Dev Call May 18, 2026

CraigElder · May 18, 2026, 10:47pm

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github.com/ArduPilot/ardupilot

ArduPilot 4.7 issues list

opened 12:30AM - 07 Mar 26 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.7 testing. [Issues for 4….6 are here](https://github.com/ArduPilot/ardupilot/issues/28612) ### Reports requiring investigation - [ ] QuikTune Lua script should restrict which modes it operates in ([PR](https://github.com/ArduPilot/ardupilot/pull/33025)) - [ ] 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 - [ ] 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)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32811 ([PR1](https://github.com/ArduPilot/ardupilot/pull/33020), [PR2](https://github.com/ArduPilot/ardupilot/pull/19131)) - [ ] Copter follow mode bug ([PR](https://github.com/ArduPilot/ardupilot/pull/33038)) - [ ] buffer overflow related to CAN logging (reported by PeterB, [PR1](https://github.com/ArduPilot/ardupilot/pull/33010), [PR2](https://github.com/ArduPilot/ardupilot/pull/33031)) - [ ] Spool up changes causing spurious errors (reported by AndyP, [PR](https://github.com/ArduPilot/ardupilot/pull/32955)) - [ ] https://github.com/ArduPilot/ardupilot/issues/32491 ([PR](https://github.com/ArduPilot/ardupilot/pull/33005)) ### Copter Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### Plane Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/33083 - [ ] https://github.com/ArduPilot/ardupilot/issues/32606 - [ ] https://github.com/ArduPilot/ardupilot/issues/32518 -- @IamPete1 or @samuelctabor to resolve - [ ] 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 ### Rover Specific Issues - None ### Mission Planner Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/32624 ([PR](https://github.com/ArduPilot/MissionPlanner/pull/3697)) - [ ] 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 - [ ] 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/32977 ([PR](https://github.com/ArduPilot/ardupilot/pull/33016), also exists in 4.6) - [ ] https://github.com/ArduPilot/ardupilot/issues/32444 (also present in 4.6 and earlier) - [ ] https://github.com/ArduPilot/ardupilot/issues/32862 - [ ] https://github.com/ArduPilot/ardupilot/issues/32689 (4.6.3, not 4.7 yet) - [ ] Circle point-mount-at-ROI should only apply when circle radius > 0 (e.g. do not apply during panorama) ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/71), [issue](https://github.com/ArduPilot/ardupilot/issues/32641)) - [ ] Copter's SmartRTL always rises 2m before landing ([discussion](https://discuss.ardupilot.org/t/smartrtl-rises-to-2m-after-reaching-home-before-landing/143126/2)) -- present in 4.6 so not a blocker ### Resolved issues - [x] https://github.com/ArduPilot/ardupilot/issues/32942 ([PR](https://github.com/ArduPilot/ardupilot/pull/32943), also present in 4.6) -- resolved ahead of 4.7.0-beta6 - [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

https://discuss.ardupilot.org/t/copter-4-7-0-beta5-is-available-for-beta-testing/143865/2

Release Issues
https://discuss.ardupilot.org/t/copter-4-7-0-beta5-is-available-for-beta-testing/143865/2

github.com/ArduPilot/ardupilot

AP_Logger: allow for much faster logging over MAVLink

master ← tridge:pr-log-mavlink-bps

opened 01:34AM - 11 May 26 UTC

tridge

+1 -1

### Summary This brings the period update of logging in plane up to match cop…ter, which allows for a lot faster logging. It also adds a new LOG_MAV_BLK_SEND parameter which allows for more blocks per loop The combination allows log message loss (from DMS.Dp) of about 0.25% when flying a SITL quadplane with MAVProxy as the logger. Without these changes we get about 70% log message loss. The remaining 0.25% loss is still a puzzle which we can look at separately Tested in SITL only. I expect these changes will help with people using high bandwidth links (eg. LTE or starlink) Should we also set LOG_MAV_RATEMAX default to 10? Unlimited really isn't practical ### 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 UPDATE: as discussed on the dev call, changed to just update scheduler rate in plane

github.com/ArduPilot/ardupilot

Follow mode offset rotation fix

master ← lthall:20260513_FollowModeFix

opened 05:41AM - 13 May 26 UTC

lthall

+14 -6

### Summary When FOLL_OFS_TYPE is body-frame (FRD), the position offset rotat…es with the target's heading, so the offset point's velocity and acceleration differ from the target's by the rigid-body rotation terms. The previous code attempted to add these but had two bugs: Wrong sign — used offset × ẑ instead of ẑ × offset, so the rotational contribution pointed opposite the actual direction of motion. Wrong magnitude — multiplied by offset.length() a second time, so the correction was only right at |offset| = 1 m and scaled with |offset|² otherwise. The centripetal term ω × (ω × r) was also missing entirely. This PR replaces that block with the standard rigid-body kinematics for a point fixed in a frame rotating about the NED down-axis at the target's heading rate ω and heading accel α: v = ω × r a = α × r + ω × (ω × r) added on top of the target's translational vel/accel. Comments now spell out the physics inline. No behaviour change when FOLL_OFS_TYPE is NED, or when heading-shaping params (FOLL_ACCEL_MAX_H, FOLL_JERK_MAX_H) aren't set. ### 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

github.com/ArduPilot/ardupilot

AP_CANManager: send log_text via GCS and AP_Logger

master ← bugobliterator:pr-remove-can-log-level

opened 11:57AM - 08 May 26 UTC

bugobliterator

+14 -57

Replace the in-memory _log_buf with GCS_SEND_TEXT, mapping LogLevel to MAV_SEVER…ITY, and mirror each line to AP_Logger via Write_MessageF so messages emitted before a GCS connects are still captured. Drop log_retrieve() and the LOG_BUFFER_SIZE buffer that backed @SYS/can_log.txt. This resolves another issue that can lead to a crash, following is what happens with existing method: The comparision `(LOG_BUFFER_SIZE - _log_pos) < (10 + strlen(tag) + strlen(fmt)` clears even though it shouldn't as the string size with format filled will overflow. It goes to the next steps till snprintf and vsnprintf calls and it doesn't return what is written into the string, but what could have been (i.e. the full string length with values filled in). So we basically end up with _log_pos value greater than LOG_BUFFER_SIZE. On next calls we simply keep writing to the memory as comparision `(LOG_BUFFER_SIZE - _log_pos) < (10 + strlen(tag) + strlen(fmt)` is going to be true `LOG_BUFFER_SIZE - _log_pos` is now a negative number, and we crash.

github.com/ArduPilot/ardupilot

AP_CANManager: fix log_text heap corruption and disable by default

master ← tpwrules:pr/disable-can-debug

opened 05:09AM - 12 May 26 UTC

tpwrules

+4 -282

### Summary This is a PR in ~~three~~ four acts: 1. Fix buffer overflow and …heap corruption in `log_text`'s storage buffer if `CAN_LOGLEVEL` is nonzero 2. Redirect `log_text` to GCS instead of storage buffer nobody ever checked (courtesy PR #33010) 3. Make `log_text` do nothing by default as nobody ever checked it 4. Remove `log_text` completely and every line/macro that calls it and every macro used only by those ### 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 This follows from discovery of a serious heap corruption and crash if `CAN_LOGLEVEL` is nonzero and the buffer fills up in a certain pattern. Fortunately, most messages are only emitted during initialization. However, if a new device is added, some drivers emit messages. If a device reboots and DNA is performed, messages are also emitted. These are unlikely to happen in flight, so the risk of a crash in the air is low, but not absolutely zero. The crash fix in the first commit has been tested in SITL and confirmed to resolve the issue, and would be a candidate for a minimal backport. It has been decided on the dev call that these messages likely have little value and are so obscure they are not worth keeping. Compiling out by default solves future potential problems and saves 3K of flash on CubeOrange as a nice bonus. ~~Future work (which is already ready in another branch) could delete them entirely.~~ They are now deleted entirely. This does not affect the useful behavior of forwarding `LogMessage` messages generated by peripherals to the GCS when `CAN_LOGLEVEL` is nonzero. Please see commit messages for further details.

github.com/ArduPilot/ardupilot

Copter, Plane, Sub, AP_Motors: spoolup reporting enhancements

master ← lthall:20260501-spoolup-reporting

opened 09:08AM - 01 May 26 UTC

lthall

+73 -34

Spurious "Takeoff blocked" warnings during normal spool-up, fixed by: Checks …only run when we are ready for them. Previously they started running when the aircraft was not necessarily expecting motors to be turning, so false positives could fire. The block is asserted in the fast loop by the spool state machine, not at 50 Hz from takeoff_check. A 50 Hz writer cannot reliably gate a fast-loop state machine. Also resets the warning timer eagerly so a stale timestamp from a prior arm cycle cannot fire a warning the instant the block re-asserts, and adds a per-cycle clear in QuadPlane::motors_output() since QuadPlane has no pre-takeoff RPM gate of its own. Auto-tests supplied by @andyp1per - [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

github.com/ArduPilot/ardupilot

Copter: switch OFF does not abort an ongoing Flip

opened 01:47PM - 19 Mar 26 UTC

jinmussj

# Bug Report ## Issue details I found a possible inconsistency between the do…cumented/manual-exit rule for Copter Flip mode and the actual runtime behavior in SITL. The rule exists in both: 1. the official Flip mode documentation 2. the `mode_flip.cpp` comment The relevant rule is: > Pilot may manually exit flip by switching off ch7/ch8 or by moving roll stick to >40deg left or right In my SITL experiments, the **roll-stick abort works**, but **switching the flip AUX switch OFF does not reliably abort an already-triggered Flip**. What I observed is: 1. If I trigger Flip via `RC7_OPTION = 2` and then turn the switch OFF very early, Flip often does **not** start at all. 2. If I keep the switch ON slightly longer so that Flip is actually triggered, then turning the switch OFF does **not** stop the maneuver; Flip continues and completes normally. 3. By contrast, a near-full roll-stick input can abort Flip when applied with correct timing. So the current behavior appears to be: - switch OFF affects whether Flip is successfully triggered/latches - but switch OFF does **not** seem to abort an ongoing Flip - roll-stick abort does work My question is: - Is the statement "switching off ch7/ch8 exits Flip" outdated (documentation/comment only)? - Or is switch-OFF abort intended, but currently not implemented in the runtime logic? ## Reproduction summary I tested in Copter SITL with: - `RC7_OPTION = 2` - hover in `ALT_HOLD` - trigger Flip by setting `CH7` HIGH - then switch `CH7` LOW at different delays Representative results: - `OFF_DELAY_S = 0.30`: Flip often does not trigger - `OFF_DELAY_S = 0.35`: Flip triggers and completes normally (~1.3 s), not aborted by switch OFF This suggests that switch OFF affects the trigger/latch boundary, but not the abort of an already-started Flip. ## Evidence / logs **Screenshot** <img width="1804" height="998" alt="Image" src="https://github.com/user-attachments/assets/d4e0ffb1-2fda-46a6-bf53-d435ed3dce2a" /> **BIN logs** https://github.com/jinmussj/SITL-problems/blob/main/2026-03-19%2020-52-20%EF%BC%88Closing%20_the_channel_7_will_not_exit_Flip%EF%BC%89.bin **Version** ArduPilot Copter SITL (4.7.0) **Platform** [ ] All [ ] AntennaTracker [×] Copter [ ] Plane [ ] Rover [ ] Submarine **Airframe type** Quadcopter **Hardware type** SITL **Logs** See links above.

github.com/ArduPilot/ardupilot

Copter: Permit abandoning flip via RC Aux change

master ← hunt0r:issue32491-rc-aborts-flip

opened 06:16PM - 07 May 26 UTC

hunt0r

+46 -2

### Summary Flip can be aborted via the RC switch. This resolves #32491 . …### 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 This is tested via a new autotest which enters-then-quickly-exits flip mode via the RC Aux switch. The test confirms that: 1. FlipMode was entered and exited. 2. FlipMode wrote the expected ERR message to the log about the flip being abandoned. ``` ./Tools/scripts/size_compare_branches.py --master-branch=upstream/master --vehicle=copter --board=CubeOrange,sitl CubeOrange,32 sitl,80 ```

github.com/ArduPilot/ardupilot

RTL_ALT_FINAL is relative to home, not terrain, causing hard landing at rally point

opened 08:06PM - 20 Jan 26 UTC

pa-hagen

Copter

## Bug report **Issue details** RTL_ALT_FINAL is calculated relative to HOME, e…ven if RTL_TYPE is terrain and TERRAIN is enabled. This causes the drone to descend all the way to ground at LAND_SPEED_HIGH if RTL target (RALLY point) is located higher in the terrain relative to HOME and RTL_ALT_FINAL > 0 **Version** Arducopter 4.5.2 in IRL. Verifired in Arducopter 4.7 in SITL. **Platform** [ ] All [ ] AntennaTracker [x] Copter [ ] Plane [ ] Rover [ ] Submarine **Airframe type** Hex **Hardware type** Cube orange **Logs** https://www.pahagen.com/ardupilot/00199-2026-01-15_10-34-13.tlog (RTL start at approx 95% to end. Mode changed to break approx 5 meters above ground to prevent hard landing).

github.com/ArduPilot/ardupilot

Plane: Loiter: roll steps when starting inside the radius

opened 02:13PM - 16 May 26 UTC

IamPete1

Plane DevCallTopic

With a large loiter radius there is a issue in the L1 controller that results in… very aggressive roll step outputs when traveling to the loiter radius from the center. <img width="1423" height="818" alt="Image" src="https://github.com/user-attachments/assets/67e1464f-2dc3-4d0d-84b6-09152c1189bc" /> This is caused by this if statement not triggering: https://github.com/ArduPilot/ardupilot/blob/6e059b7f19c8cfc50ba0897bbd0be6263ae1e4e0/libraries/AP_L1_Control/AP_L1_Control.cpp#L434-L437 This does happen in normal flight, but it can be made significantly worse by rolling into the direction of the loiter using stick mixing. I suspect a similar things could happen with wind and no stick mixing. I have created a auto test which reproduces the issue here: https://github.com/ArduPilot/ardupilot/pull/33082 Original report on the forum: https://discuss.ardupilot.org/t/desroll-briefly-blipping-hard-left-a-few-times-after-entering-loiter-mode/143791

github.com/ArduPilot/ardupilot

Plane: integer distance parameters prevent GCS unit conversion (m to ft)

opened 01:10AM - 30 Mar 26 UTC

DonLakeFlyer

## Summary `RTL_RADIUS` is declared as `AP_Int16` which gets reported to the GC…S as `MAV_PARAM_TYPE_INT32`. GCS applications that support unit conversion (e.g. meters to feet) typically only apply conversion to float/double parameter types because converting units on integers loses precision (e.g. 100m = 328.084ft — what integer value do you store?). This means `RTL_RADIUS` always displays in meters regardless of the user's unit preference (imperial/metric). ## Affected Parameters The same issue applies to several other distance parameters declared as integer types: - `RTL_RADIUS` (`AP_Int16`, units: m) - `WP_RADIUS` (`AP_Int16`, units: m) - `WP_MAX_RADIUS` (`AP_Int16`, units: m) - `WP_LOITER_RAD` (stored as `AP_Int16`, units: m) - `FENCE_RADIUS` (units: m) - `FENCE_ALT_MAX` (units: m) - `FENCE_ALT_MIN` (units: m) ## Why This Matters When a GCS (like QGroundControl) converts units for display, it needs to: 1. Convert the raw value (meters to feet) for display 2. Convert back (feet to meters) when the user edits For float parameters this is straightforward. For integer parameters, the round-trip conversion introduces rounding errors. For example: - User sees 100m displayed as 328ft (328.084 truncated) - User changes to 350ft - GCS converts back: 350ft = 106.68m, stored as 106 or 107 (precision loss) Because of this, QGC skips unit conversion entirely for integer-typed parameters, so they always show in the raw unit (meters) even when the user has imperial units selected. ## Suggested Fix Change these parameters from `AP_Int16` to `AP_Float`. The MAVLink parameter protocol sends them as floats anyway (`PARAM_VALUE.param_value` is a float field), so there is no wire format change. The only difference is that ArduPilot would store them internally as float instead of int16, which for distance parameters in meters has no practical downside. Alternatively, this could be considered a GCS-side issue where the GCS should handle unit conversion for integer types with appropriate rounding. But changing to float is the simpler fix that benefits all GCS implementations. ## Context Found while adding `RTL_RADIUS` and `RTL_AUTOLAND` to the QGC Vehicle Setup safety page for ArduPlane.

github.com/ArduPilot/ardupilot

HAL_ChibiOS: fixed chopped oneshot pulses on safety-on

master ← tridge:pr-fix-oneshot-chopped-pulses

opened 04:33AM - 04 May 26 UTC

tridge

+12 -3

### Summary when safety is enabled (especially on IOMCU) we would get a last …chopped pulse, leading to servos going to extremes, or for reversible ESCs we could end up with a propeller running at high speed there were two bugs: - we were using the current outputs max pulse width for the delay in trigger_groups() when it should be the previous max width (as that is the active one) - we should not be doing a new trigger for oneshot for zero pulses, it will naturally happen when the pulse ends Tested on CubeOrangePlus with Saleae trace ### 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

Other Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_NavEKF3: set origin from public origin on InitialiseFilterBootStrap

master ← peterbarker:pr/pr/AP_NavEKF3-reset-origin-on-Bootstrap-only-ekf3

opened 09:33AM - 22 Apr 26 UTC

peterbarker

+7 -21

### Summary Copies any public origin which has been set into the EKF into the… core origin when the filter is reset ### 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 Tested with the autotest suite as part of wider changes to make CI more reliable. ### Description if the origin is set in within the startup delay ms enforced by AP_AHRS then we simply lose the origin. If the filter resets in-flight we wouldn't get the origin reset either. @rmackay9 asked this be created after DevCall and post-DevCall discussions. It mirrors what we're doing in AHRS - allowing home to be set even if it can't currently be used.

github.com/ArduPilot/ardupilot

AP_RangeFinder: Add driver for LightWare GRF250 - I2C

master ← rishabsingh3003:grf250_i2c

opened 08:20PM - 27 Apr 26 UTC

rishabsingh3003

+716 -142

### Summary We already support the UART version; this adds an I2C version of …the driver. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] 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

github.com/ArduPilot/ardupilot

AP_VideoTX: surface actual transmit power and bound Tramp retries

master ← andyp1per:vtx-actual-power

opened 04:51PM - 29 Apr 26 UTC

andyp1per

+104 -13

### Summary Three independent issues affecting Tramp VTX users, surfaced while …debugging a 2500mW analog setup: 1. **OSD doesn't reflect VTX state.** The power panel always showed the configured request, never what the VTX self-reports as actually transmitting. Tramp's `'v'` reply carries both but only configured was plumbed through `AP_VideoTX`. 2. **Non-standard mW silently swallowed.** `update_power()` rejected anything not in the SmartAudio-derived power table. Tramp's protocol carries arbitrary 16-bit mW values, so common Tramp settings like 2500mW were silently dropped — no protocol traffic, no GCS feedback. 3. **Infinite retries on a rejecting VTX.** `AP_Tramp::update()` re-armed `retry_count` on every parameter mismatch, so a VTX that silently refuses a value drove an unbounded retry loop. ### Classification & Testing - [x] Checked by a human programmer - [x] Tested manually, description below - [x] Tested on hardware MicoAir 743 v2 with a 2500mW analog Tramp VTX: - `VTX_POWER = 2500` was previously silent — `update_power()` returned false and AP_Tramp never sent anything. Now the `'P' 2500` command goes out and the VTX echoes 2500 back. - `VTX_POWER = 400` (this VTX advertises 400 as its max but won't accept it): retries bound at 20, then one `VTX: rejected power 400mW` GCS warning, then quiescent until the value changes. - OSD `VTX_PWR` panel now reflects the VTX's self-reported actual power. - SmartAudio behaviour unchanged — the table check is retained for non-Tramp providers. ### Description `AP_VideoTX` exposes `set/get_actual_power_mw()` (\`-1\` = provider doesn't report; \`0\` is a valid reading for pit-mode). `AP_Tramp` writes both `set_power_mw()` (configured, drives state machine) and `set_actual_power_mw()` (display only). The OSD reads actual when available and falls back to configured. `update_power()` allows arbitrary mW when a Tramp provider is active; `set_power_mw()` populates the existing custom slot for off-table values so the equality short-circuit works on subsequent calls. `AP_Tramp::update()` only re-arms `retry_count` when the user-configured value actually changed since the last attempt, matching Betaflight's `vtxTrampSetPowerByIndex` behaviour. Also implements `get_current_actual_power()` and `get_current_temp()` in `AP_Tramp`, both of which were declared in the header but never defined. A `VTX_MAX_POWER`-driven warning fires once when the VTX reports actual power exceeding either the user's cap or the request by >50%, so a VTX with a hardware power floor can be detected from the GCS. `rf_power_max` from the Tramp `'r'` reply is *not* used to gate requests — Betaflight tried this in 6560f80da and reverted because the value is unreliable across firmware variants.

github.com/ArduPilot/ardupilot

Plane: regression in non-GPS navigation

opened 07:07AM - 04 May 26 UTC

peterbarker

Plane DevCallTopic

# Bug Report ## Bug report ### Issue details A [recent PR](https://github.com…/ArduPilot/ardupilot/pull/32396) caused a regression in our DeadReckoning handling code. **Version** master **Platform** [ ] All [ ] AntennaTracker [ ] Copter [x] Plane [ ] Rover [ ] Submarine **Airframe type** autotest default **Hardware type** SITL **Logs** This problem can be trivially reproduced in SITL with `./Tools/autotest/autotest.py build.Plane test.Plane.GuidedAttitudeNoGPS` Before the patch in that PR, this is how deadreckoning works out in the test: <img width="1044" height="1126" alt="Image" src="https://github.com/user-attachments/assets/82987d9a-8b29-465e-8aa2-fef5e3b1526e" /> After the patch in that PR, this is what the deadreckoning looks like: <img width="960" height="970" alt="Image" src="https://github.com/user-attachments/assets/5c06ca56-b2ce-4020-9f28-0a12bd6e9cc4" /> Clearly the current behaviour on master is much worse than before the patch.

github.com/ArduPilot/ardupilot

AP_NavEKF3: loop over states in FuseVelPosNED Kalman gain computation

master ← tpwrules:pr/ek3-loop-FuseVelPosNED

opened 05:04PM - 05 May 26 UTC

tpwrules

+28 -32

### Summary Saves flash (160B) and now matches the other fusion functions, part…icularly the KHP calculation loop structure. Note that the explicit H is optimized away so there is no penalty. ### 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) - [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 Confirmed that `Tools/Replay/check_replay_branch.py` shows zero replay changes vs. master. Also validated (not deliberately...) that messing up the code caused replay changes. ### Description As above.

github.com/ArduPilot/ardupilot

Start to understand multiple camera IDs for mavlink and mission commands

master ← peterbarker:pr/camera-device-id

opened 09:40AM - 08 May 26 UTC

peterbarker

+379 -46

### Summary Understand various command parameters and field values which spec…ify which camera to trigger / zoom. ### 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) (partial) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description Starts to add support for being able to command more than one camera. We currently ignore the parameters meaning we'd trigger the primary meaning we're just not spec-compliant. The spec change broke us. This takes the approach of passing a lambda function into a function on AP_Camera which understands the mavlink ID semantics. We don't use lambda functions in the code much, but this definitely reduces the number of places that we'd need to have the logic. There are roughly 17 commands that should use the logic. ``` // call lambda for each backend indicated by camera_id. The // mavlink semantics are that if camera_id is zero then the // operation is to be performed on all backends. If the value is // between 1 and 6 (inclusive) then the camera is assumed to be // local. If it is greater than 6 then the value is assumed to be // a mavlink component ID. ``` If this is acceptable it will also be used in mount

github.com/ArduPilot/ardupilot

Remove incorrect ExternalAHRS eulers/rotmat rotation

master ← peterbarker:pr/ahrs-rotation-fix

opened 01:42AM - 14 May 26 UTC

peterbarker

+4 -20

### Summary Moves ExternalAHRS and eulers to be in same frame as its quaterni…on result. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description The AHRS ExternalAHRS backend was rotating the rotation matrix and euler values into the autopilot body frame, where each backend should be returning the attitude in vehicle body frame (i.e. the ExternalAHRS must trim itself into the vehicle body frame as it may be mounted at some weird angle). It was not rotating the quaternion, leaving that in the correct frame. This is not a small change - once applied if any trim was used for an ExternalAHRS unit they will need to be adjusted. We agreed at DevCallEU we can get away with release notes for this.

github.com/ArduPilot/ardupilot

AP_Scripting: never try and delay for more than 65535ms

master ← IamPete1:scriptingLongCallBack

opened 11:19PM - 14 May 26 UTC

IamPete1

+59 -2

### Summary The `hal.scheduler->delay` function takes a `uint16_t`. Scripting… might want to delay for longer than that, the values is from the users `return x, y` call. The value will just wrap down, so trying to delay for 5 mins for example you will currently actually get a delay of 37 seconds. ### 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 I have added a test lua script and a auto test to run the script and check there is no error. Upsettingly the timing thresholds have to be quite relaxed to pass when SITL is run with speedup. The thesholds still easily catch this bug.

github.com/ArduPilot/ardupilot

Plane: Loiter: roll steps when starting inside the radius

opened 02:13PM - 16 May 26 UTC

IamPete1

Plane DevCallTopic

With a large loiter radius there is a issue in the L1 controller that results in… very aggressive roll step outputs when traveling to the loiter radius from the center. <img width="1423" height="818" alt="Image" src="https://github.com/user-attachments/assets/67e1464f-2dc3-4d0d-84b6-09152c1189bc" /> This is caused by this if statement not triggering: https://github.com/ArduPilot/ardupilot/blob/6e059b7f19c8cfc50ba0897bbd0be6263ae1e4e0/libraries/AP_L1_Control/AP_L1_Control.cpp#L434-L437 This does happen in normal flight, but it can be made significantly worse by rolling into the direction of the loiter using stick mixing. I suspect a similar things could happen with wind and no stick mixing. I have created a auto test which reproduces the issue here: https://github.com/ArduPilot/ardupilot/pull/33082 Original report on the forum: https://discuss.ardupilot.org/t/desroll-briefly-blipping-hard-left-a-few-times-after-entering-loiter-mode/143791

CraigElder · May 19, 2026, 2:08pm

Attendee count (max): 17

UTC2304 - CI

Colcon
Deadreckoning regression
- Wouldn’t suggest flying Plane on master
- Plane: regression in non-GPS navigation · Issue #32980 · ArduPilot/ardupilot · GitHub
QURT hangs
Deadreckoning regression
- No movement on the fix for it
  - Would break workflows people actually use
- a revert of the original PR was requested
- Peter will create the revert and bring to DevCallEU

UTC2306 - skydroid s3 support

ODID board
Random number selected for ODID board

UTC2313 - vehicle update

Several bug fixes in
Terrain failsafe bug
Several PRs queued to fix the blockers found so far in the release
Copter crashed while using autotune
- Fast rates loop
- 4.7-specific or not?
Terrain hard landings
- May or may not be new
Chopped-pulses is PH’s top note

UTC2322 - AP_Logger: AP_Logger_MAVLink: push log blocks in io thread by peterbarker · Pull Request #19131 · ArduPilot/ardupilot · GitHub

Not for 4.7

UTC2323 - Follow mode offset rotation fix by lthall · Pull Request #33038 · ArduPilot/ardupilot · GitHub

maths problem in follow-mode offset

UTC2330 - AP_CANManager: send log_text via GCS and AP_Logger by bugobliterator · Pull Request #33010 · ArduPilot/ardupilot · GitHub

CAN-via-text
Superseded

UTC2330 - AP_CANManager: fix log_text heap corruption then remove completely by tpwrules · Pull Request #33031 · ArduPilot/ardupilot · GitHub

Remove log_text heap corruption
We removed a vast amount of code
What to do in the release?
- Peter wants to delete everything
- We’ll try to backport
- Peter will do it if it doesn’t cherry-pick cleanly

UTC2337 -https://github.com/ArduPilot/ardupilot/pull/32955

Spoolup reporting enhancements
Minimal fix incoming

UTC2340 - Copter: switch OFF does not abort an ongoing Flip · Issue #32491 · ArduPilot/ardupilot · GitHub

Copter: Permit abandoning flip via RC Aux change by hunt0r · Pull Request #33005 · ArduPilot/ardupilot · GitHub
- Just needs a test fix
Allows abandoning flips

UTC2353 - AP_AIS: Decode Class B standard and extended messages by IamPete1 · Pull Request #30652 · ArduPilot/ardupilot · GitHub

Decode AIS class B messages

UTC0002 - Plane: Loiter: roll steps when starting inside the radius · Issue #33083 · ArduPilot/ardupilot · GitHub

Roll steps when starting inside the radius
- E.g. 300m radius
Anti-indecision code?
- Not related
- It’s not-constrain-to-zero code

UTC0006 - AP_NavEKF3: set origin from public origin on InitialiseFilterBootStrap by peterbarker · Pull Request #32882 · ArduPilot/ardupilot · GitHub

Set origin from public origin
Randy was concerned that we were using get_origin to decide if the EKF was initialised
- Found one place
Can test this with Andy’s reset-configured-EKF cod
- EKF Forced reset
- Need an autotest
Remove Andy’s equivalent code
Peter will bring back to DevCallEU

UTC0022 - https://github.com/ArduPilot/ardupilot/pull/32923

GRF rangefinder supprot (again)
Merged!

UTC0024 - Plane: regression in non-GPS navigation · Issue #32980 · ArduPilot/ardupilot · GitHub

Regression in DeadReckoning navigation issue
People requested Peter bring a PR to DevCallEU to revert the change which broke things

UTC0030 - AP_NavEKF3: loop over states in FuseVelPosNED Kalman gain computation by tpwrules · Pull Request #32993 · ArduPilot/ardupilot · GitHub

FuseVelPosNED cleanups
Merged!

UTC0031 - Start to understand multiple camera IDs for mavlink and mission commands by peterbarker · Pull Request #33009 · ArduPilot/ardupilot · GitHub

Start understanding multiple camera IDs
Can be merged on CI pass

UTC0041 - Rover: add has_ever_passed check to EKF failsafe by deepak61296 · Pull Request #33016 · ArduPilot/ardupilot · GitHub

Stop EKF failsafe triggering soon after armed
Adds a has-ever-passed
Concern was that you could be in a mode with a position estimate
- Turned out not to be a problem

UTC0044 - Remove incorrect ExternalAHRS eulers/rotmat rotation by peterbarker · Pull Request #33050 · ArduPilot/ardupilot · GitHub

Correct externalahrs rotation
Important for release notes!
Merged!

UTC0050 - AP_Scripting: never try and delay for more than 65535ms by IamPete1 · Pull Request #33060 · ArduPilot/ardupilot · GitHub

Don’t sleep for more than 65535ms
Not user-visible, just an infrastructure fix
merged!

UTC0053 - Copter: set AP_Proximity scheduler expected time to 200us by tatsuy · Pull Request #33068 · ArduPilot/ardupilot · GitHub

Increase time allowed for proximity sensor to function
Stop overruns
Merged!

UTC0057 - off the floor

https://custom-beta.ardupilot.org/
- Cool!
- Please provide feedback to Shiv
- You can upload a yaml file now
- Mouse-overs for stuff in downloads
Rp2350
- Full SMP
- Chibios on both cores

Attendee count (max): 17

UTC2304 - CI

UTC2306 - skydroid s3 support

UTC2322 - AP_Logger: AP_Logger_MAVLink: push log blocks in io thread by peterbarker · Pull Request #19131 · ArduPilot/ardupilot · GitHub

UTC2330 - AP_CANManager: send log_text via GCS and AP_Logger by bugobliterator · Pull Request #33010 · ArduPilot/ardupilot · GitHub

UTC2330 - AP_CANManager: fix log_text heap corruption then remove completely by tpwrules · Pull Request #33031 · ArduPilot/ardupilot · GitHub

UTC2337 -https://github.com/ArduPilot/ardupilot/pull/32955

UTC2340 - Copter: switch OFF does not abort an ongoing Flip · Issue #32491 · ArduPilot/ardupilot · GitHub

UTC2353 - AP_AIS: Decode Class B standard and extended messages by IamPete1 · Pull Request #30652 · ArduPilot/ardupilot · GitHub

UTC0002 - Plane: Loiter: roll steps when starting inside the radius · Issue #33083 · ArduPilot/ardupilot · GitHub

UTC0006 - AP_NavEKF3: set origin from public origin on InitialiseFilterBootStrap by peterbarker · Pull Request #32882 · ArduPilot/ardupilot · GitHub

UTC0022 - https://github.com/ArduPilot/ardupilot/pull/32923

UTC0024 - Plane: regression in non-GPS navigation · Issue #32980 · ArduPilot/ardupilot · GitHub

UTC0030 - AP_NavEKF3: loop over states in FuseVelPosNED Kalman gain computation by tpwrules · Pull Request #32993 · ArduPilot/ardupilot · GitHub

UTC0031 - Start to understand multiple camera IDs for mavlink and mission commands by peterbarker · Pull Request #33009 · ArduPilot/ardupilot · GitHub

UTC0041 - Rover: add has_ever_passed check to EKF failsafe by deepak61296 · Pull Request #33016 · ArduPilot/ardupilot · GitHub

UTC0044 - Remove incorrect ExternalAHRS eulers/rotmat rotation by peterbarker · Pull Request #33050 · ArduPilot/ardupilot · GitHub

UTC0050 - AP_Scripting: never try and delay for more than 65535ms by IamPete1 · Pull Request #33060 · ArduPilot/ardupilot · GitHub

UTC0053 - Copter: set AP_Proximity scheduler expected time to 200us by tatsuy · Pull Request #33068 · ArduPilot/ardupilot · GitHub

UTC0057 - off the floor

UTC0110 - close