Dev Call March 23, 2026

CraigElder · March 23, 2026, 10:52pm

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/32511 - [ ] 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)) - [ ] ArcWaypoints listed as WIP? (reported by lthall) - [ ] 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)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32506 ([PR](https://github.com/ArduPilot/ardupilot/pull/32508)) - [ ] 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)) - [ ] 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 ### Confirmed issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32491 - [ ] 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)) - [ ] https://github.com/ArduPilot/ardupilot/pull/32382 ### Copter Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### Plane Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32518 ### 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), [PR](https://github.com/ArduPilot/MissionPlanner/pull/3685)) ### QGC Issues - None ### Wiki Issues - None ### Enhancements or Issues that may not be resolved before the stable release - None ### Resolved issues - [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] 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-beta2 - [x] QGC altitude slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed for daily build on 18Mar2026 - [x] QGC takeoff slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed in QGC 14148 - [x] QGC Parameters need updating (@rmackay9 and @DonLakeFlyer discussed if dev-team channel, [PR](https://github.com/mavlink/qgroundcontrol/pull/14148)) -- fixed in QGC daily on 17-Mar-2026 - [x] EKF's use of rangefinder and baro never switches back to rangefinder after switching to baro ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- user error - [x] update PSC_ACCZ_I and PSC_ACCZ_P tuning advice https://ardupilot.org/copter/docs/initial-tuning-flight.html#test-althold ([PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7482)) -- wiki updated ahead of 4.7.0-beta2 - [x] https://github.com/ArduPilot/ardupilot/pull/32381 -- resolved for 4.7.0-beta2 - [x] ATC_ACC conversion didn't work ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/8)). Should we remove the "configured" checks ([code](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp#L1161)). Caused by installing 4.7.0-dev prior to release of beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/32428 -- resolved for 4.7.0-beta2

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_NavEKF3: loop over states in Kalman gain computation to save flash

master ← tpwrules:pr/ek3-kalman-loop

opened 04:09AM - 16 Feb 26 UTC

tpwrules

+127 -303

Same form and coefficients for most elements in these computations, so we can ju…st loop over the state indices instead of repeating the same equation two dozen times. Saves lots of flash. As a slight bonus, 3D magnetometer fusion is now (roughly) 10% faster on ESP32 (though ESP32 measurements in particular are suspect), 1% faster on H7, and 0.1% faster on F4. This brings us a bit further from the generated code, but the sympy generator is in fact capable of making loops. Didn't want to hold up the flash savings behind working that out though. Tested that there are no replay changes. None of the math should be changed at all. ``` Board AP_Periph antennatracker blimp bootloader copter heli iofirmware plane rover sub CubeOrange -17776 -17776 * -17776 -17784 -17784 -17768 -17776 CubeOrange-periph-heavy * * Durandal -17784 -17776 * -17776 -17784 -17784 -17776 -17784 Hitec-Airspeed * * KakuteH7-bdshot -17784 -17776 * -17784 -17776 -17784 -17776 -17784 MatekF405 -10088 -10088 * -10088 -10088 -10088 -13872 -10088 Pixhawk1-1M-bdshot -13408 -13408 -13408 -13408 -13408 -17160 -13408 f103-QiotekPeriph * * f303-Universal * * iomcu * revo-mini -10088 -10088 * -10088 -10088 -10088 -13880 -10088 skyviper-v2450 -10088 ```

github.com/ArduPilot/ardupilot

AP_NavEKF3: ground clearance fusion fix

master ← rishabsingh3003:ek3_gnd_clear

opened 12:18PM - 18 Feb 26 UTC

rishabsingh3003

+35 -32

This is based on https://github.com/ArduPilot/ardupilot/pull/30490, I have added… another commit on top. The first commit from @rmackay9 fixes a bug in the existing functionality, where we fuse RNGFND1_GNDCLEAR till Copter arms. However, this would mean that the vehicle would switch to fusing baro as soon as the vehicle arms, which can be problematic for some use cases. My new commit adds the ability to use "Takeoff detected" as a metric instead, to hopefully keep fusing the RNGFND1_GNDCLEAR till we are (somewhat) confidently in the air.

github.com/ArduPilot/ardupilot

Copter: add VALT velocity alt-hold flight mode

master ← andyp1per:copter-valt-mode

opened 06:12PM - 22 Feb 26 UTC

andyp1per

+149 -20

## Summary - Add VALT (Velocity Alt Hold) as flight mode number 29 — pilot stic…k commands climb/descent **rate** rather than driving a jerk-limited position trajectory - VALT inherits from AltHold via a virtual `alt_hold_run_flying()` method, overriding only the Flying state: surface tracking is skipped so its offsets don't fight pilot stick input, and `pos_desired` is set to the current position when the stick is off-centre so the position-P loop is bypassed - When the stick returns to centre, `pos_desired` freezes at the current altitude and the position-P loop gently holds height - Includes OSD display support, build option (`MODE_VALT_ENABLED`), and autotest ### Why a separate mode instead of an AltHold option? Velocity alt-hold is inherently more robust to barometric pressure corruption from prop wash — during stick input `pos_desired = pos_actual`, so any baro offset accumulated during the manoeuvre cancels out. When the stick returns to centre there is zero initial position error by construction. This makes it particularly well suited for small high-disc-loading copters with significant baro ground effect, where standard AltHold's jerk-limited trajectory can diverge from the corrupted EKF estimate. The behavioural difference is significant enough to warrant a distinct mode rather than a runtime option within AltHold. ## Test plan - [x] SITL build passes (`./waf copter`) - [x] Run `Tools/autotest/autotest.py build.Copter test.Copter.ModeVAltHold` - [x] Verify altitude hold with neutral sticks - [x] Verify altitude hold during lateral flight - [x] Verify climb/descent responds to throttle stick - [x] Verify altitude freezes when stick returns to centre - [x] Test on hardware with baro prop wash effects 🤖 Generated with [Claude Code](https://claude.com/claude-code)

github.com/ArduPilot/ardupilot

AutoTest suite changes

master ← peterbarker:pr/simple-test-fixes

opened 11:02AM - 24 Feb 26 UTC

peterbarker

+46 -40

# Summary Tweaks and fixes to the autotest suite and its tests. Several race… condition fixes, some quality of life fixes in terms of messaging. ## Testing (more check 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 I've been working on fixing various race conditions in the autotest suite. As part of that I uncovered a lot of existing race conditions, most of which are in this PR. This is a subset of https://github.com/ArduPilot/ardupilot/pull/32227 to try to simplify that one.

github.com/ArduPilot/ardupilot

AP_NavEKF3: add 2-state IMU-aided AGL Kalman filter for optical flow

master ← rishabsingh3003:ek3_agl_ekf

opened 07:10PM - 07 Mar 26 UTC

rishabsingh3003

+268 -2

## Summary Optical flow velocity scaling divides measured flow rates by heigh…t above ground. THis is computed as `terrainState - pd` in the existing code where "terainState" comes from a special KF filter. Both terrainState and pd are coupled to the main EKF's vertical position state, which can drift under poor altitude source conditions (ground effect on takeoff/landing, GPS outage, sensor noise). When pd drifts upward, terrainState - pd underestimates true AGL, causing flow measurements to be over-scaled, which drives the filter to diverge. This PR adds a simple 2-state Kalman filter as an alterntaive that estimates AGL height and vertical velocity using only imu delta-velocity for prediction and a downward rangefinder for measurement updates, decoupled from the main filter's vertical position state. When enabled via EK3_OPTIONS bit 3, optical flow fusion uses this estimate instead of `terrainState - pd`, making optical flow scaling robust to any condition that corrupts the main filter's altitude estimate. The existing `terrainState - pd` estimator is more robust during extended rangefinder outages since the AGL KF integrates IMU acceleration, making it susceptible to double-integration drift over time. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [x] Tested on hardware (more accurately tested on REPLAY) - [ ] Logs attached - [x] Logs available on request - [ ] Autotest included ## Description

github.com/ArduPilot/ardupilot

AP_Bootloader: rename save_comms_ip to restore_comms_ip

master ← peterbarker:pr/bootloader-stuff-resored

opened 10:00PM - 11 Mar 26 UTC

peterbarker

+4 -4

## Summary copies data from a memory segment not cleared on reboot into a nor…mal variable ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [ ] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description Simply renames the method to more-accurately reflect what it does. Instead of 'saving the data from AP_Periph' we 'restore the data from where AP_Periph stashed it' ``` Board,bootloader CubeNode-ETH,* ```

github.com/ArduPilot/ardupilot

Add support for sending UTM_GLOBAL_POSITION

master ← peterbarker:pr-claude/AP_MAVLINK_UTM_GLOBAL_POSITION_SENDING_ENABLED

opened 05:47AM - 18 Mar 26 UTC

peterbarker

+541 -25

## Summary Adds the ability to send the MAVLink `UTM_GLOBAL_POSITION` message… ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [x] Logs available on request - [x] Autotest included ## Description Apparently this is becoming rather popular for traffic management purposes. I've gated the new `wp` method on the new define to preserve no-compiler-output-change for boards that don't have this compiled in. It shouldn't stay that forever, and it's possible we might factor `NAV_CONTROLLER_OUTPUT` up at some stage to use it (replacing `wp_bearing` and `wp_distance`, perhaps). Even when compiled in this is not streamed by default. I've chosen to re-use the `global_position_relative_alt()` method (and friend), on the basis that the Sub guys know what they're doing ( @Williangalvani )

github.com/ArduPilot/ardupilot

GCS_MAVLink: FTP: burst_complete and NAK bug

master ← robertlong13:pr/fix-mavftp-eof-nak

opened 10:29AM - 19 Mar 26 UTC

robertlong13

+268 -16

## Summary Fixes a rare edge case which could lead to truncated files without… the GCS realizing there was a missing chunk at the end. Also a drive-by improvement for the file size reporting for mission.dat (which I'm happy to drop if there's any objection). ## Testing - [x] Checked by a human programmer - [x] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [x] Autotest included ## Description When a file is an integer multiple of burst packets long, NAK returns the wrong EOF offset (it reports one burst packet length too short) and `burst_complete` never sets (that last part doesn't strictly cause an issue with MAVProxy, but it is wrong). Log output from the autotest before the fix ``` AT-0001.2: Testing burst EOF offset with file_size=717 AT-0001.2: FTP TX: seq=0 op=ResetSessions sz=0 ofs=0 bc=0 AT-0001.2: FTP RX: seq=1 op=Ack sz=0 ofs=0 bc=0 req=ResetSessions AT-0001.2: FTP TX: seq=1 op=OpenFileRO sz=19 ofs=0 bc=0 AT-0001.2: FTP RX: seq=2 op=Ack sz=4 ofs=0 bc=0 req=OpenFileRO fileSz=717 AT-0001.2: FTP TX: seq=2 op=BurstReadFile sz=0 ofs=0 bc=0 AT-0001.2: FTP RX: seq=3 op=Ack sz=239 ofs=0 bc=0 req=BurstReadFile AT-0001.2: FTP RX: seq=4 op=Ack sz=239 ofs=239 bc=0 req=BurstReadFile AT-0001.2: FTP RX: seq=5 op=Ack sz=239 ofs=478 bc=0 req=BurstReadFile AT-0001.2: FTP RX: seq=6 op=Nack sz=1 ofs=478 bc=0 req=BurstReadFile err=EndOfFile AT-0001.2: FTP TX: seq=6 op=TerminateSession sz=0 ofs=0 bc=0 AT-0001.2: FTP RX: seq=7 op=Ack sz=0 ofs=0 bc=0 req=TerminateSession AT-0001.2: Exception caught: file_size=717: EOF NACK offset wrong: got 478 expected 717 ``` This is important, because there is no other reliable source of truth for the end of a file than the NAK: - The file size for `OpenFileRO`, for virtual files like `param.pck` and `mission.dat` is only an estimate (though I've fixed that on the latter, there's no good way to fix it for the former). - The largest received byte isn't reliable if tail-end packets get lost. Gap fillers need to know the file size. So the gap filling logic may not realize the last packet of the burst was lost: - for files exactly N*239 bytes long, - on a lossy link where the last burst packet is lost, - but the EOF NAK *does* arrive [MAVProxy will drop the last 239 bytes of the file and not realize anything went wrong.](https://github.com/ArduPilot/MAVProxy/blob/80ad79eb54be86f2da9cd34e6e90ef000fb659cd/MAVProxy/modules/mavproxy_ftp.py#L435-L440) I found this by accident when I was testing a new MAVFTP implementation with a longish mission via `mission.dat`, which I arbitrarily chose 200 waypoints. This makes a file that is 7648 bytes long. My naive new implementation was trusting the NAK offset entirely (stupidly not also counting the highest byte received), and so was reliably truncating the file every time. I've fixed that, but there's still the open edge case outlined above. Was a hell of a time figuring this out. For the drive-by, I notice that `mission.dat`'s size is entirely deterministic and trivial to calculate. If we decide it's too fragile though, and would rather blindly report it as 1MB, I'm fine to drop it.

github.com/ArduPilot/ardupilot

Tools: scripts: add option to show differences in size_compare_differences.py

master ← peterbarker:pr-claude/size-compare-branches-compare-object-files

opened 12:52AM - 20 Mar 26 UTC

peterbarker

+70 -0

## Summary Adds an option to size_compare_branches.py to show which object fi…les have changed. Can help narrow down those pesky zero-byte-output differences! ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [ ] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included ## Description ``` pbarker@crun:~/rc/ardupilot-claude(pr-claude/gps-fixtype-changes)$ ./Tools/scripts/size_compare_branches.py --board=Durandal --parallel=2 --compare-object-files SCB: Running (git symbolic-ref --short HEAD) in (.) SCB-GIT: pr-claude/gps-fixtype-changes . . SCB: Have source trees SCB: All threads returned SCB: Have source trees SCB: Have source trees Board,plane Durandal,8 Object files differing for Durandal: differs: libraries/AP_ADSB/AP_ADSB.cpp.4.o differs: libraries/AP_ADSB/AP_ADSB_Sagetech.cpp.0.o differs: libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp.4.o differs: libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp.0.o ```

github.com/ArduPilot/ardupilot

Tools: check_branch_conventions.py: sanity check author emails on commits

master ← peterbarker:pr-claude/check_branch_conventions.py_email_check

opened 03:25AM - 20 Mar 26 UTC

peterbarker

+18 -0

## Summary Add a sanity check that looks at the email addresses for commits, …make sure they seem acceptable. ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [ ] Tested in SITL - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request - [ ] Autotest included Test PR showing failure: https://github.com/peterbarker/ardupilot/pull/33 ## Description Someone suggested we sanity-check author email addresses on commits, having seen one go into master. Apologies to whoever that was, I've lost that information. This is an example of a patch which made its way into master which we are trying to avoid: ``` commit 27cda320d03287e38405ec28251992ffe5694984 Author: Your Name <you@example.com> Date: Mon Jan 26 16:18:31 2026 +0800 ```

github.com/ArduPilot/ardupilot

AP_HAL_SITL: Fix get_flow_control

master ← Huibean:pr-fix-sitl-get-flow-control

opened 05:06PM - 23 Mar 26 UTC

Huibean

+6 -1

## Summary fix SITL get_flow_control return, previous is hardcode FLOW_CONT…ROL_ENABLE ## Testing (more checks increases chance of being merged) - [x] Checked by a human programmer - [x] Tested in SITL - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request - [ ] Autotest included ## Description 1. return result base on ```_sitlState->use_rtscts()```, to enable rtscts use ```--rtscts``` in sitl startup 2. when connect Septentrio SBF device with SITL, get_flow_control return hardcode FLOW_CONTROL_ENABLE would make the config process fail, ie keep sending "scs,COM1,baud230400,bits8,No,bit1,RTS|CTS" to none support flowcontrol interface will keep raising ```setCOMSettings: Argument 'FlowControl' could not be handled!``` https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_SBF.cpp#L119, this PR would fix it

github.com/ArduPilot/ardupilot

Remove now-unnecessary Python future dependency

master ← tpwrules:pr/old-man

opened 05:56PM - 23 Mar 26 UTC

tpwrules

+10 -12

## Summary Neither we nor our dependencies need it anymore. Made sure SITL… and STM32 and ESP32 builds in various cases, will rely on CI for the rest. ## 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 Get rid of it in all the install scripts.

hunt0r · March 24, 2026, 12:39am

Bringing this “off the floor”: SITL: add correct battery estimator from vehicle type · Issue #10050 · ArduPilot/ardupilot · GitHub (Here’s discord thread, if you prefer that.)

CraigElder · March 24, 2026, 8:25am

Attendee count (max): 18

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

Colcon
- Peter has a candidate branch he’s fixing
Speed stuff
- Seems to be CI going slowly
- Maybe some other of our repositories is being pushed and chewing up vast numbers of our runners?

UTC2308 - release update

New beta2 going out today
- Please test
George helped, will be able to help out even more next time
We’re going to tag AP_Periph now so it goes out as beta1
- Table coding coming for 4.8
- Release notes are always the problem
Report of secure boot problem in 4.7
POI lock not in normal firmware - should it be?
Arc waypoints wip in mavlink?
Alt est offset between baro and rangefinder
- EKF inputs
  - The magic switch stuff
  - Causes a persistent offset
  - Doesn’t revert to purely using the barometer
Copter flip mode via RC switch
- Can’t abort/disengage with the switch
- Not new in 4.7
Genuine soaring bug when autolanding?!
- Sam wants to withdraw as soaring maintainer
Slower behaviour in loiter in Copter?
- Lower time constant seems to make things feel like it used to
- Probably the biggest blocker/issue
The change in loiter/co-ordinated yaw is strong
- It’s called out strongly in the release notes too
VTOL missions with terrain following really don’t work
- Probably not something we will fix for 4.7
- Also in 4.6
- PH will probably look more closely

UTC2334 - https://github.com/ArduPilot/ardupilot/pull/31619

Fence alt min type
Peter’s unwilling to approve the renames
Merged!
Peter Barker — 5:44 PM

Also, I do reserve the right to say, “I told you so” when reviewing CFIT logs related to that last PR

UTC2344 - AP_NavEKF3: loop over states in Kalman gain computation to save flash by tpwrules · Pull Request #32213 · ArduPilot/ardupilot · GitHub

Loop over statyes to zero memory
Saves a bunch of flash
Can be merged once Replay has been addressed

UTC2350 - Fix up pid tuning axes used and reported in Blimp by peterbarker · Pull Request #32370 · ArduPilot/ardupilot · GitHub

Blimp PID tuning fixes
MergeOnCIPass

UTC2351 - AP_Mount: fix scripting backend by robertlong13 · Pull Request #32382 · ArduPilot/ardupilot · GitHub

Existing optical flow fusion code uses a terrain estimator to scale the flow values
Height estimate from the main filter is used as a filter for this estimate
Whenever the main estimator’s estimate is bad it feeds into the scaling of the flow
This PR breaks that connection
What happens when the new thing breaks?
- Dead-reckoning is very bad
- E.g. rangefinder going away will cause serious, serious problems
  - There’s a time limit on that
This will do better with vigorous vehicle motion
Should we remove the old one?
Plane’s use of the optical flow thing as a height source should be unaffected
Will bring this one back

UTC0003 - AP_Bootloader: rename save_comms_ip to restore_comms_ip by peterbarker · Pull Request #32419 · ArduPilot/ardupilot · GitHub

Rename save_comms_ip to restore_comms_ip
Merged!

UTC0004 - Add support for sending UTM_GLOBAL_POSITION by peterbarker · Pull Request #32479 · ArduPilot/ardupilot · GitHub

Add support for UTM_GLOBAL_POSITION
Screwed up the relative alt
Use zeroes if we can’t get the variances
Move to using a structure send?
Questions around undulation
- We’re currently sending amsl
- We’re not going to send the alt field unless we can get the undulation

UTC0024 - GCS_MAVLink: FTP: burst_complete and NAK bug by robertlong13 · Pull Request #32490 · ArduPilot/ardupilot · GitHub

If a burst read is exact multiple of the packet data length we sent the wrong ack offset
Will be back

UTC0034 - Tools: scripts: add option to show differences in size_compare_differences.py by peterbarker · Pull Request #32494 · ArduPilot/ardupilot · GitHub

Add option to show object file differences
Can be merged once review comments have been approved

UTC0038 - Tools: check_branch_conventions.py: sanity check author emails on commits by peterbarker · Pull Request #32497 · ArduPilot/ardupilot · GitHub

Sanity check email address before allowing merge
Merged!

UTC0039 - AP_HAL_SITL: Fix get_flow_control by Huibean · Pull Request #32530 · ArduPilot/ardupilot · GitHub

Fix Get_flow_control fin SITL
Merged!

UTC0040 - off the floor - SITL battery design proposal

Tridge wants to see a PR
- #32124
Advice given, this will be back

UTC0052 - close

StrikeEagle · March 24, 2026, 11:42am

What is the safe way? Disable dead reckoning so that it will execute a fail safe?