Dev Call March 16, 2026

CraigElder · March 16, 2026, 10:58pm

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 - [ ] Altitude estimate offset when switching between baro and rangefinder source ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/28), [PR](https://github.com/ArduPilot/ardupilot/pull/32400)) - [ ] QGC takeoff and altitude sliders not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) - [ ] QGC takeoff slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) - [ ] Loiter feels slower, like looks inaccurate position hold. Likely due to https://github.com/ArduPilot/ardupilot/pull/31848 consider how we can make it feel closer to 4.6 automatically. Or provide instructions on parameter changes. Added by @IamPete1 on behalf of a partner company - [ ] CUAV Pixhawk V3C not detecting IST8310 compass ([discussion](https://discuss.ardupilot.org/t/cuav-pixhawk-v3-ist8310-not-detected-with-4-7beta1/142785)) ### Confirmed issues - [ ] https://github.com/ArduPilot/ardupilot/pull/32382 ### Copter Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/31584 - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### Plane Specific Issues - None ### Rover Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32444 ### Mission Planner Issues - 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)) ### QGC Issues - Parameters need updating (@rmackay9 and @DonLakeFlyer discussed if dev-team channel) ### Wiki Issues - None ### Enhancements or Issues that may not be resolved before the stable release - None ### Resolved issues - [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

Trimble PX-1 GNSS-RTX-INS External AHRS

master ← Ryanf55:27033-gsof-add-eahrs-driver

opened 02:30AM - 04 Jun 25 UTC

Ryanf55

+908 -31

# Purpose Add support for Trimble PX-1 GNSS-RTX-INS External AHRS. # Test…ing Performed I flew this on a copter with Ublox on GPS1, PX-1 as GPS2 and verified all EAHRS and GPS fields are in alignment in the dataflash logs. * [BIN Log 00000011.zip - standard](https://github.com/user-attachments/files/20584818/00000011.zip) This flies off the UBX, but has the PX-1 EAHRS configured as GPS2. [BIN Log 13 - replay](https://drive.google.com/file/d/1mAQbh8EHBRQibKxcxPcL5p9hxNxt8le8/view?usp=drive_link), with T04 sent to Trimble for analysis. Same as above but with LOG_REPLAY=1 and LOG_DISARMED=1 * [BIN Log 15](https://drive.google.com/file/d/1lGFXpJ-CriwnJGVL9Ujd3Q-HbEjOAS4t/view?usp=drive_link) This time, GPS_PRIMARY was set to GPS2 and I flew off it. ## Roll and Pitch ![image](https://github.com/user-attachments/assets/91e3a1bd-b91c-4298-9bff-8ba404073450) ## Alt A few meters is expected given the PX-1 has the full resolution EGM-96 grid, but it's also smoother. ![image](https://github.com/user-attachments/assets/6ffcf573-751c-4dce-8f5e-49ed919c9d7a) ## Lat/Lon ![image](https://github.com/user-attachments/assets/eff25d83-bd22-42c6-946e-11b548770d04) ## Vertical Velocity against Altitude The EAHRS altitude does not change at the rate that it reports the velocity, but overall tracks ![image](https://github.com/user-attachments/assets/e8b7f48e-c18b-41b5-8070-cd5d6df7ffff) # Horizontal Velocities ![image](https://github.com/user-attachments/assets/12137b8f-696e-4e4f-84c7-4369cd930b08) # Ticket Closes #27033 # Disclaimer Packet parsing and particular the HAL logger calls were written with ChatGTP and (quickly) validated. There may be issues with some BIN log data, but what I've checked so far seems to be sane. # Follow Up * I have not flown off the EAHRS solution yet, but plan to after the code has been reviewed and we verify replay works. * Add error thresholds for healthy filter * Refactor the existing GPS_GSOF simulator to also simulate the EAHRS * set the nav_filter_status fields * estimate lag with this [tool](https://github.com/ArduPilot/pymavlink/blob/master/tools/mavgpslag.py)

github.com/ArduPilot/ardupilot

Add JPilot-C board

master ← Maarrk:pr-jpilot-c

opened 09:57AM - 16 Sep 25 UTC

Maarrk

+3686 -0

This is a resubmission of #30646 in order to allow @Hwurzburg to edit this PR du…e to [a GitHub limitation](https://github.com/orgs/community/discussions/5634) (allow edits by maintainers is not possible for PRs from organisation repositories) --- I'd like to contribute the setup to build ArduPilot on JPilot-C board by Flyfocus. We completed tests from [porting documentation - board testing](https://ardupilot.org/dev/docs/porting.html#step-10-board-testing): - board boots and connects to a GCS via USB - GPS and compass are recognized - RC is recognized and reads inputs - pitch and roll move the horizon correctly - board arms according to settings - all PWM outputs work - all Serial ports work CC: @FlyfocusUAV @zyromskij

github.com/ArduPilot/ardupilot

sim_vehicle.py: stack -A options in an array rather than splitting on…

master ← peterbarker:pr/stack-a-options

opened 01:03PM - 01 Jan 26 UTC

peterbarker

+3 -2

… space e.g. ./Tools/autotest/sim_vehicle.py -v Copter --gdb --debug --map --…console -A --serial5=sim:gps:3 -A --serial6=sim:gps:4 Tested in SITL. Stacking works, as does splitting with spaces... i.e. these both work: ``` ./Tools/autotest/sim_vehicle.py -v Copter --gdb --debug -A -"-serial5=uart:/tmp/x --serial6=uart:/tmp/y" ``` and ``` ./Tools/autotest/sim_vehicle.py -v Copter --gdb --debug -A --serial5=uart:/tmp/x -A --serial6=uart:/tmp/y ```

github.com/ArduPilot/ardupilot

AP_Arming: make accel and gyro consistency check happen together

master ← rishabsingh3003:fast_takeoff

opened 08:19PM - 26 Jan 26 UTC

rishabsingh3003

+17 -9

This PR aims to provide greater flexibility in Accel/Gyro consistency checks. …At the moment, a hard-coded 10-second limit is set for both the accel consistency and the gyro consistency checks. They don't happen together, and gyro checks are triggered only after accel checks pass. This means we cannot get pre-arm checks to clear for at least 20 seconds from boot.

github.com/ArduPilot/ardupilot

AP_HAL_ChibiOS: STM32H7: add 12MHz HSE support

master ← mohammadmehdikarami:moka/stm32h7-12mhz-hse

opened 01:29AM - 27 Feb 26 UTC

mohammadmehdikarami

+729 -0

# Summary Add STM32H7 clock-tree support for boards using a 12MHz external HS…E crystal by extending the HSE PLL configuration cases in the ChibiOS H7 mcuconf. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [x] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description This change adds `STM32_HSECLK == 12000000U` support to the STM32H7 ChibiOS clock configuration by providing PLL divider values for: - Default 400MHz system clock - Optional `HAL_CUSTOM_MCU_CLOCKRATE` cases (480MHz and 200MHz)

github.com/ArduPilot/ardupilot

Add and use AP_BARO_CALIBRATION_ENABLED

master ← peterbarker:pr/AP_BARO_CALIBRATION_ENABLED

opened 02:58AM - 28 Feb 26 UTC

peterbarker

+16 -1

# Summary Adds compilation guards around code which is used to update the cal…ibration parameters for baros. ## Testing (more 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 Actively removes support for calibration. Closes a hole in peripherals where the baros could still be forced to calibrate with a mavlink message. ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange-periph-heavy -368 * Durandal * * * * * * * * Hitec-Airspeed * * KakuteH7-bdshot * * * * * * * * MatekF405 * * * * * * * * Pixhawk1-1M-bdshot * * * * * * * f103-QiotekPeriph * * f303-Universal * * iomcu * revo-mini * * * * * * * * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

Copter: fix speed overshoot when using inflight tuning (aka "CH6" tuning) of waypoint speed

master ← rmackay9:copter-ch6-wp-speed-overshoot

opened 05:21AM - 11 Mar 26 UTC

rmackay9

+3 -3

## Summary This resolves issue https://github.com/ArduPilot/ardupilot/issues/…31584 in which if a user setup the "ch6" tuning of Waypoint speed the vehicle would overshoot the speed slightly before returning to the correct speed. shashwatvoa (see PR https://github.com/ArduPilot/ardupilot/pull/32373) discovered the issue which was that we were directly setting the AC_WPNav library's speed but were neglecting to set Auto mode's desired_speed_override_ms.xy variable. The solution is to not call AC_WPNav directly but instead call flightmode->set_speed_NE_ms() which is an existing function and calls both AC_WPNav and also set the desired_speed_override variable. There are two impacts of this change that we should think about: 1. the set_speed_NE_ms() function is implemented for Auto, Guided, RTL (and probably SmartRTL) meaning the tuning will only work for these flight modes. Previously it may have affected other modes that used the AC_WPNav controller (e.g. Avoidance_ADSB, circle?, follow, land?, RTL, SmartRTL, SystemId, Throw, ZigZag) 2. the TUNE_MIN and TUNE_MAX parameters are now interpreted as speeds in m/s instead of cm/s Below are screen shots of the vehicle's ground speed before vs after when flying a square mission in Auto mode and CH6 set so that the desired speed is 5.5m/s <img width="755" height="612" alt="image" src="https://github.com/user-attachments/assets/4dc14dae-06d1-481f-974b-6c62923d5454" /> <img width="606" height="383" alt="image" src="https://github.com/user-attachments/assets/0d9b3c3d-96c7-455e-ada3-0cf0d7cef5a8" /> <img width="604" height="382" alt="image" src="https://github.com/user-attachments/assets/34f47de0-7aed-473d-a058-b574f019fd23" /> ## Testing (more 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

github.com/ArduPilot/ardupilot

Tradheli: Remove passthrough support for flybar and external tail gyro

master ← bnsgeyer:pr-remove-flybar-gyro

opened 02:58AM - 13 Mar 26 UTC

bnsgeyer

+29 -285

## Summary This PR removes passthrough support for the flybar and external ta…il gyro features of the single main rotor, tail rotor configuration. These features only allowed passthrough for acro flight mode which limited their usefulness. Flybar helicopters can be fully supported in all flight modes without the passthrough flybar feature. External tail gyro support will be limited to using them in a rate mode only (no tail lock or heading hold) because bypassing the attitude controller is no longer possible. External tail gyros will need to be tuned to output the rate requested by the arducopter rate controller. Overall this change removes unsupportable code for future modifications to the heli motors class. It also gives back 1444 bytes of flash space for heli. ## Testing - [x] Checked by a human programmer - [ ] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description Removes Flybar feature from AP_MotorsHeli_Single Removes support for Flybar feature from AC_AttitudeControl_Heli and Copter Removes External Tail Gyro feature from AP_MotorsHeli_Single Removes support for External Tail Gyro feature from AC_AttitudeControl_Heli and Copter Testing will be completed in the coming weeks.

github.com/ArduPilot/ardupilot

Tools: add PID unit support and known_units entries

master ← shashwatvoa:units_to_PID

opened 02:41PM - 13 Mar 26 UTC

shashwatvoa

+33 -0

Relates to #31729 This PR adds unit metadata for the Copter rate PID paramete…rs (`RAT_RLL_*`, `RAT_PIT_*`, `RAT_YAW_*`). Since `AC_PID` is a generic PID library used by multiple controllers, units cannot be defined at the library level. Therefore, the units are added at the vehicle parameter registration level, where the physical meaning of the parameters is known. This change introduces metadata only and does not affect functionality. Apologies for closing the PR earlier. I was attempting to resolve several errors that appeared while working on PR #32335, and closing it was part of that process. Sorry for the inconvenience caused.

github.com/ArduPilot/ardupilot

Tools: add PID unit support and known_units entries

master ← shashwatvoa:units_to_PID

opened 02:41PM - 13 Mar 26 UTC

shashwatvoa

+33 -0

Relates to #31729 This PR adds unit metadata for the Copter rate PID paramete…rs (`RAT_RLL_*`, `RAT_PIT_*`, `RAT_YAW_*`). Since `AC_PID` is a generic PID library used by multiple controllers, units cannot be defined at the library level. Therefore, the units are added at the vehicle parameter registration level, where the physical meaning of the parameters is known. This change introduces metadata only and does not affect functionality. Apologies for closing the PR earlier. I was attempting to resolve several errors that appeared while working on PR #32335, and closing it was part of that process. Sorry for the inconvenience caused.

github.com/ArduPilot/ardupilot

AP_Compass: provide base class implementation for AP_Compass_Backend::read

master ← peterbarker:pr/compass-backend-read-method

opened 04:35AM - 16 Mar 26 UTC

peterbarker

+3 -120

## Summary Removes methods of identical implementation which can be done by t…he base class instead. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [x] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description Removes identical derived class methods and supplies a base-class implementation instead. It's probably we can replace the other base class implementations with this, but will need to check on their behaviour when their initialised flag is false. Saves a few bytes: ``` Board,AP_Periph,antennatracker,blimp,bootloader,copter,heli,plane,rover,sub CubeOrangePlus,,-80,-80,*,-80,-80,-80,-80,-80 Pixhawk1-1M,,-48,-48,*,-48,-48,-48,-48,-48 f103-GPS,-24,,,*,,,,, ``` I've flashed this onto a CubeOrangePlus and all is as expected.

CraigElder · March 18, 2026, 10:54pm

Attendee count (max): 13

UTC2301 - ci · Workflow runs · ArduPilot/ardupilot · GitHub

Colcon issues remain!
The OpticalFlow test is reproducible on one of Peter’s PRs which might be an opportunity

UTC2306 - ArduPilot 4.7 issues list · Issue #32385 · ArduPilot/ardupilot · GitHub

Vehicle update
Thanks to everyone helping out in the forums!
Several issues fixed
But some other red herrings
Peter killed the IST8310
“Loiter feels slower”?
Rover crash check no longer working?
- Can set up the crash check so if you delay at a waypoint the crash check will trigger

UTC2310 - dev: add a note on what we consider to be an attack surface in AP by peterbarker · Pull Request #7359 · ArduPilot/ardupilot_wiki · GitHub

Discussion of ArduPilot attack surface
Randy will make a new page
Content seems OK
some discussion of where to put it
Dev wiki?
- Wants to be visible

UTC2315 - https://github.com/ArduPilot/ardupilot/pull/30232

Trimble PX1 support
A few more things but then can be merged

UTC2322 - AP_Scripting: RTSP video relay example by tridge · Pull Request #30984 · ArduPilot/ardupilot · GitHub

Script to pass video data through the stm32
Merged
We really should look at whether we can consume video data directly on the stm32 peripheral rather than over ethernet to the stm32
Aside: would be nice to get a reliable level-shifting LTE modem board!
- Corrupted data inc. missing characters
- Saleae shows large amounts of ground lift or bad voltage levels
- Not 3.3 ttl voltages
- Most chipsets are 1.8v
- The level-shifting doesn’t seem to be reliable
- You get away with it at lower baud rates
- Tridge will chat with Huibean
Should we pay a bit of money towards getting hardware created?
- Peter would really like kicad files to be in our hardware repo

UTC2327 - Add JPilot-C board by Maarrk · Pull Request #31100 · ArduPilot/ardupilot · GitHub

Support for JPilot-C
Merged!

UTC2334 - sim_vehicle.py: stack -A options in an array rather than splitting on… by peterbarker · Pull Request #31838 · ArduPilot/ardupilot · GitHub

Stack -A options in sim_vehicle.py
Merged!

UTC2335 - AP_Arming: make accel and gyro consistency check happen together by rishabsingh3003 · Pull Request #32022 · ArduPilot/ardupilot · GitHub

Rishabh wants to loosen some constraints on a test
Fails reliably for him
Shouldn’t be the PR
But there is a change in behaviour we need to understand

UTC2346 - AP_HAL_ChibiOS: STM32H7: add 12MHz HSE support by mohammadmehdikarami · Pull Request #32317 · ArduPilot/ardupilot · GitHub

Allow 12MHz HSE crystal
Merged!

UTC2346 - Add and use AP_BARO_CALIBRATION_ENABLED by peterbarker · Pull Request #32326 · ArduPilot/ardupilot · GitHub

Add ability to remove baro calibration code
Merged!

UTC2349 - ArduPlane: fix compilation error with DCM disabled by Maarrk · Pull Request #32346 · ArduPilot/ardupilot · GitHub

Fix compilation with DCM disabled
Merged!

UTC2352 - Copter: fix speed overshoot when using inflight tuning (aka "CH6" tuning) of waypoint speed by rmackay9 · Pull Request #32415 · ArduPilot/ardupilot · GitHub

Fix overshoot when using inflight tuning using ch6 tuning
Randy will change things around to avoid the *100 on the tuning_wp_speed thing
- Or put an arming check in place to make sure the value is good

UTC0002 - Tradheli: Remove passthrough support for flybar and external tail gyro by bnsgeyer · Pull Request #32430 · ArduPilot/ardupilot · GitHub

Remove passthrough support for flybar and external tail gyro
Acro-mode-only stuff
Good to go once approvals are had

UTC0004 - Tools: add PID unit support and known_units entries by shashwatvoa · Pull Request #32431 · ArduPilot/ardupilot · GitHub

Add PID unit support and known_units entries
MergeOnCIPass

UTC0005 - AP_Compass: provide base class implementation for AP_Compass_Backend::read by peterbarker · Pull Request #32449 · ArduPilot/ardupilot · GitHub

Base class implementation for AP_Compass_backend
Merged!

UTC0007 - AP_Bootloader: rename save_comms_ip to restore_comms_ip by peterbarker · Pull Request #32419 · ArduPilot/ardupilot · GitHub

Rename a method in the bootloader
Merged!

UTC0010 - Fix altitude to match frame in POSITION_TARGET_GLOBAL_INT by peterbarker · Pull Request #32307 · ArduPilot/ardupilot · GitHub

Fix altitude sent in mavlink reporting message in Rover
Merged!

Attendee count (max): 13

UTC2301 - ci · Workflow runs · ArduPilot/ardupilot · GitHub

UTC2306 - ArduPilot 4.7 issues list · Issue #32385 · ArduPilot/ardupilot · GitHub

UTC2310 - dev: add a note on what we consider to be an attack surface in AP by peterbarker · Pull Request #7359 · ArduPilot/ardupilot_wiki · GitHub

UTC2315 - https://github.com/ArduPilot/ardupilot/pull/30232

UTC2322 - AP_Scripting: RTSP video relay example by tridge · Pull Request #30984 · ArduPilot/ardupilot · GitHub

UTC2327 - Add JPilot-C board by Maarrk · Pull Request #31100 · ArduPilot/ardupilot · GitHub

UTC2334 - sim_vehicle.py: stack -A options in an array rather than splitting on… by peterbarker · Pull Request #31838 · ArduPilot/ardupilot · GitHub

UTC2335 - AP_Arming: make accel and gyro consistency check happen together by rishabsingh3003 · Pull Request #32022 · ArduPilot/ardupilot · GitHub

UTC2346 - AP_HAL_ChibiOS: STM32H7: add 12MHz HSE support by mohammadmehdikarami · Pull Request #32317 · ArduPilot/ardupilot · GitHub

UTC2346 - Add and use AP_BARO_CALIBRATION_ENABLED by peterbarker · Pull Request #32326 · ArduPilot/ardupilot · GitHub

UTC2349 - ArduPlane: fix compilation error with DCM disabled by Maarrk · Pull Request #32346 · ArduPilot/ardupilot · GitHub

UTC2352 - Copter: fix speed overshoot when using inflight tuning (aka "CH6" tuning) of waypoint speed by rmackay9 · Pull Request #32415 · ArduPilot/ardupilot · GitHub

UTC0002 - Tradheli: Remove passthrough support for flybar and external tail gyro by bnsgeyer · Pull Request #32430 · ArduPilot/ardupilot · GitHub

UTC0004 - Tools: add PID unit support and known_units entries by shashwatvoa · Pull Request #32431 · ArduPilot/ardupilot · GitHub

UTC0005 - AP_Compass: provide base class implementation for AP_Compass_Backend::read by peterbarker · Pull Request #32449 · ArduPilot/ardupilot · GitHub

UTC0007 - AP_Bootloader: rename save_comms_ip to restore_comms_ip by peterbarker · Pull Request #32419 · ArduPilot/ardupilot · GitHub

UTC0010 - Fix altitude to match frame in POSITION_TARGET_GLOBAL_INT by peterbarker · Pull Request #32307 · ArduPilot/ardupilot · GitHub

UTC0015 - close