Dev Call May 25, 2026

CraigElder · May 25, 2026, 11:02pm

CL 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/28876 (4.6 issue) - [ ] Mount POI sometimes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64)) - [ ] Mount POI lock not included in default firmware ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/43)) - [ ] Quadplane QLand over speed ([discussion](https://discuss.ardupilot.org/t/qland-vertical-speed/143366/2)) ### Confirmed issues - [ ] QuikTune Lua script should restrict which modes it operates in ([PR](https://github.com/ArduPilot/ardupilot/pull/33025)) - [ ] Copter crash while using AutoTune with fast rates ([discussion](https://discuss.ardupilot.org/t/crash-during-autotune-uncommanded-pitch-movement-during-roll-tuning-arducopter-4-7-0-beta3/143598)) - [ ] LIS2MDL / IIS2MDC [found to be](https://github.com/ArduPilot/ardupilot/pull/33140) duplicate parts, consolidation required ### Copter Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/33168 ([PR](https://github.com/ArduPilot/ardupilot/pull/33169), also in 4.6) - [ ] https://github.com/ArduPilot/ardupilot/issues/31968 ### Plane Specific Issues - [ ] https://github.com/ArduPilot/ardupilot/issues/33083 ([PR](https://github.com/ArduPilot/ardupilot/pull/33093), also exists in 4.6) - [ ] https://github.com/ArduPilot/ardupilot/issues/32606 - [ ] https://github.com/ArduPilot/ardupilot/issues/32518 -- @IamPete1 or @samuelctabor to resolve ### Rover Specific Issues - None ### Mission Planner Issues - [ ] 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 - [ ] https://github.com/ArduPilot/ardupilot/issues/33125 (4.6 issue as well) - [ ] SpeedyBeeF405AIO not detecting Adafruit MMC56x3 compass ([discussion](https://discuss.ardupilot.org/t/adafruit-mmc56x3-with-speedybeef405aio/143395), also not working with 4.6) - [ ] https://github.com/ArduPilot/ardupilot/issues/32444 (also present in 4.6 and earlier) - [ ] https://github.com/ArduPilot/ardupilot/issues/32862 - [ ] https://github.com/ArduPilot/ardupilot/issues/32689 (4.6.3, not 4.7 yet) - [ ] Circle point-mount-at-ROI should only apply when circle radius > 0 (e.g. do not apply during panorama) ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/71), [issue](https://github.com/ArduPilot/ardupilot/issues/32641)) - [ ] Copter's SmartRTL always rises 2m before landing ([discussion](https://discuss.ardupilot.org/t/smartrtl-rises-to-2m-after-reaching-home-before-landing/143126/2)) -- present in 4.6 so not a blocker ### Resolved issues - [x] https://github.com/ArduPilot/ardupilot/issues/33165 ([discussion](https://github.com/ArduPilot/ardupilot/issues/33165)) -- user error - [x] https://github.com/ArduPilot/ardupilot/issues/32977 ([PR](https://github.com/ArduPilot/ardupilot/pull/33016), also exists in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] Copter follow mode alt overshoot bug ([PR](https://github.com/ArduPilot/ardupilot/pull/33109)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32491 ([PR](https://github.com/ArduPilot/ardupilot/pull/33005), 4.6 issue) -- resolved ahead of 4.7.0-beta6 - [x] Spool up changes causing spurious errors (reported by AndyP, [PR](https://github.com/ArduPilot/ardupilot/pull/32955)) -- resolved ahead of 4.7.0-beta6 - [x] buffer overflow related to CAN logging (reported by PeterB, [PR](https://github.com/ArduPilot/ardupilot/pull/33031)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32811 ([PR1](https://github.com/ArduPilot/ardupilot/pull/33020)) -- resolved ahead of 4.7.0-beta6 - [x] Copter follow mode bug ([PR](https://github.com/ArduPilot/ardupilot/pull/33038)) -- resolved ahead of 4.7.0-beta6 - [x] https://github.com/ArduPilot/ardupilot/issues/32942 ([PR](https://github.com/ArduPilot/ardupilot/pull/32943), also present in 4.6) -- resolved ahead of 4.7.0-beta6 - [x] plane when enabling safety surfaces to to full deflection on tridge's hero, need to look with saleae, fixed in https://github.com/ArduPilot/ardupilot/pull/32979 -- included in 4.7.0-beta5 - [x] Payload place may get stuck based on alt field ([PR](https://github.com/ArduPilot/ardupilot/pull/32634)) -- resoled ahead of -4.7.0-beta5 - [x] copter-circle-speed script not working correctly ([issue](https://github.com/ArduPilot/ardupilot/issues/32799)) -- could not reproduce, appears to work fine - [x] Terrain downloaded to SD card unnecessarily reloaded in flight? ([issue](https://github.com/ArduPilot/ardupilot/issues/32773), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7690)) - [x] Altitude estimate offset when switching between baro and rangefinder source ([discussion1](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/28), [discussion2](https://discuss.ardupilot.org/t/re-baro-alt-reset/143333), [issue](https://github.com/ArduPilot/ardupilot/issues/32612), [PR](https://github.com/ArduPilot/ardupilot/pull/32931)) -- resolved for 4.7.0-beta4 - [x] ELRS RC related crash ([issue1](https://github.com/ArduPilot/ardupilot/issues/32653), [issue2](https://github.com/ArduPilot/ardupilot/issues/32862), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7701)) -- existing issue, workaround added to wiki, covered by [issue 32862](https://github.com/ArduPilot/ardupilot/issues/32862) - [x] TradHeli PID gain multiplier reset issue ([PR](https://github.com/ArduPilot/ardupilot/pull/32725)) -- resolved ahead of 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/pull/32892 -- resolved ahead of 4.7.0-beta4 - [x] Copter surface tracking altitude error not limited? ([discussion](https://discuss.ardupilot.org/t/surface-tracking-issues/142851/3), [issue](https://github.com/ArduPilot/ardupilot/issues/32740), [PR](https://github.com/ArduPilot/ardupilot/pull/32789), 4.6 issue as well) -- resolved in 4.8, not immediately planning to backport unless there is demand for it - [x] Rover watt limiter not working correctly ([relevant PR](https://github.com/ArduPilot/ardupilot/pull/31285), [discussion](https://discuss.ardupilot.org/t/rover-4-7-0-beta2-available-for-beta-testing/143065/10), [PR](https://github.com/ArduPilot/ardupilot/pull/32788)) -- resolved for 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/issues/32741 - [x] crash dump on custom FC ([discussion](https://discuss.ardupilot.org/t/watchdog-crash-dump-bin-arducopter-4-7-0-dev-on-custom-flight-controller/143475)) -- unsupported board, can't help - [x] https://github.com/ArduPilot/ardupilot/issues/32688 -- user error - [x] Mission Planner SITL gets 4.6.2-beta1 binary ([SITL firmware](https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/Beta/), [should be fixed by this job](https://github.com/ArduPilot/ardupilot/actions/runs/24375398698/job/71187757542), reported by @tridge) -- fixed ahead of 4.7.0-beta3 - [x] SBF GPS driver issue ([issue](https://github.com/ArduPilot/ardupilot/issues/32631), [PR1](https://github.com/ArduPilot/ardupilot/pull/32633/changes), [PR2](https://github.com/ArduPilot/ardupilot/pull/32642)) -- resolved for 4.7.0-beta4 - [x] https://github.com/ArduPilot/ardupilot/issues/32724 ([PR](https://github.com/ArduPilot/ardupilot/pull/32730), 4.6 issue as well?) -- resolved ahead of 4.7.0-beta4 - [x] Rover custom build server issue ([issue](https://github.com/ArduPilot/ardupilot/issues/32666?reload=1), [relevant PR](https://github.com/ArduPilot/ardupilot/pull/31285), [discussion](https://discuss.ardupilot.org/t/rover-4-7-0-beta2-available-for-beta-testing/143065/10), [PR](https://github.com/ArduPilot/ardupilot/pull/32687)) -- resolved for 4.7.0-beta3 - [x] Loiter/QLoiter feels slower, looks like inaccurate position hold. Likely due to consider how we can make it feel closer to 4.6 automatically. Or provide instructions on parameter changes ([relevant PR](https://github.com/ArduPilot/ardupilot/pull/31848), [PR](https://github.com/ArduPilot/ardupilot/pull/32643), [discussion](https://discuss.ardupilot.org/t/how-do-althold-and-loiter-feel-in-4-7-vs-4-6/143300)) -- resolved for 4.7.0-beta3 - [x] Realflight quadplanes not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/72)) -- could not reproduce the problem, RF evolution seems to work OK - [x] ArcWaypoints listed as WIP (reported by lthall, [PR](https://github.com/ArduPilot/mavlink/pull/497)) -- resolved for 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot_wiki/issues/7604 -- wiki updated ahead of 4.7.0-beta3 - [x] ARMING_SKIPCHK of 10 not skipping gyro and accel checks? ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/86)) -- misunderstanding - [x] https://github.com/ArduPilot/ardupilot/pull/32382 ([PR](https://github.com/ArduPilot/ardupilot/pull/32626)) -- resolved for 4.7.0-beta3 - [x] Circle mode points mount straight down when doing panorama ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/64)) -- user misunderstanding - [x] https://github.com/ArduPilot/MissionPlanner/issues/3693 -- resolved in MP ahead of 4.7.0-beta3 release - [x] RC_OPTIONS = 1 (Ignore RC Receiver) is not being respected ([discussion](https://discuss.ardupilot.org/t/rc-options-to-1-make-copter-yaw-spinning/142948), [PR](https://github.com/ArduPilot/ardupilot/pull/32488)) -- resolved for 4.7.0-beta3 - [x] BRD_SAFETY_DFLT = 0 should force BRD_SAFETYOPTION = 0? should update param desc? ([discussion](https://discuss.ardupilot.org/t/rover-4-6-3-arming-issues-when-trying-to-arm-second-time/142747/12)) -- working as expected, not new to 4.7 - [x] https://github.com/ArduPilot/ardupilot/issues/32511 -- could not reproduce, no response from user, created [security wiki page](https://ardupilot.org/dev/docs/security-landing-page.html) and improved [secure firmware instructions](https://github.com/ArduPilot/ardupilot/tree/master/Tools/scripts/signing) - [x] CUAV Pixhawk V3C not detecting IST8310 compass ([discussion](https://discuss.ardupilot.org/t/cuav-pixhawk-v3-ist8310-not-detected-with-4-7beta1/142785), [PR](https://github.com/ArduPilot/ardupilot/pull/32462)) -- resolved for 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot/issues/32506 ([PR](https://github.com/ArduPilot/ardupilot/pull/32508)) -- resolved ahead of 4.7.0-beta3 - [x] https://github.com/ArduPilot/ardupilot/pull/29087 missing from release notes ([discussion](https://discuss.ardupilot.org/t/plane-4-7-0-beta1-available-for-beta-testing/142742/9)) -- @IamPete1 updated the plane 4.7.0-beta1 release notes - [x] Plane Follow's FOLLP_SIM_TlF_FN should have upper case L ([PR](https://github.com/ArduPilot/ardupilot/pull/32456)) -- resolved for 4.7.0-beta2 - [x] UM982 GPS-for-yaw on CUAV V6X not working ([discussion](https://discuss.ardupilot.org/t/ardurover-4-7-0-new-issues-with-um982-moving-baseline/142916)) -- resolved by updating the UM982 firmware - [x] https://github.com/ArduPilot/ardupilot/issues/31584 -- resolved for 4.7.0-beta2 - [x] QGC altitude slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed for daily build on 18Mar2026 - [x] QGC takeoff slider not working ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- fixed in QGC 14148 - [x] QGC Parameters need updating (@rmackay9 and @DonLakeFlyer discussed if dev-team channel, [PR](https://github.com/mavlink/qgroundcontrol/pull/14148)) -- fixed in QGC daily on 17-Mar-2026 - [x] EKF's use of rangefinder and baro never switches back to rangefinder after switching to baro ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/15)) -- user error - [x] update PSC_ACCZ_I and PSC_ACCZ_P tuning advice https://ardupilot.org/copter/docs/initial-tuning-flight.html#test-althold ([PR](https://github.com/ArduPilot/ardupilot_wiki/pull/7482)) -- wiki updated ahead of 4.7.0-beta2 - [x] https://github.com/ArduPilot/ardupilot/pull/32381 -- resolved for 4.7.0-beta2 - [x] ATC_ACC conversion didn't work ([discussion](https://discuss.ardupilot.org/t/copter-4-7-0-beta1-available-for-beta-testing/142738/8)). Should we remove the "configured" checks ([code](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp#L1161)). Caused by installing 4.7.0-dev prior to release of beta1 - [x] https://github.com/ArduPilot/ardupilot/pull/32428 -- resolved for 4.7.0-beta2

github.com/ArduPilot/ardupilot

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

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

opened 01:06AM - 21 Jan 22 UTC

tatsuy

+316 -4

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

github.com/ArduPilot/ardupilot

Add support for MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET

master ← peterbarker:pr/MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET

opened 11:11AM - 03 Mar 23 UTC

peterbarker

+429 -44

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

github.com/ArduPilot/ardupilot

Home centered circle inclusion fence via MAVLink

master ← Ryanf55:home-centered-circle-inclusion

opened 12:02AM - 09 Sep 25 UTC

Ryanf55

+316 -21

# Purpose Implementation of https://github.com/mavlink/mavlink/pull/2346 p…aired with https://github.com/ArduPilot/MAVProxy/pull/1625 # Demo / Testing <img width="682" height="520" alt="image" src="https://github.com/user-attachments/assets/15c4a036-1f82-4f3f-a937-e1720c260971" /> Video: https://drive.google.com/file/d/1WDsIYuw_TqNxPGJJPlj3Restwu9Mm3Os/view?usp=drive_link # Automated Test ``` ./Tools/autotest/autotest.py build.Copter test.CopterTests2b.HomeCircleInclusionFence --map --speedup 1 ``` # Before Merge: - [x] I found a case to crash the autopilot when clearing fences. This needs chased down before merge. - [x] Implement autotests if we agree on the feature, and agree on which tests are worthwhile or missing

github.com/ArduPilot/ardupilot

AP_Proximity: add RPLidar S2 support

master ← tatsuy:pr-RPLiDARS2

opened 08:38AM - 05 Dec 25 UTC

tatsuy

+447 -1

### Summary Add RPLidar S2 support to AP_Proximity. This is a follow-up PR f…or #26835 which included the following changes: - RPLidar S2 support (originally contributed by @mirkix) - ~Removed memory copy for each measurement (by @mirkix)~ - Added Dense Express (capsulated) scan support for RPLidar S2 with checksum validation to reject corrupted packets - ~Added a SITL model for RPLidar S2~ move to #31730 - ~Extended the serial corruption simulator~ move to #31752 - Added a ProximitySensors autotest entry for rplidars2 ### 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 ### Description Reason for this follow-up PR I tested #26835 and confirmed that valid distance data could be obtained. But, I noticed that the reported distance values sometimes became abnormal during operation, and once this happened, the driver could continue outputting random values afterward. After investigating the issue, I found that noise or intermittent contact on the RPLidar S2 TX line could corrupt serial frames, causing the driver to lose synchronization with scan packets. To address this problem, this PR adds checksum validation for S2 Dense Express packets so that corrupted packets are discarded. This helps prevent invalid data from being accepted when noise is present and reduces persistent misinterpretation caused by loss of synchronization. ### Settings PRXx_TYPE 5 (RPLidarA2) SERIALx_PROTOCOL 11 (Lidar360) SERIALx_BAUD 1000 ### What I tested - SITL test Confirmed S2 (and A1/A2) work correctly in SITL: `sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidars2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map` `autotest.py --speedup=20 build.Copter test.Copter.ProximitySensors` - Serial Corruption Testing (using #31752) set `AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED` to 1 run SITL under Valgrind (-V) and confirmed no memory errors even under heavy corruption. (confirmed S2/A2) `sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidars2 --speedup=1 -l 51.8752066,14.6487840,0,0 -V` - Bench testing on CubeOrangePlus Tested with CubeOrangePlus + RPLIDAR S2/A2 Tested with Rover at 50 Hz loop rate using S2/A2 - HW Testing I manually wiggled the TX line on an RPLidar S2 unit to inject real-world serial corruption. Confirmed that: - corrupted packets are discarded via checksum validation, - the driver stays synchronised, - descriptor parsing no longer gets stuck in repeated RESETs, - only valid distance data continues to be used even while corruption is being injected. Messages captured with `RP_DEBUG_LEVEL=1` during HW testing (CubeOrangePlus, RPLIDAR S2): ``` 2026/04/21 17:25:28 : EXPRESS/DENSE checksum error 2026/04/21 17:25:28 : EXPRESS/DENSE checksum error 2026/04/21 17:25:28 : EXPRESS: no header candidate, dropping 327 bytes 2026/04/21 17:25:28 : EXPRESS: no header candidate, dropping 302 bytes <---> 2026/04/21 17:24:34 : LIDAR NO DATA 2026/04/21 17:24:34 : LIDAR NO DATA 2026/04/21 17:24:34 : Sent EXPRESS (Dense) scan request 2026/04/21 17:24:34 : RPLidar S2 hw=18 fw=2.1 2026/04/21 17:24:34 : Received DEVICE_INFO ``` I confirmed the error detection and resynchronization by manually wiggled the TX line and continuasly obtain the normal value from S2. - Flight testing Flight-tested the same functionality on an actual copter with v4.6: https://github.com/tatsuy/ardupilot/commits/RPLidarS2-4.6/ It worked as expected I only have A2 and S2 hardware, so I could not test A1, C1, or S1 directly. The new code path is enabled only for S2 via _use_dense_express; all other models continue to use the existing path unchanged. I also confirmed on A2 that existing hardware still works correctly with this change.

github.com/ArduPilot/ardupilot

AP_Math: unit tests for kinematic_limit()

master ← hunt0r:clarify-kinematic-limit-behavior

opened 01:12PM - 17 Mar 26 UTC

hunt0r

+108 -0

### Summary This PR adds unit tests for the `kinematic_limit(...)` function. … ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [x] Non-functional change - [x] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [x] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request To test the tests, I (locally) injected some mistakes and confirmed they switched to failing. ### Description This PR evolved during the review process, so the early discussions may not make sense in hindsight.

github.com/ArduPilot/ardupilot

hwdef: Add JFB200 of JAE flight controllers

master ← jfbblue0922:pr-Add_hwdef_JFB200

opened 10:48AM - 15 Apr 26 UTC

n-ito2222

+2446 -0

### Summary Add hwdef JFB200 for a JAE new flight controller. ### Classifi…cation & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [x] Tested on hardware - [ ] Logs attached - [x] Logs available on request

github.com/ArduPilot/ardupilot

AP_NavEKF3: Don't reset to stale GPS data

master ← priseborough:pr-ekf3_stale_gps_bugfix

opened 05:20AM - 30 Apr 26 UTC

priseborough

+3 -3

This fixes a vulnerability where the last GPS fix, regardless of age, could be b…e used to reset the EKF position. ### Summary This fixes a bug found during testing of https://github.com/ArduPilot/ardupilot/pull/31738. The bug report is here https://github.com/ArduPilot/ardupilot/issues/32868 ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description This is a one lone change that requires the GPS to be no more than 1 sample old( assuming a nominal 5Hz rate with some allowance for jitter) regardless of reset source setting.

github.com/ArduPilot/ardupilot

AP_HAL_QURT: Add support for the ModalAI VOXL3 board

master ← katzfey:pr-add-voxl3

opened 11:34PM - 01 May 26 UTC

katzfey

+836 -30

### Summary Add support for the new ModalAI VOXL3 board. ### Classificatio…n & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [x] Tested on hardware - [ ] Logs attached - [ ] Logs available on request Tested changes on both VOXL2 and VOXL3 hardware ### Description Adding support for VOXL3 included a new hwdef.dat file, support for specifying i2c buses in the hwdef.dat file, and adding remote UART support (on apps processor side) for GPS. The remote UART mechanism was built upon SerialManager so that up to 5 external serial ports can be configured.

github.com/ArduPilot/ardupilot

AP_L1_Control: limit loiter PD when inside radius

master ← Ventor-Innovations:bugfix/fix-loiter-inside-radius-pd

opened 11:13AM - 18 May 26 UTC

rubenp02

+10 -5

### Summary Fixes #33083. ### Classification & Testing (check all that app…ly 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 - [X] Logs attached - [ ] Logs available on request Tested using the autotest @IamPete1 made for this issue @ #33082. ### Description When loiter is entered from inside a large radius, the aircraft starts by flying out from near the loiter center before a usable tangential direction is established. In that case the existing wrong-way PD limit did not trigger, because it only caught negative tangential velocity. This extends the existing PD limiting to also cover the inside-radius case. ### Logs [inside-radius-roll-steps-bug-iampete-autotests.zip](https://github.com/user-attachments/files/27956752/inside-radius-roll-steps-bug-iampete-autotests.zip) #### Without fix <img width="1503" height="325" alt="imagen" src="https://github.com/user-attachments/assets/19d66596-4371-4efc-8ae5-34daf279d9a0" /> #### With this fix <img width="1535" height="325" alt="imagen" src="https://github.com/user-attachments/assets/3f39ab79-78b1-4b85-982b-f57011f6ced6" />

github.com/ArduPilot/ardupilot

Correct state when active backend changes

master ← peterbarker:pr/ahrs-correct-state-copying

opened 08:25AM - 19 May 26 UTC

peterbarker

+82 -225

### Summary Corrects state in the loop that the active backend changes ###… 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 This is a follow-on from https://github.com/ArduPilot/ardupilot/pull/33110 and is based upon it. There are only two commits on top of that PR, and they are both relatively simple. The first factors out the call to copying the backend estimates from the active EKF type (the PR this is based on made that trivial. This also removes the copying of the estimates from DCM all the time - the code it pretty clear that was pointless now. The second patch reorders the way we call methods after updating the backends such that we update the currently active backend and *then* copy stuff out of the active backend / make derived cached values!

github.com/ArduPilot/ardupilot

AP_NavEKF3: merge zeroRows and zeroCols into P-specific form

master ← tpwrules:pr/ek3-zrc

opened 05:49PM - 20 May 26 UTC

tpwrules

+28 -75

### Summary These are always called together and always called with `P` as th…e first argument. `P` must remain symmetric, so merging them removes chances for bugs and saves flash (~500B). ### 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 Confirmed that `Tools/Replay/check_replay_branch.py` shows zero replay changes vs. master. ### Description As above.

github.com/ArduPilot/ardupilot

AP_Compass: reuse IIS2MDC driver for LIS2MDL

master ← dakejahl:remove-lis2mdl-driver

opened 12:31AM - 21 May 26 UTC

dakejahl

+28 -166

## Summary Make `AP_Compass_LIS2MDL` a subclass of `AP_Compass_IIS2MDC` so LIS2M…DL boards run the cleaner IIS2MDC implementation, and gate the LIS2MDL internal-bus auto-probe so it stops silently dropping the rotation declared by an explicit `COMPASS ...` hwdef line. Stored `DEVTYPE_LIS2MDL` IDs and board hwdefs are unchanged, so existing calibrations are preserved. ## Problem LIS2MDL and IIS2MDC are the same ST silicon — identical WHO_AM_I, register map, I2C address, sensitivity. They only differ by part-number grade (consumer vs industrial). The LIS2MDL driver had bugs the IIS2MDC driver did not: - hardware offset cancellation (`CFG_REG_B = OFF_CANC`) was not enabled - only the ZYXDA data-ready bit was checked instead of the full `0x0F` mask - the compass slot index was passed to `accumulate_sample()` as `max_samples` Separately, the LIS2MDL internal-bus auto-probe in `_probe_external_i2c_compasses()` lacked the `if (all_external)` gate that HMC5843, QMC5883L/P, and IIS2MDC use. With `AP_COMPASS_LIS2MDL_ENABLED` defaulting on for >1MB-flash boards, the ungated probe claimed every internal-bus chip first with `ROTATION_NONE` hard-coded; `_i2c_sensor_is_registered()` then returned a null device to `HAL_MAG_PROBE_LIST`, so an explicit `COMPASS LIS2MDL|IIS2MDC I2C:0:0x1E false ROTATION_*` line in a board hwdef was a no-op and the declared rotation was silently dropped. ## Solution Same pattern as `AP_Baro_DPS310` deriving from `AP_Baro_DPS280`: - make `AP_Compass_IIS2MDC` inheritance-friendly (protected ctor/methods, virtual `device_type()` called from `init()` in place of the literal) - reintroduce `AP_Compass_LIS2MDL` as a thin subclass that inherits the IIS2MDC constructor and overrides `device_type()` to return `DEVTYPE_LIS2MDL` - alias `HAL_COMPASS_LIS2MDL_I2C_ADDR` to `HAL_COMPASS_IIS2MDC_I2C_ADDR` - compile the IIS2MDC class whenever either driver is enabled, so `AP_COMPASS_LIS2MDL_ENABLED` does not require boards to also enable `AP_COMPASS_IIS2MDC_ENABLED` - wrap the LIS2MDL internal probe in `if (all_external)` to match the other internal-i2c compass probes `AP_COMPASS_IIS2MDC_ENABLED` still defaults to off, so the IIS2MDC auto-probe does not start claiming chips that the LIS2MDL probe would have registered. Do not switch an existing board between `AP_COMPASS_LIS2MDL_ENABLED` and `AP_COMPASS_IIS2MDC_ENABLED`: the chip would be re-registered under the other `DEVTYPE_*` (0x18 vs 0x19), invalidating any field calibration the user has already stored. New boards can pick either flag.

github.com/ArduPilot/ardupilot

Avoid buffer over-read when passed extreme offset in FTP packet

master ← peterbarker:pr/lseek-buffer-problems

opened 02:36AM - 22 May 26 UTC

peterbarker

+66 -2

### Summary Avoids a buffer-overread (confirmed in SITL via a segfault) when …bad offsets are used ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ``` Board,plane CubeOrangePlus,8 ``` (included autotest does nasty things before, passes afterwards) ### Description Based on a patch extracted from https://github.com/ArduPilot/ardupilot/pull/33147/changes Changes the results of lseek to more-closely match POSIX standards.

github.com/ArduPilot/ardupilot

AP_Param: Purge param_overrides from default_list

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

opened 05:12AM - 22 May 26 UTC

LachlanConn

+39 -0

### Summary Removes out of sync defaults from defaults_list that sneak in befor…e the param_overrides[] is populated by embedded defaults. An example would be the servo constructor that sets SERVOx_FUNCTION for servo's >16 to -1. ### Classification & Testing (check all that apply and add your own) - [X] Checked by a human programmer - [ ] Non-functional change - [ ] No-binary change - [ ] Infrastructure change (e.g. unit tests, helper scripts) - [ ] Automated test(s) verify changes (e.g. unit test, autotest) - [X] Tested manually, description below (e.g. SITL) - [X] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description Found this out by chasing down the servo_function problem with defaults but seems to fix the NET_IP params too. Tested on cubeorange plus on bench with firmware for carbonix ottano which uses SERVOx_FUNCTION parameters >16 for motors. Before we would see -1 for defaults for all function params >16 now they correctly show the embedded defaults. <img width="1477" height="1219" alt="image" src="https://github.com/user-attachments/assets/f0bd87f1-107b-4c4f-bd06-b4512f32058b" />

github.com/ArduPilot/ardupilot

Copter: RTL may ignore pilot yaw during descent

master ← rmackay9:rtl-ignore-pilot-yaw-fix

opened 02:37AM - 23 May 26 UTC

rmackay9

+26 -8

### Summary This resolves issue https://github.com/ArduPilot/ardupilot/issues…/33168 and some related issues I found during testing. The two issues reported [during 4.7 beta testing](https://discuss.ardupilot.org/t/rc-options-to-1-make-copter-yaw-spinning/142948/16) were: - Even if the user sets [RTL_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#rtl-options-rtl-mode-options) = 4 (Ignore Pilot Yaw) the pilot's yaw input is still consumed during the landing stage of RTL - If an auto mission includes a Land command, even if [AUTO_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#auto-options-auto-mode-options) = 4 (Ignore Pilot Yaw) and/or [LAND_REPOSITION](https://ardupilot.org/copter/docs/parameters.html#land-reposition-land-repositioning) = 1, the pilot's yaw input in always consumed This PR makes a few changes to the use of [AUTO_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#auto-options-auto-mode-options), [RTL_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#rtl-options-rtl-mode-options), [GUID_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#guid-options-guided-mode-options) and [LAND_REPOSITION](https://ardupilot.org/copter/docs/parameters.html#land-reposition-land-repositioning) which resolves the issue. 1. Land mode uses LAND_REPOSITION to decide if pilot yaw input is consumed in LAND mode. There was previously no way to disable the pilot's yaw input in Land mode. 2. RTL mode uses RTL_OPTIONS to decide if pilot yaw is consumed except during the final Land or Descent stages where it falls back to land mode's use_pilot_yaw() method (which checks LAND_REPOSITION) 3. Auto mode uses AUTO_OPTIONS to decide if pilot yaw is consumed except when executing RTL, Land and NavGuided commands in which case it falls back to the corresponding flight mode's use_pilot_yaw() method. Overall this change allows pilot yaw input to be ignored in more situations. The current logic added in PR https://github.com/ArduPilot/ardupilot/pull/21651 was actually more restrictive than what was there before so in some ways this is a continuation of that change. Note1: I purposely have not fallen back to Circle mode's use-pilot-yaw method when executing LOITER_TURNS because I don't think this is what users would want or expect. Same for the loiter and loiter-to-alt commands. Note2: I have not changed the PayloadPlace submode which should probably act like the Land submode. I leave that to a future PR. I've extensively tested this in SITL to confirm the pilot input is consumed as described above including testing the Auto, Guided, Land, RTL flight modes and also each mode as run by a command within Auto ### 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 - [x] Logs available on request

github.com/ArduPilot/ardupilot

waf: ensure no .param files used for model defaults

master ← peterbarker:pr-claude/globbing-param-files

opened 12:40AM - 25 May 26 UTC

peterbarker

+4 -904

### Summary Adds a nice warning if someone is about to try to use a file whic…h doesn't actually work once embedded as a default. ### Classification & Testing (check all that apply and add your own) - [x] Checked by a human programmer - [ ] Non-functional change - [x] No-binary change - [x] Infrastructure change (e.g. unit tests, helper scripts) - [x] Automated test(s) verify changes (e.g. unit test, autotest) - [ ] Tested manually, description below (e.g. SITL) - [ ] Tested on hardware - [ ] Logs attached - [ ] Logs available on request ### Description we only glob-in .parm files, add a nice error for a user who tries to use the .param extension Will help prevent another https://github.com/ArduPilot/ardupilot/pull/32976 fix being required. Now also removes pair of stale "defaults" files which are not used by the code and not in the set of parameter files sometimes used when testing Copter. ``` ● Zero references confirmed. The 8 unreferenced files are: ┌──────────────────────────────┬─────────────────────────────────┐ │ File │ Notes │ ├──────────────────────────────┼─────────────────────────────────┤ │ copter-AVC2013.parm │ Old AVC 2013 competition config │ ├──────────────────────────────┼─────────────────────────────────┤ │ copter-beacon.parm │ │ ├──────────────────────────────┼─────────────────────────────────┤ │ copter-gimbal.parm │ │ ├──────────────────────────────┼─────────────────────────────────┤ │ copter-gps-for-yaw-nmea.parm │ │ ├──────────────────────────────┼─────────────────────────────────┤ │ copter-rangefinder.parm │ │ ├──────────────────────────────┼─────────────────────────────────┤ │ copter-vicon.parm │ │ ├──────────────────────────────┼─────────────────────────────────┤ │ copter-wind-estimates.parm │ │ ├──────────────────────────────┼─────────────────────────────────┤ │ vee-gull_005.param │ │ └──────────────────────────────┴─────────────────────────────────┘ The hypothesis is confirmed: the only ways a file in default_params/ can be used are via vehicleinfo.json (the main source) or an explicit reference in a .py file. None of these 8 appear in either. They're dead files. ```

CraigElder · May 26, 2026, 1:48am

Attendee count (max): 16

UTC2304 - CI

Rover guided-mode tests
Sub Parameters thing (TSYS01 probe being all uppity because something else is probing the address)
Location-from-offset with cm rounding at startup time on Copter
infrastructure failures (unable to clone repos)
colcon stuff
Replay issues
- Might be fsync causing issues?

UTC2312 - Release update

Many bugs fixed
- Plane throttle
- Rover failsafe
- Follow-mode fixes
Issue for yaw in RTL is in PR now
Blockers?
- None for Plane
- Mount-poiu
- Quiktune script limits
- Autotune crashes with fast rate enabled
  - Users can get into this dangerous state
  - Probably no different between 4.6 and 4.7
- AP_Compass: reuse IIS2MDC driver for LIS2MDL by dakejahl · Pull Request #33140 · ArduPilot/ardupilot · GitHub
  - Duplicate drivers for the same compass driver
- AP_Compass: persist dev_id when backend registers by dakejahl · Pull Request #33136 · ArduPilot/ardupilot · GitHub
  - Compass device ID persistence not really working
  - Deciding if this is a regression is the most important thing
New beta out maybe this Friday and release after that

UTC2314 - MissionPlanner

No DO_RETURN_PATH_START
- Bob has arc waypoints for MissionPlanner too
- Tridge has a simple one
- MissionPlanner does not cope with new mission item types

UTC2330 - AP_Compass: reuse IIS2MDC driver for LIS2MDL by dakejahl · Pull Request #33140 · ArduPilot/ardupilot · GitHub

LIS2MDL vs IIS2MDC
Remove everything but comment / sensor description

UTC2334 - Copter: RTL may ignore pilot yaw during descent by rmackay9 · Pull Request #33169 · ArduPilot/ardupilot · GitHub

ELRS problem causing yaw on descend
Yaw spinning
RC_OPTIONS to 1 make copter yaw spinning - #16 by Dode
PB mentioned the concept this might consuming bad RC input
Change in behaviour that you need to enable land-repositioning if you want to yaw the vehicle
Would be good to land-reposition in quadplanes

UTC2337 - https://github.com/ArduPilot/ardupilot/pull/19844

Pilot RC overrides test
Peter will look at

UTC2343 - https://github.com/ArduPilot/ardupilot/pull/27767

Support above-terrain in set_target_posvel_NED in above-terrain for Sub
Randy thinks they really should terrain-follow

UTC2352 - AP_AIS: Decode Class B standard and extended messages by IamPete1 · Pull Request #30652 · ArduPilot/ardupilot · GitHub

Decode class B standard and extended messages
Approved

UTC2357 - Add support for MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET by peterbarker · Pull Request #23092 · ArduPilot/ardupilot · GitHub

“Site scan” support PR
It’s close
Peter to ping Randy to get this merged once minor things fixed

UTC0003 - Home centered circle inclusion fence via MAVLink by Ryanf55 · Pull Request #31064 · ArduPilot/ardupilot · GitHub

Home-centred inclusion circle
Test flown on the weekend
MergeOnCIPass

UTC0009 - AP_Proximity: add RPLidar S2 support by tatsuy · Pull Request #31663 · ArduPilot/ardupilot · GitHub

Dynamic allocation for the memory?
- That would cost everyone flash!
MergeOnCIPass

UTC0017 - AP_Math: unit tests for kinematic_limit() by hunt0r · Pull Request #32470 · ArduPilot/ardupilot · GitHub

Add unit tests for kinematic limits
MergeOnCIPass

UTC0018 - AP_Math: unit tests for kinematic_limit() by hunt0r · Pull Request #32470 · ArduPilot/ardupilot · GitHub

Add JAE flight controllers
Waiting on Henry

UTC0019 - AP_NavEKF3: Don't reset to stale GPS data by priseborough · Pull Request #32940 · ArduPilot/ardupilot · GitHub

Don’t reset to stale GPS data
Logic stuff-up
resetDataSource::DEFAULT should really be resetDataSource::BEST
Randy thinks maybe we don’t always read data through the buffer
- He will look at that
We’ll fix the Velocity problem while we’re at it

UTC0024 - github.com/ArduPilot/ardupilot/pull/32963

Support for VOXL3
Merged!

UTC0027 - AP_L1_Control: limit loiter PD when inside radius by rubenp02 · Pull Request #33093 · ArduPilot/ardupilot · GitHub

Limit loiter PD when inside radius
- Fixes planes flying out onto a circle
Sometimes slightly different navigation
Merged!

UTC0031 - Correct state when active backend changes by peterbarker · Pull Request #33114 · ArduPilot/ardupilot · GitHub

Correct state when active backend type changes
Merged!

UTC0042 - AP_NavEKF3: merge zeroRows and zeroCols into P-specific form by tpwrules · Pull Request #33132 · ArduPilot/ardupilot · GitHub

Merge zeroRows and zeroCols into a P-specific
Merged!

UTC0043 - Avoid buffer over-read when passed extreme offset in FTP packet by peterbarker · Pull Request #33156 · ArduPilot/ardupilot · GitHub

Avoid buffer over-read when passed a bad offset
MergeOnCIPass
If there was bug in MissionPlanner this could cause the autopilot to hard-fault
Huibean verified this on real hardware
- WDG: T-3 SL0 FL217 FT3 FA20074580 FTP58 FLR10008000 FICSR2051 MM0 MC0 IE2048 IEC1 TN:FTP

UTC0050 - AP_Param: Purge param_overrides from default_list by LachlanConn · Pull Request #33159 · ArduPilot/ardupilot · GitHub

Problem with defaults
Dynamically created parameters may not exist so might get filtered out with this?
Q_ parameters are obvious candidate for this
- Servo channels in particular
Setup_object_defaults in constructors suck
- init() method instead?
- You get consistent ordering this way
CI test inbound!

UTC0058 - waf: ensure no .param files used for model defaults by peterbarker · Pull Request #33184 · ArduPilot/ardupilot · GitHub

Ensure no .param files are used
- Stop breaking things like Callisto again
Merged!
MissionPlanner defaults to .param

Attendee count (max): 16

UTC2304 - CI

UTC2312 - Release update

UTC2314 - MissionPlanner

UTC2330 - AP_Compass: reuse IIS2MDC driver for LIS2MDL by dakejahl · Pull Request #33140 · ArduPilot/ardupilot · GitHub

UTC2334 - Copter: RTL may ignore pilot yaw during descent by rmackay9 · Pull Request #33169 · ArduPilot/ardupilot · GitHub

UTC2337 - https://github.com/ArduPilot/ardupilot/pull/19844

UTC2343 - https://github.com/ArduPilot/ardupilot/pull/27767

UTC2352 - AP_AIS: Decode Class B standard and extended messages by IamPete1 · Pull Request #30652 · ArduPilot/ardupilot · GitHub

UTC2357 - Add support for MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET by peterbarker · Pull Request #23092 · ArduPilot/ardupilot · GitHub

UTC0003 - Home centered circle inclusion fence via MAVLink by Ryanf55 · Pull Request #31064 · ArduPilot/ardupilot · GitHub

UTC0009 - AP_Proximity: add RPLidar S2 support by tatsuy · Pull Request #31663 · ArduPilot/ardupilot · GitHub

UTC0017 - AP_Math: unit tests for kinematic_limit() by hunt0r · Pull Request #32470 · ArduPilot/ardupilot · GitHub

UTC0018 - AP_Math: unit tests for kinematic_limit() by hunt0r · Pull Request #32470 · ArduPilot/ardupilot · GitHub

UTC0019 - AP_NavEKF3: Don't reset to stale GPS data by priseborough · Pull Request #32940 · ArduPilot/ardupilot · GitHub

UTC0024 - github.com/ArduPilot/ardupilot/pull/32963

UTC0027 - AP_L1_Control: limit loiter PD when inside radius by rubenp02 · Pull Request #33093 · ArduPilot/ardupilot · GitHub

UTC0031 - Correct state when active backend changes by peterbarker · Pull Request #33114 · ArduPilot/ardupilot · GitHub

UTC0042 - AP_NavEKF3: merge zeroRows and zeroCols into P-specific form by tpwrules · Pull Request #33132 · ArduPilot/ardupilot · GitHub

UTC0043 - Avoid buffer over-read when passed extreme offset in FTP packet by peterbarker · Pull Request #33156 · ArduPilot/ardupilot · GitHub

UTC0050 - AP_Param: Purge param_overrides from default_list by LachlanConn · Pull Request #33159 · ArduPilot/ardupilot · GitHub

UTC0058 - waf: ensure no .param files used for model defaults by peterbarker · Pull Request #33184 · ArduPilot/ardupilot · GitHub

UTC0108 - close