pinout and initial state in AcctonGodwit GA1 hwdef_…bl.dat and re-compiled bootloader. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] 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 ### Description Some pins are turned off in AcctonGodwit_GA1\hwdef_bl.dat to make system more stable during bootloader stage. The pin of nVDD_5V_HIPOWER_EN is corrected. Binary files are compiled with: ``` arm-none-eabi-gcc --version arm-none-eabi-gcc (GNU Arm Embedded Toolchain 10-2020-q4-major) 10.2.1 20201103 (release) Copyright (C) 2020 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. ``` I would like to request a backport to ArduPilot 4.6 since this commit is accepted.

Reminder Partner call tomorrow

CraigElder · June 3, 2026, 6:12pm

Attendee count (max): 14

UTC2304 - CI

Colcon
Random infrastructure problems
Some discussion of parallelism

UTC2304 - ArduPilot 4.7 issues list · Issue #32385 · ArduPilot/ardupilot · GitHub

RC override override bug fixed
- In there since day dot
LIS2MDL duplicate sensor fixed
More issues resolved in 4.6 than newly created we think
We think no blockers for the release
- I.e. no regressions

UTC2319 - ardupilotmega.xml: mark RADIO as superseded by RADIO_STATUS by peterbarker · Pull Request #505 · ArduPilot/mavlink · GitHub

Mark RADIO as superseded
Correct the description on RADIO to match RADIO_STATUS
Trim down the delta then merge

UTC2321 - https://github.com/ArduPilot/ardupilot/pull/19844

WPNEXT offset
- Site-scan
MergeOnCIPass

UTC2327 - https://github.com/ArduPilot/ardupilot/pull/31375

Wondering if the CAN_TERMINATE is functional
CI must pass!
MergeOnCIPass

UTC2334 - https://github.com/ArduPilot/ardupilot/pull/32757

Compass calibration reasons
Need the mavlink merged
Peter will look at this later today

UTC2347 - Tools: autotest: plane: add test for starting loiter inside circle by IamPete1 · Pull Request #33082 · ArduPilot/ardupilot · GitHub

Test for the onto-circle-from inside-circle
Merged

UTC2348 - AP_Compass: persist dev_id for newly-detected compasses by dakejahl · Pull Request #33136 · ArduPilot/ardupilot · GitHub

Broke a CI test
Peter will have a go at writing a before/after CI test for the issue at some point

UTC2355 - AP_Param: Purge param_overrides from default_list by LachlanConn · Pull Request #33159 · ArduPilot/ardupilot · GitHub

Parameter defaults list purging
Autotest now present
MergeOnCIPass

UTC2356 - AP_NavEKF3: allow using lower baro noise by Williangalvani · Pull Request #33162 · ArduPilot/ardupilot · GitHub

Allow using lower baro noise in EKF3
- And EKF2
  - Will revert those
Several small changes required
- Including changing the default for Sub

UTC0006 - AP_AHRS: combine copy_estimates_from_backend_estimates and update_state by peterbarker · Pull Request #33221 · ArduPilot/ardupilot · GitHub

Combine update_state and copy_estimates_from_backend_estimates
Merged!

UTC0010 - AP_AHRS: remove primary IMU by peterbarker · Pull Request #33228 · ArduPilot/ardupilot · GitHub

Remove primary IMU
Merged!
This allows for some cool stuff into the future

UTC0026 - Avoid over-reading valid data in an array by peterbarker · Pull Request #33232 · ArduPilot/ardupilot · GitHub

FFT logging valid-buffer-data-overread
Merged!

UTC0033 - hwdef: AcctonGodwit GA1: hwdef_bl.dat update by erickao-hy · Pull Request #33276 · ArduPilot/ardupilot · GitHub

Acctongodwit fixes for bootloader
MergeOnCIPass

Attendee count (max): 14

UTC2304 - CI

UTC2304 - ArduPilot 4.7 issues list · Issue #32385 · ArduPilot/ardupilot · GitHub

UTC2319 - ardupilotmega.xml: mark RADIO as superseded by RADIO_STATUS by peterbarker · Pull Request #505 · ArduPilot/mavlink · GitHub

UTC2321 - https://github.com/ArduPilot/ardupilot/pull/19844

UTC2327 - https://github.com/ArduPilot/ardupilot/pull/31375

UTC2334 - https://github.com/ArduPilot/ardupilot/pull/32757

UTC2347 - Tools: autotest: plane: add test for starting loiter inside circle by IamPete1 · Pull Request #33082 · ArduPilot/ardupilot · GitHub

UTC2348 - AP_Compass: persist dev_id for newly-detected compasses by dakejahl · Pull Request #33136 · ArduPilot/ardupilot · GitHub

UTC2355 - AP_Param: Purge param_overrides from default_list by LachlanConn · Pull Request #33159 · ArduPilot/ardupilot · GitHub

UTC2356 - AP_NavEKF3: allow using lower baro noise by Williangalvani · Pull Request #33162 · ArduPilot/ardupilot · GitHub

UTC0006 - AP_AHRS: combine copy_estimates_from_backend_estimates and update_state by peterbarker · Pull Request #33221 · ArduPilot/ardupilot · GitHub

UTC0010 - AP_AHRS: remove primary IMU by peterbarker · Pull Request #33228 · ArduPilot/ardupilot · GitHub

UTC0026 - Avoid over-reading valid data in an array by peterbarker · Pull Request #33232 · ArduPilot/ardupilot · GitHub

UTC0033 - hwdef: AcctonGodwit GA1: hwdef_bl.dat update by erickao-hy · Pull Request #33276 · ArduPilot/ardupilot · GitHub

UTC0040 - close