Dev Call Jun 15, 2026

CraigElder · June 15, 2026, 10:55pm

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 - [ ] Copter PosHold/Loiter/PosControl not handling yaw resets completely? ([discussion](https://discuss.ardupilot.org/t/new-beta-fly-away/144128)) - [ ] 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 - 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] 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/dronecan/DSDL

docs: add vendor ID allocation table

master ← PX4:pr-reserve-vendor-ranges

opened 12:08PM - 28 May 26 UTC

alexcekay

+26 -0

**Context** The vendor range [20000, 21000) has grown organically with no tra…cking of who uses what. The result is vendors picking IDs ad-hoc. Without documented allocations, downstream projects cannot add messages independently without risking ID collisions when upstreaming their changes. **Changes** This PR documents current usage and formalizes contiguous blocks so each namespace has room to grow autonomously: 100 IDs for open-source projects, 20 IDs for companies. Blocks are anchored to each vendor's first existing allocation. IDs that fall outside their natural block are listed in another table. This also adds the px4.* namespace (20800–20899) following the existing ardupilot/ precedent, and com.auterion.* (20900–20919) as Auterion's company namespace. If your namespace is represented incorrectly or you'd prefer a different block size, comment and I'll happily adapt.

github.com/ArduPilot/ardupilot

Plane: add input shaping to roll and pitch controllers

master ← IamPete1:FW_input_shaping

opened 04:22PM - 11 Apr 26 UTC

IamPete1

+649 -160

### Summary This adds input shaping to the roll and pitch controllers with ne…w accel and jerk limit params for each. This should result in much smoother flight. ### 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) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description This uses copters "real time s-curves" to shape the angle demands using the existing rate limits and new acceleration and jerk limits. This adds a new `ATIS` log message that shows the result of the input shaping. Currently this logs all the time (under the attitude bit), but once were happy with it we may want to turn it off by defualt. Through testing we need to find good default values for the accel and jerk limits. The user can disable the new input shaping by setting either accel or jerk limit to zero. Example of "raw" roll angle and shaped roll angle: <img width="1451" height="778" alt="image" src="https://github.com/user-attachments/assets/fb829624-8f2c-4b64-be84-4e0740df2bab" /> Some existing features are still missing: - [x] roll indecision handling for large roll errors - [x] roll wrap for inverted flight. - [ ] Absolute velocity constraint, currently the shaped velocity is limited by the rate limit params, but this is then added to the angle control velocity this total is not constrained. Copter uses a hard 2x limit for this (I think). - [ ] Testing with quadplane assistance and manual mode to ensure the input shaping is reset correctly. - [x] Shape rate commands with acceleration and jerk.

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: add GPilot P1 Autopilot support (Remastered)

master ← gokhan-iha:Check-1.0.1

opened 06:16AM - 15 May 26 UTC

gokhan-iha

+2916 -0

### Summary - Added new GPilot P1 Autopilot. - 100hr+ Real-Time fly tests do…ne succesfully. (Plane & Copter) - -40C ~ +105C Ambient Temperature tests done succesfully. - Rough vibration tests done succesfully. ### Classification & Testing - [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) - [X] Tested manually, description below (e.g. SITL) - [X] Tested on hardware - [ ] Logs attached - [X] Logs available on request ### Description - Added hwdef.dat, hwdef-bl.dat and default.parm files of GPilot P1 - Added bootloaders of GPilot P1 - Added README.md - Added Photos and Pinout Diagrams

github.com/ArduPilot/ardupilot

Tools: make sure board IDs are allocated in correct range

master ← peterbarker:pr-claude-test/board-id-sanity-check-testing

opened 02:55AM - 27 May 26 UTC

peterbarker

+94 -0

### Summary Adds sanity checks for new board sthat the board ID is in a valid… range, and that if it is an _ODID board that it is 10,000+NON_ODID_EQUIVALENT ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] 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 Test PR was created here (extra commits to cause things to fail): https://github.com/peterbarker/ardupilot/actions/runs/26487635953/job/77998364268?pr=44 ### Description We've had PRs recently that added an ODID board but didn't reserve the lower equivalent. That could be very bad into the future, so add a sanity check.

github.com/ArduPilot/ardupilot

add SIYI-UniFC-6-PICO

master ← AI-ZCG:feature/board-siyi-unifc-6-pico

opened 07:08AM - 02 Jun 26 UTC

AI-ZCG

+3132 -0

### Summary ### Classification & Testing (check all that apply and add yo…ur own) - [x] Checked by a human programmer - [ ] 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) - [x] Tested manually, description below (e.g. SITL) - [x] Tested on hardware - [x] Logs attached - [x] Logs available on request ### Description #### 1. Ran ardupilot\Tools\scripts\build_all.sh, and the compilation was successful, as shown in the image below: <img width="1851" height="1007" alt="build_all" src="https://github.com/user-attachments/assets/7d31701f-fd6b-4d18-9784-b2de360308b9" /> <img width="1851" height="1007" alt="build_all2" src="https://github.com/user-attachments/assets/418e3449-25e5-4239-80a4-bf6ee11fcef8" /> #### 2. Performed a SITI simulation, and the runtime log is as follows: [sitl_log.zip](https://github.com/user-attachments/files/28496865/sitl_log.zip) #### 3. Flashed firmware onto the flight controller hardware for testing, and the ground station uses MissionPlanner. ##### 3.1 All onboard sensors were detected normally. <img width="875" height="556" alt="HW_ID" src="https://github.com/user-attachments/assets/dd7cacae-b91c-4ee1-a13c-13c4c724a478" /> ##### 3.2 IMU Calibration <img width="800" height="547" alt="IMU_Calibration" src="https://github.com/user-attachments/assets/43ac203a-1fa0-4f44-93b7-e1615c787403" /> ##### 3.3 Compass Calibration <img width="895" height="583" alt="Compass_Calibration" src="https://github.com/user-attachments/assets/990096fa-429f-447e-8156-be61b2e99dd9" /> ##### 3.4、HUD,Battery,GPS,IMU0 and IMU1 are all functioning normally <img width="946" height="809" alt="HUD_BATT_GPS_IMU" src="https://github.com/user-attachments/assets/6fd2aa6a-59b9-40bd-82f9-aadde2a88bfa" /> ##### 3.5 UART test Set all other UART protocols to NONE, set the UART to be tested to GPS, and then move GPS to the output of each UART. All UARTs work normally. <img width="981" height="551" alt="Serial" src="https://github.com/user-attachments/assets/30f1f4af-74a1-4893-9733-04f13cef664c" /> 3.6、Servo test Connect each output terminal to the test servo and set the output settings to RCIN function in turn. Then operate them one by one using the remote control. All 14 channels work normally. <img width="797" height="563" alt="RCIN" src="https://github.com/user-attachments/assets/39fe075c-5672-4b70-a499-d420a1a00d60" />

github.com/ArduPilot/ardupilot

autotest: make AUTOTUNE test reliable

master ← peterbarker:pr-claude2/plane-autotune-takeoff-mode

opened 12:26PM - 06 Jun 26 UTC

peterbarker

+23 -52

### Summary Make the test rather more robust so it doesn't flake all the time… in CI ### 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 Make test more relibable by: - setting both RC values at the same time (minimal impact, but nice conceptually) - stop round-tripped when doing sim-time stuff - see if we've gotten a statustext rather than waiting for one - pushes the dwell time in each stick position out to 2s allowing the thing to hit its rate limits This makes the RC input to the thing much more reliable.

github.com/ArduPilot/ardupilot

Fix/rover ahrs dcm fallback 33388

master ← deepak61296:fix/rover-ahrs-dcm-fallback-33388

opened 08:36AM - 10 Jun 26 UTC

deepak61296

+32 -1

### Summary Rover: with poor GPS the AHRS fell back to DCM (switching back and …forth between EKF and DCM) even with AHRS_OPTIONS=3. Rover now keeps using the EKF when only its attitude is available, as suggested in issue #33388. Fixes #33388 ### 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 - [ ] Logs attached - [ ] Logs available on request ### Description Reproduced in Rover SITL with EK3_SRC1_VELZ/POSZ=3 and a degraded GPS. added autotest for same passes on current branch fails on master.

github.com/ArduPilot/ardupilot

AP_AHRS: use results attributes for healthy and initialised

master ← peterbarker:pr/healthy-and-init-are-in-backend

opened 12:08PM - 10 Jun 26 UTC

peterbarker

+63 -169

### Summary Moves healthy and initialised information into the backend result…s object (directly indicating validity of results) ### 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 ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * * Durandal -160 -152 * -152 -152 -152 -152 -152 Hitec-Airspeed * * KakuteH7-bdshot -160 -152 * -152 -152 -144 -152 -152 MatekF405 -160 -152 * -152 -152 -152 -152 -152 MatekH7A3 -160 -152 * -152 -152 -144 -160 -152 Pixhawk1-1M-bdshot -168 -152 -152 -152 -152 -152 -152 SITL_x86_64_linux_gnu -496 -4592 -496 -496 -496 -488 -496 YJUAV_A6SE -232 -208 * -208 -216 -208 -192 -208 f103-QiotekPeriph * * f303-MatekGPS * * f303-Universal * * iomcu * mindpx-v2 -160 -144 * -152 -152 -144 -144 -144 revo-mini -160 -152 * -152 -152 -152 -152 -152 skyviper-v2450 -152 speedybeef4 -168 -152 * -152 -152 -152 -152 -152 ``` ### Description Moves the flags into being attributes on the estimates. Makes clear that EKF2 and EKF3 can be both healthy and not initialised at the same time.... Makes the AHRS unhealthy if you are not using the configured type. This was being done especially for Plane and Rover if EKF was configured as primary. But the wider check is better - no other vehicle is actually deemed to be "happy" using DCM anyway! This is already an explicit pre-arm check. Removes the unused started() stub in AP_AHRS_Backend. Exposes the fact the EKFs will go uninitialised for 20 seconds every 2^32 milliseconds (~49 days). Maybe just replace with a time-since-boot? Obviously better if we can measure the state rather than guess.

github.com/ArduPilot/ardupilot

Correct builds where no POI_LOCK is in but terrain is out

master ← peterbarker:pr-claude/mount-poi-no-terrain-build

opened 01:19PM - 10 Jun 26 UTC

peterbarker

+16 -4

### Summary Corrects compilation where an attempt was made to enable POI_LOCK… but terrain's not available. ### 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 0 8 0 Hitec-Airspeed * * KakuteH7-bdshot * * * 0 8 8 8 0 MatekF405 * * * * * * * * Pixhawk1-1M-bdshot * * * * * * * SITL_x86_64_linux_gnu * * 0 0 0 0 0 YJUAV_A6SE * * * 8 0 8 8 8 f103-QiotekPeriph * * f303-MatekGPS * * f303-Universal * * iomcu * revo-mini * * * * * * * * skyviper-v2450 * speedybeef4 * * * * * * * * ``` BEASTH7 compiles afterwards. ### Description Sometimes boards can POI-lock their mount, but can't use terrain as they don't have anywhere to store the tiles (that's what the AP_TERRAIN_AVAILABLE is all about). rejig things so that you can still poi-lock and it will use home rather than terrain altitude. We should consider rejigging these defines to be the "correct way up" - so the dependent feature requires the base feature rather than enabling it.

github.com/ArduPilot/ardupilot

AP_AHRS: move wind estimate into backend results

master ← peterbarker:pr-claude/ahrs-wind-in-results

opened 05:35AM - 11 Jun 26 UTC

peterbarker

+45 -53

### Summary Moves the wind estimates ### Classification & Testing (check a…ll 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 ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy * * Durandal -80 -80 * -168 -48 -24 -96 -80 Hitec-Airspeed * * KakuteH7-bdshot -72 -64 * -56 -72 -88 -56 -48 MatekF405 -56 -104 * -80 -48 -64 -96 -96 Pixhawk1-1M-bdshot -88 -88 -88 -88 -176 -96 -48 SITL_x86_64_linux_gnu -360 -360 -368 -360 -368 -360 -360 YJUAV_A6SE -64 -48 * -16 -144 40 -80 -80 f103-QiotekPeriph * * f303-MatekGPS * * f303-Universal * * iomcu * revo-mini -96 -80 * -40 -48 -16 -80 -40 skyviper-v2450 -96 speedybeef4 -104 -96 * -96 -120 -1128 -104 -80 ``` ### Description Each backend fills its wind estimate into the Estimates structure in get_results; the frontend returns it directly from the active backend's results rather than calling through to the backends, and no longer keeps a copy in its state structure. The wind_estimate method is removed from the backends.

github.com/ArduPilot/ardupilot

GCS_MAVLink: better reject commands that are out-of-spec or are unsupported

opened 12:13AM - 12 Jun 26 UTC

rmackay9

DevCallTopic

After a lengthy discussion in the "dev-team" and "security" discord channel rela…ted to issue: https://github.com/ArduPilot/ardupilot/issues/33410 the general consensus was that we should improve AP's robustness of GCS errors by better rejecting mavlink commands that are out-of-spec. Note this is a robustness issue, not a [security issue](https://ardupilot.org/dev/docs/security-landing-page.html). Some examples: 1. reject in-spec messages that AP does not support 2. reject out-of-spec messages. e.g. messages which have clearly invalid field values (e.g. spec says mode field is uint8_t but caller provides a value outside this range) If we only have the flash for (1) or (2) we think (1) should be prioritised and (2) left to the GCS developers. The practical limitation is flash space. Adding piecemeal checks of every method may require a huge amount of flash forcing us to reduce features. Ideally we would like a flash-light method to perform all the required checks. Enhancement to pymavlink might be part of the solution ### Platform - [x] All - [ ] AntennaTracker - [ ] Copter - [ ] Plane - [ ] Rover - [ ] Submarine ### Additional context Add any other context or screenshots about the feature request here.

github.com/ArduPilot/ardupilot

AP_GSOF: validate record length before fixed-offset reads

master ← tridge:pr-gsof-parser-bounds

opened 07:42AM - 15 Jun 26 UTC

tridge

+106 -2

### Summary A configured Trimble GSOF receiver could send a GENOUT record who…se fixed-width parser reads past the received packet and the 255-byte data buffer, causing an out-of-bounds read. Reject records that are missing a length byte, shorter than their type requires, or extend past the packet before dispatching to a parser. Adds tests for truncated, past-buffer and header-truncated records. fixes https://github.com/orgs/ArduPilot/projects/29?pane=issue&itemId=200267271 ### 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 fix for codex scan item 1

github.com/ArduPilot/ardupilot

AP_Compass: add support for AK09940A magnetometer

master ← TOTON95:pr-3dr-ak09940a-mag

opened 07:24PM - 15 Jun 26 UTC

TOTON95

+302 -1

### Summary Add driver support for the AKM AK09940A 3-axis magnetometer. #…## 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 The AK09940A is an ultrahigh-precision 3-axis magnetometer from Asahi Kasei (AKM) using TMR (Tunnel Magnetoresistance) sensor technology. It is used as the onboard compass on the 3DR Control N1 flight controller. **Key specifications:** - Measurement range: ±1200 µT per axis - Resolution: 18-bit, 10 nT/LSB sensitivity - Noise: 40 nT RMS (Low Noise mode) - Output data rates: single-shot and continuous up to 2500 Hz - Interface: I2C (up to 400 kHz); I2C address 0x0C–0x0F (pin-selectable) - Built-in 8-sample FIFO, DRDY interrupt, self-test, and temperature sensor - Package: 1.6 × 1.6 × 0.58 mm LGA **Hardware testing checklist:** - [x] Compass detected and initialized on I2C - [x] Heading aligned with board frame - [x] Compass calibration successful - [x] No interference issues at rated sensor range Note: this driver currently implements I2C only. SPI support is not included. This PR is a dependency of #33427 (3DR Control N1 board support).

github.com/ArduPilot/ardupilot

AP_PageEEPROM: add initial support for SPI Page-EEPROM storage

master ← TOTON95:pr-3dr-ap_pageeeprom

opened 07:39PM - 15 Jun 26 UTC

TOTON95

+395 -1

### Summary Add initial support for Page EEPROM devices as a storage backend …for parameters and waypoints. ### 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 Introduces `AP_PageEEPROM`, a new storage backend for SPI Page EEPROM devices (e.g. ST M95P series), as an alternative to flash-based or RAMTRON storage. Page EEPROMs offer byte-level write granularity and dedicated storage silicon, avoiding flash wear on the MCU. **Changes:** - `AP_PageEEPROM`: new library with driver for ST M95P-family SPI Page EEPROMs; supports device identification via JEDEC RDID, read, page write, and sector/block erase operations with retry logic - `AP_HAL/board/chibios.h`: adds `HAL_WITH_PAGE_EEPROM` default define (0) - `AP_HAL_ChibiOS/Storage`: integrates `AP_PageEEPROM` as a storage backend, enabled when `HAL_WITH_PAGE_EEPROM 1` is set in a board's hwdef - `Tools/ardupilotwaf`: registers `AP_PageEEPROM` as a build library **Hardware testing checklist:** - [x] Parameters save and load correctly across power cycles - [x] Storage correctly identified on SPI bus - [x] Read/write/erase operations verified Note: This PR is a dependency of #33427 (3DR Control N1 board support).

github.com/ArduPilot/ardupilot

Copter, Plane, Rover, Tracker, Periph, Sub: Release Notes updated

master ← rmackay9:ap470-release-notes-master

opened 09:38PM - 15 Jun 26 UTC

rmackay9

+162 -0

### Summary This pulls the release note updates from ArduPilot-4.7.0-beta7 in…to the master branch. I normally do that by directly pushing to master but a PR is probably better/safer. Relevant release PR: https://github.com/ArduPilot/ardupilot/pull/33424 ### 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

CraigElder · June 16, 2026, 5:05am

Attendee count (max): 17

UTC2304 - CI ci · Workflow runs · ArduPilot/ardupilot · GitHub

Colcon still pending
Deadreckoning?
Peter’s got some PRs
CANGPSCopter
Infrastructure flakey

UTC2305 - release

Copter, Plane, Rover, Tracker, Periph, Sub: Release Notes updated by rmackay9 · Pull Request #33447 · ArduPilot/ardupilot · GitHub
ArduPilot 4.7 issues list · Issue #32385 · ArduPilot/ardupilot · GitHub
Binaries not being built for periph?
Control regression in loiter?
- “Fly away”?
- In a yaw reset we maybe don’t reset the position controller there’s been a velocity reset?
  - So they will need to degrade down to zero?
  - Yaw reset should infer other resets?
Tradheli arming issue
Beta7 may be last beta
Terrain tile prearm checks
Position starts jumping for Rover if left on the ground

UTC2320 - docs: add vendor ID allocation table by alexcekay · Pull Request #81 · dronecan/DSDL · GitHub

DSDL ID allocations in DSDL
These are all very small ranges
Is this a false premise?
- If someone is upstreaming shouldn’t they be using the common message set?
A lot of discussion about getting people to use common messages rather than doing their own thing
Tridge will leave a review, some stuff has been missed

UTC2336 - Plane: add input shaping to roll and pitch controllers by IamPete1 · Pull Request #32743 · ArduPilot/ardupilot · GitHub

Plane input shaping
Really ready for testing on real vehicles
Do we merge so people are then testing on master?
Quadplane recovery?
- Yeah, still in there
Need to explain the complete roll before merge, really
Log file uploaded

UTC2355 - AP_HAL_ChibiOS: add GPilot P1 Autopilot support (Remastered) by gokhan-iha · Pull Request #33067 · ArduPilot/ardupilot · GitHub

New board
Need Andy’s review on it

UTC0004 - https://github.com/ArduPilot/ardupilot/pull/33207

Validate that board new IDs are inrange
And that if there’s an ODID board that there’s an ordinary board allocation
MergeOnCIPass

UTC0006 - https://github.com/ArduPilot/ardupilot/pull/33294

SIYI-UniFC-6-PICO
Need Andy’s approval

UTC0013 - AP_PageEEPROM: add initial support for SPI Page-EEPROM storage by TOTON95 · Pull Request #33446 · ArduPilot/ardupilot · GitHub

EEPROM storage on SPI
- Alternative to RAMTRON
RAMTRON driver copy
If you lose power what state will the storage be in when you come back up
Device itself does read/modify/write for you
- Maybe capacitance internally?
Might need an A/B thing here?
1MB eeprom!
Probably layer this on FlashStorage
Maybe merge using flash pages and come back to support the EEPROM

UTC0027 - hwdef: SPL06 baro on SkystarsH7HDv3 by andyp1per · Pull Request #33333 · ArduPilot/ardupilot · GitHub

Add baro to a board
merged!

UTC0037 - autotest: make AUTOTUNE test reliable by peterbarker · Pull Request #33351 · ArduPilot/ardupilot · GitHub

Reliable plane autotune test
Merged!

UTC0038 - Fix/rover ahrs dcm fallback 33388 by deepak61296 · Pull Request #33392 · ArduPilot/ardupilot · GitHub

4.7 Rover forum position jumping
Don’t use DCM just because vertical position not avaialble from EKF
Andy wants the same for Plane
General agreement non-GPS plane would be nice

UTC0048 - AP_AHRS: use results attributes for healthy and initialised by peterbarker · Pull Request #33395 · ArduPilot/ardupilot · GitHub

Moves healthy and initialised bits into the results
Merged!

UTC0100 - Correct builds where no POI_LOCK is in but terrain is out by peterbarker · Pull Request #33396 · ArduPilot/ardupilot · GitHub

Correct POI compilation for some boards
Some more thought required on a sneaky bugfix

UTC0107 - AP_AHRS: move wind estimate into backend results by peterbarker · Pull Request #33405 · ArduPilot/ardupilot · GitHub

Wind into AHRS results object
merged!

UTC0109 - autotest: fix cascading failure when sitl commandline customised by peterbarker · Pull Request #33209 · ArduPilot/ardupilot · GitHub

Pushing this discussion back to a few weeks
better reject commands that are out-of-spec or are unsupported
mavgen_c: Helper functions to get MAV_CMD metadata and range check params by hamishwillee · Pull Request #1216 · ArduPilot/pymavlink · GitHub is relevant
People are generally thinking we should look more closely at this
Thomas and Peter will have a look at things

UTC0131 - https://github.com/ArduPilot/ardupilot/pull/33436

Discussion of a codex scan of ArduPilot
We’re putting together a process to process these quickly

UTC0143 - https://github.com/ArduPilot/ardupilot/pull/33445

Support for AK0994A mag
Finer resolution than other mags
More bits of precision
Probably won’t make a huge change to the vehicle
- Lots of noise
- Just in SITL and enabled on specific boards for now

UTC0158 - close

UTC0158 - PH found the roll-over bug

Changing parameters in-flight!
Changing jerk limits can cause this happens
- A very slow time constant
- Value being changed to is perfectly valid
  - But it needs to be consistent across a maneuver
Will also happen on Copter