Dev Call Nov 29, 2021

CraigElder · November 29, 2021, 10:44pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

AP_IntertialNav clarify 2D vs 3D uses and get_bearing_cd() takes Vector2f

ArduPilot:master ← hendjoshsr71:pr/Location_inav_cleanups

opened 06:24AM - 13 Sep 21 UTC

hendjoshsr71

+234 -244

The purpose of this PR is to make the following functions take Vector2f as that …is all they use `get_bearing_cd()` & `get_horizontal_distance_cm()` The other purpose is to simplify & clarify places where `inav.position()` is being used, but only in 2D to be `inav.position_xy()` My reasoning for this is I think it will help as an in-between step to remove NEU by making it clearer what is only XY vs Z in later PRs. It also uses `inav.get_altitude()` or `inav.get_velocity_z()` where appropriate. Not sure how useful it is? This PR saves 380+ bytes on Durandal for copter & just a wee bit elsewhere. There are a couple spots with PosTypes where attention must be paid to where and how conversion is happening to keep it functionally equivalent.

github.com/ArduPilot/ardupilot

AP_Compass: move param to table per instance

ArduPilot:master ← IamPete1:compass_params

opened 10:08PM - 02 Nov 21 UTC

IamPete1

+736 -713

I was looking at changing `COMPASS_MOTCT` for battery instances and decided that… the whole compass param tree is a mess. So I have converted to a per instance table. The names have changes a little since the number has to come before the suffix. ``` COMPASS_ORIENT changed to COMPASS1_ORIENT COMPASS_ORIENT2 changed to COMPASS2_ORIENT ect.... ``` Will need some GCS change to look for the new param names, I do think the naming is a improvement. `COMPASS1_` now gets you all compass 1 params rather than having to try and pick them out of the list maunaly. `COMPASS_ENABLE` has also been moved to the top of the table and been given a enable flag. Once this is in I would like to move `COMPASS_MOTCT` to the new instance param so we can compensate different compasses for different things.

github.com/ArduPilot/ardupilot

Tradheli: fix bug for auto missions using continue after land

ArduPilot:master ← bnsgeyer:pr-auto-spoolup-fix

opened 11:27AM - 28 Nov 21 UTC

bnsgeyer

+19 -1

With the recent capability in Copter 4.1 for helicopters to be able to land and …then takeoff during an auto mission, it was discovered that the rotor was not allowed to spool up completely before the takeoff was initiated by the autopilot resulting in the aircraft spinning until it regained tail rotor effectiveness. **How the autopilot determines runup complete and setting ground idle** The reason for the premature takeoff is due to how the autopilot determines when spool up is complete. The run up time (H_RUNUP_TIME) is what it uses during spool up to determine run up complete (ie rotor at flight capable RPM). The autopilot counts up from when the motor interlock switch is enabled. When it reaches runup time it declares runup complete and the autopilot raises the collective to take off. When the motor interlock is disabled, the autopilot counts down until it reaches the critical speed (H_RSC_CRITICAL) and at that point declares that the rotor is below critical and the autopilot allows disarming if in an auto mode like RTL or. LAND. **What happens in an auto mission with continue after land** What happens in the continue after land situation is the aircraft lands and waits for rotor speed below critical. Once that occurs, the autopilot initiates spool up. But only counts up from the critical speed instead of counting from zero. So it you had the runup time set to 10 seconds and the critical speed at 50%, the autopilot would only count 5 seconds to declare below critical rotor speed and then count up 5 seconds (instead of the full 10 seconds) to declare runup complete. For heli’s that use the governor of the ESC (H_RSC_MODE set to 2), this may not be enough time for the ESC to complete its spool up and thus the autopilot will try to take off before the ESC is ready. **How it was fixed in this PR** Ground Idle for heli's has always been set once the rotor speed went below the critical rotor speed determined based on the runup time. The critical rotor speed is not the speed at which the ground idle should be set because in most cases, the rotor is still spinning 700 to 1000 RPM. It would be more appropriate to make the autopilot wait the full length of the runup time before declaring ground idle. This forces the autopilot to use the full runup time for the subsequent spool up and launch. The code already protects the user from going into other non-manual throttle modes while the aircraft is spooling down or spooling up. which should keep users from switching into auto or loiter and trying to takeoff before the rotor is ready for flight. Thus the change in this PR was to force the autopilot to wait the length of the runup time before declaring ground idle. **Testing** This PR was tested in SITL with Realflight. Want to test it in an actual heli before merging

github.com/ArduPilot/ardupilot

AP_Terrain: cast result of labs to unsigned

ArduPilot:master ← peterbarker:pr/terrain-abs-fix

opened 03:37AM - 29 Nov 21 UTC

peterbarker

+1 -1

Fixes: ``` ../../libraries/AP_Terrain/TerrainGCS.cpp: In member function ‘vo…id AP_Terrain:: handle_terrain_data(const mavlink_message_t&)’: ../../libraries/AP_Terrain/AP_Terrain.h:65:55: error: comparison between signed and unsigned integer expressions [-Werror=sign-compare] #define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()* 100)) ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~ ../../libraries/AP_Terrain/AP_Terrain.h:65:55: note: in definition of macro ‘TER RAIN_LATLON_EQUAL’ #define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()* 100)) ^~ compilation terminated due to -Wfatal-errors. cc1plus: some warnings being treated as errors In file included from ../../libraries/AP_Terrain/TerrainUtil.cpp:24:0: ../../libraries/AP_Terrain/TerrainUtil.cpp: In member function ‘AP_Terrain::grid _cache& AP_Terrain::find_grid_cache(const AP_Terrain::grid_info&)’: ../../libraries/AP_Terrain/AP_Terrain.h:65:55: error: comparison between signed and unsigned integer expressions [-Werror=sign-compare] #define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()* 100)) ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~ ``` The return value of labs is signed Tested as far as ensuring examples compile for navio.

github.com/ArduPilot/ardupilot

Cubes Define EKx_IMU_MASK and Change INS_USE check to apply for all Cubes

ArduPilot:master ← hendjoshsr71:prt/define_ekf_imu_mask

opened 06:38AM - 29 Nov 21 UTC

hendjoshsr71

+29 -5

This PR sets the default `EKF_IMU_MASK` to use all three IMUs and changes the `I…NS_USEx` check to apply to all cubes. This was discussed on discord with @proficnc. [Here](https://discord.com/channels/674039678562861068/780728024756781056/914278885804355625) It also sets the `INS_USE` check that was for only cubeblack to be for all cubes. Should this be set as the default via the hwdef? "The answer from Cubepilot is ABSOLUTELY YES! But the pull request for this was rejected." I couldn't find the PR discussed. My one thought is that enabling this for F4s in this manner might cause a bunch of support issues on updating. The user would need to go in and switch back to `EK3_IMU_MASK 3` on an update if there resources are constrained.

github.com/ArduPilot/ardupilot

SRV_Channel: correct casting of servo function number

ArduPilot:master ← peterbarker:pr/cast-fix

opened 07:39AM - 29 Nov 21 UTC

peterbarker

+7 -7

This seems to be a memory-overwrite bug when a user misconfigures a channel (or,… for example, uses an older firmware after using a servo function only available in a newer firmware). In the below image it seems we are just about to overwrite some memory well past the end of the `functions` array - the `SERVO5_FUNCTION` was set to 350) ![image](https://user-images.githubusercontent.com/7077857/143826236-fd6008a3-73ad-463e-967e-26f052f5e9a5.png)

github.com/ArduPilot/ardupilot

AP_Math: memcpy nanfs rather than iteratively setting them

ArduPilot:master ← peterbarker:pr/memcpy-nanfs

opened 12:52PM - 29 Nov 21 UTC

peterbarker

+36 -1

This provides a measurable performance increase on SITL. `time ./Tools/autote…st/autotest.py test.Copter.Callisto` See "user" times here: master: ``` real 0m28.313s user 0m15.324s sys 0m3.082s real 0m28.341s user 0m15.592s sys 0m3.040s real 0m28.340s user 0m15.343s sys 0m3.109s ``` pr/memcpy-nanfs: ``` real 0m28.325s user 0m13.763s sys 0m3.305s real 0m28.323s user 0m13.852s sys 0m3.127s real 0m28.357s user 0m14.134s sys 0m3.227s real 0m28.488s user 0m14.161s sys 0m3.393s ```

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.1.0 issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.1 release - [ ] primary …airspeed needs to switch with EKF lane when enabling airspeed affinity - [ ] need auto test for this issue: https://discuss.ardupilot.org/t/plane-losing-position-and-drifts-away-ekf-gps-failure/78461 - [ ] internal error on camera feedback trigger: https://discuss.ardupilot.org/t/plane-4-1-stable/76507/180 - [x] transition to approach for VTOLLand too close to landing point. Log from Tim French - [ ] land steering control bug: https://discuss.ardupilot.org/t/the-plane-turn-to-one-side-as-soon-as-touch-down-with-nose-wheel-setting-ground-streering/77346/2 - [ ] FPort issue of loss of comms after a few minutes: https://discuss.ardupilot.org/t/plane-4-1-stable/76507/92 - [x] RC protocol re-detected incorrectly in flight due to FLOAT RCININT: https://discuss.ardupilot.org/t/plane-crash-with-no-chance-to-save-at-all/76706 - [x] bug in saving in AUTOTUNE mode: https://github.com/ArduPilot/ardupilot/pull/18883 - [ ] NaN in set_throttle_avg_max() for tri-tilt quadplane https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/242 - [x] report of poor wind estimation on takeoff with no compass: https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/179?u=tridge #18718 - [x] new quadplane landing system #14938 - [ ] asymmetric qlanding speed/accel limits - [x] new ACPID for fixed wing PIDs #15377 - [ ] disable SMAX when in QAUTOTUNE twitch - [x] EKF3 long distance issue - [x] investigate GPS lag issue - [ ] hybrid landing with RTL/QRTL from high alt #10559 - [ ] need fence status on MissionPlanner - [x] fix log listing stopping logging, which corrupts replay logs - [x] on quadplane land adjust pos for change in EKF position reset to cope with GPS change - [x] clarify GPS pos as vs CoG or vs IMU - [ ] obey primary sensors with EK3_AFFINITY - [ ] rangefinder offset applied twice (#17424) - [ ] ~interrupt storm with misconfigured camera (#17465)~ (not a blocker as it was caught and a misconfiguration) - [x] add API for lock-step detection to suppress panic in pos controller init check - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] main loop stuck when arming MatekF405-STD with soaring enabled - [x] test VTOL approach option for loiter to alt landing - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [x] fuse sideslip when airspeed enabled - [ ] surface control while booting not working: #17966 Pending quadplane features from Kris: - [x] When the safety switch is disabled, the Tilt servos may oscillate considerably once when connected to the battery. This causes the propeller to strike the wing and damage it. Possible solution: Move BoardConfig.init_safety() in system.cpp to run BoardConfig.init_safety() 2 seconds after init has finished. Update: fixed in #15942 - [ ] In some cases, failsafe will change the flight mode before entering failsafe, which results in the AUTO mode not continuing. Need example log Features for later 4.1.x releases: - [ ] ship landing code #14888 - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter: 4.1.0 issues list

opened 10:34AM - 02 Feb 21 UTC

rmackay9

Copter DevCallTopic ReleaseAdmin

This is a list of known issues especially blockers for the 4.1.0 copter release.… (also see [Rover-4.1](https://github.com/ArduPilot/ardupilot/issues/17116), [Plane-4.1](https://github.com/ArduPilot/ardupilot/issues/15941), [Wiki-4.1](https://github.com/ArduPilot/ardupilot_wiki/issues/1756)) Issues to be resolved asap: - [ ] TradHeli bug fix for continue after land ([PR](https://github.com/ArduPilot/ardupilot/pull/19383)) - [ ] EKF3 vertical velocity issue with loss of GPS ([issue](https://github.com/ArduPilot/ardupilot/issues/19386)) - [ ] EKF3 won't initialise without GPS unless EK3_SRCx are changed ([issue](https://github.com/ArduPilot/ardupilot/issues/19072)) Nice to have for stable release: - [ ] KDECAN unreliable with more than 2 motors - [ ] update MP's auto analysis because it complains of compass offsets being too large, NaNs ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-inflight-exk3-lane-switch-root-cause-analysis-request/73507/15)) - [ ] 3D Loiter to allow simple avoidance to backaway in 3D - [ ] Avoid "PreArm: Bad GPS Position" if using only optical flow ([issue](https://github.com/ArduPilot/ardupilot/issues/17401)) Existing 4.0 issues: - [ ] SmartRTL can trigger flow-of-control internal error (issue https://github.com/ArduPilot/ardupilot/issues/17416, PR: https://github.com/ArduPilot/ardupilot/pull/17419) - [ ] POS oscillation on unusual EKF condition ([discussion](https://discuss.ardupilot.org/t/ekf3-position-still-going-mad-in-beta5-drone-crashed/73859), [issue](https://github.com/ArduPilot/ardupilot/issues/18169)) - [ ] EKF altitude reset handling ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-inflight-exk3-lane-switch-root-cause-analysis-request/73507/6), [issue](https://github.com/ArduPilot/ardupilot/issues/14224)) - [ ] DO_CAM_TRIGG_DIST doesn't turn off after exiting Auto ([discussion](https://discuss.ardupilot.org/t/camera-trigger-does-not-turn-off-after-switching-to-another-flight-mode/72867), [issue](https://github.com/ArduPilot/ardupilot/issues/17858)) - [ ] loiter-to-alt moves too quickly (4.0 issue) ([code](https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_auto.cpp#L977-L984)) Reports requiring investigation: - [ ] Dronekit commands not working? (Randy has report from Anand Singh) - [ ] FPort disconnection after 25min ([discussion](https://discuss.ardupilot.org/t/copter-4-1-1-rc1-available-for-beta-testing/77234/18), [plane discussion](https://discuss.ardupilot.org/t/plane-4-1-stable/76507/92)) - [ ] internal error when doing temperature calibration on CubeBlack and CubeOrange ([issue](https://github.com/ArduPilot/ardupilot/issues/19022)) - [ ] shift_wp_origin_to_current_pos() not working? (see PR https://github.com/ArduPilot/ardupilot/pull/17294) - [ ] GPS instability thread: - [ ] GPS_DRV_OPTIONS not setting UBlox baud rate to 115200? ([discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/71)) - [ ] CRSF + GPS not working well together on MambaF405v2 (GPA.Delta spikes, [discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/38)) - [ ] Mamba losing GPS connection ([discussion](https://discuss.ardupilot.org/t/gps-instability-reinitializiation-during-flight-bn880-mambaf405/74184/5)) -- maybe fixed by GPS_DRV_OPTIONS - [ ] GPS-for-yaw issues - [ ] continuous yaw drift with NMEA GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/continue-yaw-drift/74997/2)) - [ ] gps-for-yaw fail-over testing leads to GPS glitch and ability to arm ([discussion](https://discuss.ardupilot.org/t/gps-glitching-when-we-have-two-gps-for-yaw-and-make-fail-the-rover-one/74486)) - [ ] 2nd F9 GPS not updating at 5hz during GPS-for-yaw, probably does not have DMA on serial port ([discussion](https://discuss.ardupilot.org/t/unhealthy-gps-signal-when-using-gps-for-yaw/71308)) - [ ] GPS-for-yaw will not use compass at startup ([discussion](https://discuss.ardupilot.org/t/issues-with-gps-for-yaw-and-compass-fall-back/71305)) - [ ] 7-inch quad thread: - [ ] AP_Periph HAL battery monitor default for Matek board ([discussion](https://discuss.ardupilot.org/t/ap-periph-batt-monitor-forced-to-hal-batt-monitor-default-after-reboot/74205), [discussion2](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-dual-barometer-dps310-i2c-uavcan-error-compass-not-healthy/73783)) - [ ] Matek Slim pre-arm check "Compass not healthy" if external CAN baro is enabled ([discussion](https://discuss.ardupilot.org/t/7inch-quadcopter-ac-4-1-0-beta5-dual-barometer-dps310-i2c-uavcan-error-compass-not-healthy/73783)) - [ ] quadsour reports: - [ ] oscillating pitch in Loiter ([discussion](https://discuss.ardupilot.org/t/loiter-acting-up-with-beta/75178/15)) - [ ] Ground effect compensation not working as well as 4.0 with no GPS? ([discussion](https://discuss.ardupilot.org/t/gnd-effect-comp-not-working-as-good-as-in-copter-4-0/71421/12)) - [ ] quadsour's Pixracer Pro BLHeli passthrough issues but stable works ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/36)) -- fixed with latest? @andyp1per knows. - [ ] acro mode loses control when throttle at zero even in airmode ([discussion](https://discuss.ardupilot.org/t/acro-mode-motor-authority-lost-when-rc-throttle-drops-to-zero-even-with-air-mode-enabled/75080)) - [ ] Small EKF alt oscillations when using GPS for alt ([discussion](https://discuss.ardupilot.org/t/altitude-testing-of-beta-5/73228)) - [ ] IMU1 failure handling not working ([4.0.x discussion](https://github.com/ArduPilot/ardupilot/issues/12477)) - [ ] EKF3 yaw drift with no compass higher than EKF2 ([issue](https://github.com/ArduPilot/ardupilot/issues/17030)) - [ ] EKF2 regains GPS while falling, produced invalid climb rate (using modified 4.0.5) (Randy, Tridge, PaulR have logs) - [ ] watchdog reset on modified omnibusf4pro ([issue](https://github.com/ArduPilot/ardupilot/issues/15915)) - [x] FS_OPTIONS not working with RC failsafe? ([issue](https://github.com/ArduPilot/ardupilot/issues/17483), [issue2](https://github.com/ArduPilot/ardupilot/issues/17527)) -- GCS failsafe was disabled. need to improve docs or add pre-arm check? SCurve known issues: - Vehicle will fly below target speed if waypoints are too close together even if vehicle will not stop at waypoints -------- Unresolved issues that will not be resolved in time for 4.1.0 - [ ] Lumenier LUX-H7 (ultimate) F7 board missing 2nd IMU (apaprently same as MatekH743) ([discussion](https://discuss.ardupilot.org/t/arducopter-firmware-on-lumenier-h743-f7-flight-controller-matekh743-firmware-target/72917/2)) - [ ] pre-arm "EK3 sources require RangeFinder" if only 2nd rangefinder is setup [discussion](https://discuss.ardupilot.org/t/prearm-ahrs-ek3-sources-require-rangefinder-error-message-copter-4-1-0/74323/9), [issue](https://github.com/ArduPilot/ardupilot/issues/18205)) - [ ] DShot passthrough not working on Nora and Tekko 35A ESCs ([discussion](https://discuss.ardupilot.org/t/dshot-passthrough-not-working-in-4-1/74186/2)) - [ ] Morse simulator Loiter unstable after PR https://github.com/ArduPilot/ardupilot/pull/17345 (reported by rishabh). Morse closing down it seems so we recommend users move to AirSim -------- Resolved issues that will be included in future releases (but not 4.1.0) - [x] allow aligning viso yaw when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/vio-alignment-in-primary-lane/72308/5), [issue](https://github.com/ArduPilot/ardupilot/issues/13903)) -- in master, maybe 4.1.1 -------- Resolved issues: - [x] surface tracking is resetting incorrectly after a glitch (reported by Yamaguchi-san, [PR](https://github.com/ArduPilot/ardupilot/pull/19207)) -- included in 4.1.2 - [x] QGC can't download parameters over wifi (USB connection on Windows is OK) ([discussion](https://discuss.ardupilot.org/t/copter-4-1-1-rc1-available-for-beta-testing/77234/11), [discussion2](https://discuss.ardupilot.org/t/mavftp-arduplane-4-1-2-parameters-do-not-load/77359)) -- caused by SERIALx_PROTOCOL default changed to "2" (MAVlink 2) and some ESP radios being on an older version of the firmware that can't handle mavlink2. - [x] missing IMU on Matek H743 ([Rover discussion](https://discuss.ardupilot.org/t/rover-4-1-1-rc1-available-for-beta-testing/77275)) -- caused by changing the meaning of the bits in the INS_ENABLE_MASK and users changing the value from the default. - [x] ExtendedSysStatus flags change ([discussion](https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996)) -- resolved in 4.1.1 - [x] autopilot reboot if batt monitor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/18780)) -- could not reproduce - [x] Scary Guided ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/36)) -- resolved in -rc4 - [x] Yaw change after Guided mode takeoff completes ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/24), [PR](https://github.com/ArduPilot/ardupilot/pull/18700)) -- included in 4.1.0-rc3 - [x] Guided mode not ignoring pilot yaw during takeoff is GUID_OPTIONS bit is set ([issue](https://github.com/ArduPilot/ardupilot/issues/17951), [PR](https://github.com/ArduPilot/ardupilot/pull/18559)) -- included in 4.1.0-rc3 - [x] Drift mode controls reversed? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/18)) -- could not reproduce, seems to be fine. - [x] Matek H743-Slim serial1 not working ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/10), [PR](https://github.com/ArduPilot/ardupilot/pull/18661)) -- resolved for -rc2 - [x] Dijkstra's in Guided mode not working (reported by Yamaguchi-san, [PR](https://github.com/ArduPilot/ardupilot/pull/18603)) -- resolved for beta9 - [x] Ch6 tuning of WP speed causes div-by-zero in SITL ([discussion](https://discuss.ardupilot.org/t/wp-speed-on-in-flight-tuning-not-functioning/75226/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18560)) -- resolved for beta9 - [x] laggy suface tracking ([discussion](https://discuss.ardupilot.org/t/altitude-overshoot-on-ascent-descent-tuning-help-please/74756/3), [PR](https://github.com/ArduPilot/ardupilot/pull/18531)) -- resolved for beta9 - [x] uLanding driver broken ([discussion](https://discuss.ardupilot.org/t/ainteins-us-d1-radar-not-working-with-arducopter-4-1-beta/75414), [PR](https://github.com/ArduPilot/ardupilot/pull/17660)) -- resolved for beta9 - [x] check Andy Piper's items in comments below (RunCam, etc) -- all but one issue seems resolved in -beta8. The one remaining issue seems to be a 4.0 issue as well so not technically a blocker. - [x] FrSky on KakuteF7 with R9 MX OTA Receiver ([discussion](https://discuss.ardupilot.org/t/frsky-f-port-telemetry-issue-on-kakute-f7-with-r9-mx-ota-receiver/70747), [issue](https://github.com/ArduPilot/ardupilot/issues/17332)) -- resolved with beta7 (or earlier). - [x] mRo Pixracer Pro gyro & accel health failures + GSF constrain nan internal error (ask Randy for logs) -- could not reproduce - [x] DJI MSP OSD requires turning off serial flow control on H7 ([issue](https://github.com/ArduPilot/ardupilot/issues/17814)) -- hardware issue - [x] SBusOut setup for Matek (and other) boards ([discussion](https://discuss.ardupilot.org/t/sbus-out-functionality-missing-brd-sbus-out-not-in-my-parameters/71148/3), [Wiki](https://ardupilot.org/copter/docs/common-sbus-out.html)) -- resolved through documentation on how to setup SBUS on any serial port - [x] SmartAudio setup with Crossfire TBS ([discussion](https://discuss.ardupilot.org/t/controlling-tbs-vtx-power-with-smart-audio/71687)) -- seems resolved. many questions and answers - [x] SegFault: `./Tools/autotest/autotest.py --gdb --debug build.Copter test.Copter.OpticalFlow --force-ahrs-type=2` ([PR](https://github.com/ArduPilot/ardupilot/pull/18456)) -- resolved for beta8 - [x] QGC doesn't allow changing params with 4.1.0 with blank params? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/53)) -- QGC issue - [x] motor test causes main_loop_stk internal error ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta5-has-been-released-for-beta-testing/73110/30)) -- cannot replicate, might have been fixed with logging improvements in subsequent betas - [x] Internal error 0x1000000 (imu_reset) on PXFmini ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x1000000-l-168-imu-reset/71658/19)) --we assume this is a hardware issue - [x] Matek fails on boot if ESC Telemetry used ([discussion](https://discuss.ardupilot.org/t/help-about-using-dshot-on-tail-rotor/73269/13)) -- follow-up request received no answer so closing - [x] OSD range finder panel not visible on omnibusf4pro even though rangefinder is present (reported by Henry) -- re-checked with Henry and seems resolved. - [x] I2C ports not working on CubeOrange if UAVCAN GPSs are used ([issue](https://github.com/ArduPilot/ardupilot/issues/17879)) -- was issue with tfluna lidar - [x] position controller safety improvements from Leonard -- resolved for beta8 - [x] Internal error in position controller on Matek H743 (https://github.com/ArduPilot/ardupilot/issues/17763. [PR](https://github.com/ArduPilot/ardupilot/pull/18416)) -- resolved for beta8 - [x] Sergey reports OSD on iFlight Beast7 does not show flight time ([discuss](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/44), [youtube](https://www.youtube.com/watch?v=JYFzID5rUBk)) -- user resolved it. seems to be related to a low output throttle. - [x] bad heading after 10min ([discussion](https://discuss.ardupilot.org/t/mag-failure-copter-4-1-0-latest-is-that-a-bug/71963)) -- no response to request for logs. note: involves non-default AHRS_ORIENT. - [x] M8030 based GPSes do not work due to autobauding issue ([issue](https://github.com/ArduPilot/ardupilot/issues/18252), [PR](https://github.com/ArduPilot/ardupilot/pull/16007)) -- resolved for beta7 (we think) - [x] BAT_ARM_VOLT not working? ([discussion](https://discuss.ardupilot.org/t/orange-cube-won-t-arm/74868/8)) -- works fine - [x] circle mode does not respond to changes in CIRCLE_RADIUS parameter (reported by Arace, [PR](https://github.com/ArduPilot/ardupilot/pull/18434)) -- resolved for beta8 - [x] Internal Error after 68ms delay on Matek ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta7-has-been-released-for-beta-testing/74794/4), [issue1](https://github.com/ArduPilot/ardupilot/issues/18196), [issue2](https://github.com/ArduPilot/ardupilot/issues/18376)) -- resolved for beta8 - [x] Flywoo external compass support still broken? ([PR](https://github.com/ArduPilot/ardupilot/pull/18340)) -- merge for beta8 - [x] Helicopter Guided mode takeoff issue (PR: https://github.com/ArduPilot/ardupilot/pull/15826, PR: https://github.com/ArduPilot/ardupilot/pull/17043) -- resolved for beta8 - [x] MP's PX4flow "focus mode" seems broken ([discussion](https://discuss.ardupilot.org/t/px4-flow-sensor-image-no-calibration-in-mission-planner-or-q-ground-control-when-connected-via-micro-usbb/74878)) -- fixed in beta MP on 20-Aug-2021 - [x] tricopter crash after wp2 ([discussion](https://discuss.ardupilot.org/t/unexplained-crash-on-auto-mode-with-beta-6/74787/3)) -- we think this is a power issue. no indication of Watchdog reset and radio seems to lose power with autopilot - [x] Pixhawk4 LEDs are swapped ([issue](https://github.com/ArduPilot/ardupilot/issues/15739), [discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta6-released-for-beta-testing/74139/14), [PR](https://github.com/ArduPilot/ardupilot/pull/18235)) -- resolved for beta8 - [x] Very slow main loops based on RC out configuration (https://github.com/ArduPilot/ardupilot/issues/17891) -- resolved for beta6 (or earlier) - [x] request that Guided velocity control go beyond WPNAV_SPEED_UP/DN limits ([discussion](https://discuss.ardupilot.org/t/set-position-target-global-int-velocity-bound-by-wpnav-speed/73988/7)) -- resolved for beta7 - [x] GSF Yaw source can only be executed EK3_GSF_RST_MAX times ([discussion](https://discuss.ardupilot.org/t/loss-of-correction-after-switching-couple-times-between-yaw-compass-source-and-gsf-source/72687/18), [PR](https://github.com/ArduPilot/ardupilot/pull/18225)). This hopefully resolves these items too -- resolved for beta7 - [x] EKF3 Core x unhealthy if using GSF for yaw ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/67)) -- resolved for beta6 or beta7 (we think) - [x] GPS glitch and emergency yaw reset (GSF) ([discussion](https://discuss.ardupilot.org/t/testing-compass-less-copter-gsf-gps-glitch-yaw-aligned-using-gps/73338)) -- resolved for beta6 or beta7 (we think) - [x] issues switching between GSF and Compass yaw sources ([discussion](https://discuss.ardupilot.org/t/loss-of-correction-after-switching-couple-times-between-yaw-compass-source-and-gsf-source/72687), [discussion2](https://discuss.ardupilot.org/t/gps-yaw-and-gsf-in-different-sources/74011)) -- resolved for beta6 or beta7 (we think) - [x] Flywoo external compass support ([PR](https://github.com/ArduPilot/ardupilot/pull/18219)) -- resolved for beta7 - [x] vehicle may crash into terrain in Guided ([discussion](https://discuss.ardupilot.org/t/terrain-following-in-auto-may-hit-terrain/74365/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18212)) -- resolved for beta7 - [x] support very fast auto missions ([discussion](https://discuss.ardupilot.org/t/high-speed-auto-mission/74217/10), [PR](https://github.com/ArduPilot/ardupilot/pull/18190)) -- resolved for -beta7 - [x] Position controller target velocity vibration ([issue](https://github.com/ArduPilot/ardupilot/issues/17702)) -- lthall thinks the vibration is not a significant issue. - [x] Guided with high rate position target updates don't work (see issue https://github.com/ArduPilot/ardupilot/issues/17795, [PR](https://github.com/ArduPilot/ardupilot/pull/17539)) -- resolved with -beta6 - [x] remove parameter reset internal error ([issue](https://github.com/ArduPilot/ardupilot/issues/17628)) -- Randy and Tridge decided to leave this in place. It happens so rarely that it is not annoying for users. - [x] copter reversing with spline waypoints switching from rel to terrain ([discussion](https://discuss.ardupilot.org/t/terrain-following-question/74224/2)) -- expected behaviour - [x] rapid POS oscilliation when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/ekf3-position-still-going-mad-in-beta5-drone-crashed/73859)) -- resolved in -beta6 - [x] Arming check does **not** trigger with EK3_SRC1_YAW = GPS (2) but GPS is not actively providing yaw ([discussion](https://discuss.ardupilot.org/t/gps-yaw-let-the-drone-arm-in-loiter-mode-when-rtk-is-not-fixed-but-it-was-fixed-before/74197/2), [PR](https://github.com/ArduPilot/ardupilot/pull/18154)) -- resolved for beta7 - [x] yaw rate timeout bug ([PR](https://github.com/ArduPilot/ardupilot/pull/18156)) -- resolved for beta7 - [x] QMC compass not detected on Goku autopilot ([discussion](https://discuss.ardupilot.org/t/external-compass-not-detected-on-flywoo-goku-f745-nano/73921)) -- not an officially supported autopilot (yet) - [x] do-set-speed broken in Auto? ([issue to add autotest to stop this from happening](https://github.com/ArduPilot/ardupilot/issues/18078)) -- not sure if it was really broken, certainly resolved for beta6 - [x] S-Curves OA PR: https://github.com/ArduPilot/ardupilot/pull/17003 -- resolved for beta6 - [x] Auto terrain following may hit terrain (or fly too high) if terrain is too steep ([issue](https://github.com/ArduPilot/ardupilot/issues/17952), [PR](https://github.com/ArduPilot/ardupilot/pull/18049)) -- resolved for beta6 - [x] XTrack reporting broken? ([PR](https://github.com/ArduPilot/ardupilot/pull/17631), [PR2](https://github.com/ArduPilot/ardupilot/pull/17734), [PR3](https://github.com/ArduPilot/ardupilot/pull/18076)) -- resolved for beta6 - [x] Heli tail rotor control check broken ([issue](https://github.com/ArduPilot/ardupilot/issues/17937), [PR](https://github.com/ArduPilot/ardupilot/pull/17981)) -- resolved for beta6 - [x] AP_Logger: stuck thread (write)" on a Matek-405 ([discussion](https://discuss.ardupilot.org/t/bi-directional-dshot-support/70210/59), [issue](https://github.com/ArduPilot/ardupilot/issues/17767)) -- probably fixed in -beta5 with logging improvements - [x] watchdog reset on Pixhawk1MB ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/75)) -- probably fixed in -beta5 with logging improvements - [x] logs not created on force arm ([PR](https://github.com/ArduPilot/ardupilot/pull/17912)) - [x] Copter: guided mode update to use PosControl tools ([PR](https://github.com/ArduPilot/ardupilot/pull/17539)) - [x] Copter: guided mode update (PR https://github.com/ArduPilot/ardupilot/pull/17539) - [x] Guided terrain following may hit terrain (or fly too high) if terrain is too steep -- resolved before beta6 - [x] Internal Error 1048576 in Guided mode if velocity control used after attitude control ([issue](https://github.com/ArduPilot/ardupilot/issues/17954)) -- resolved before beta6 - [x] build env on mac ([discussion](https://discuss.ardupilot.org/t/errors-setting-up-build-environment-on-mac/72882/4), [PR](https://github.com/ArduPilot/ardupilot/pull/17860)) -- resolved post beta5 (need to backport?) - [x] SITL Tri frame still broken ([discussion](https://discuss.ardupilot.org/t/sitl-fly-away-in-land-mode-with-tricopter/73001)). SITL issue https://github.com/ArduPilot/ardupilot/issues/17876 - [x] Terrain following in Auto bouncey (aka "Dolphin") and "ERR:Terrain" in logs ([discussion](https://discuss.ardupilot.org/t/dolphin-fly-big-altitude-oscillation-in-rangefinder-based-auto-mission/72008), [PR](https://github.com/ArduPilot/ardupilot/pull/17765), [PR](https://github.com/ArduPilot/ardupilot/pull/17852)) -- resolved for beta5 - [x] "loiter bucketing" when EKF origin is far from vehicle position ([issue](https://github.com/ArduPilot/ardupilot/issues/17793), [PR](https://github.com/ArduPilot/ardupilot/pull/17803)) -- resolved for beta5 - [x] MP still evaporating for XinChengGe and others ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/38)) -- fixed for beta5 (MP version 1.3.74.2 and higher OK) - [x] position jump during OptFlow->GPS source switch ([discussion](https://discuss.ardupilot.org/t/regarding-lane-switching-between-optical-flow-position-and-gps-position/72777), [discussion2](https://discuss.ardupilot.org/t/optical-flow-for-loiter-mode/72641/7), [PR](https://github.com/ArduPilot/ardupilot/pull/17850)) -- resolved for beta5 - [x] rocking loiter - loiter braking active, non-zero desired climb rate when sticks in mid position ([discussion](https://discuss.ardupilot.org/t/drone-rocking-back-and-forth-in-loiter-mode-before-taking-off/72630), [PR](https://github.com/ArduPilot/ardupilot/pull/17838)) -- resolved for beta5 - [x] Auto WP->RTL alt drop (reported by Tridge in copter channel, [PR](https://github.com/ArduPilot/ardupilot/pull/17826)) -- resolved for beta5 - [x] EKF position going bad on CubeOrange with GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/ekf3-position-going-mad-bug-in-4-1-0-beta3-or-defective-cube-orange/72369), [PR](https://github.com/ArduPilot/ardupilot/pull/17787)) -- resolved for beta5 - [x] FLTMODE_CH and RCx_OPTION conflict ([PR](https://github.com/ArduPilot/ardupilot/pull/17788)) -- resolved for beta5 - [x] EKF3 origin alts not consistent across cores ([issue](https://github.com/ArduPilot/ardupilot/issues/17789), [Plane issue1](https://github.com/ArduPilot/ardupilot/issues/16450), [Plane issue2](https://github.com/ArduPilot/ardupilot/issues/10812), [PR](https://github.com/ArduPilot/ardupilot/pull/17786)) -- resolved for beta5 - [x] Vibration failsafe is broken ([issue](https://github.com/ArduPilot/ardupilot/issues/17834) [PR](https://github.com/ArduPilot/ardupilot/pull/17837)) -- resolved for beta5 - [x] low LOIT_ACC_MAX leads to incorrect loiter speed ([issue](https://github.com/ArduPilot/ardupilot/issues/17747), [PR](https://github.com/ArduPilot/ardupilot/pull/17815)) -- resolved for beta5 - [x] 6DOF frame broken ([PR](https://github.com/ArduPilot/ardupilot/pull/17819)) -- resolved for beta5 - [x] AP_Motors: correct expo parameter description and internal limits ([PR](https://github.com/ArduPilot/ardupilot/pull/17540)) -- resolved for beta5 - [x] Sergbokh's low desired climb rate when switching from Stab->AltHold while falling ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/65)) -- seems OK. this is input shaping - [x] UAVCAN GPS can't get satellites on 4.0.7 but works on 4.1 ([discussion](https://discuss.ardupilot.org/t/gps-neo3-suddenly-stopped-working/72310), question only, can then be moved to resolved) -- hardware power issue - [x] brake accel not reset ([4.0.7 issue](https://github.com/ArduPilot/ardupilot/issues/17709), [PR](https://github.com/ArduPilot/ardupilot/pull/17717)) -- resolved for beta5 - [x] BLHeli current reporting incorrect ([issue](https://github.com/ArduPilot/ardupilot/issues/17656), [PR](https://github.com/ArduPilot/ardupilot/pull/17657)) -- resolved for beta5 - [x] SCurve internal error when origin and destination very close ([PR](https://github.com/ArduPilot/ardupilot/pull/17671)) -- resolved for beta5 - [x] SCurve issues ([discussion](https://discuss.ardupilot.org/t/copter-4-1-scurve-issues/69961)): - [x] internal error after arming from auto (AUTO_OPTIONS=3) (reported by Peter Barker) -- old, marking as resolved - [x] twitch when switching from SCurves to Loiter (reported by Giacomo Pinagli, awaiting log) -- old, marking as resolved - [x] at end of RTL, vehicle spends more time waiting above home (reported by Giacomo Pinagli) -- old, marking as resolved - [x] wild movement getting to the first waypoint (reported by Andy Piper in "copter" discord channel) -- old, marking as resolved - [x] TeraRange Evo 60m has large spikes, no readings under 80cm ([discussion](https://discuss.ardupilot.org/t/tera-ranger-evo-60m-driver-issue/71806), same issue with 4.0.7) -- IR sensor has low range outdoors, updated wiki - [x] EKF3: becomes unhealthy beyond 38km from origin (EKF2's limit is about 130km) https://github.com/ArduPilot/ardupilot/issues/16736 -- probably SITL only 'cuz real-flights at up to 120km done with EKF2 and EKF3 - [x] scheduler jump due to overflow ([issue](https://github.com/ArduPilot/ardupilot/issues/17642), [PR](https://github.com/ArduPilot/ardupilot/pull/17708)) -- resolved for beta4 - [x] MOT_PWM_MIN/MAX not being set to 1000/2000 when MOT_PWM_TYPE is set to a DShot type, but SERVO_BLH_* parameters not setup. Looks like a regression from 4.0 -- resolved for beta4 - [x] PreArm: Internal errors 0x1000000 l:168 imu_reset on Matek H743 ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x1000000-l-168-imu-reset/71658)) -- we believe it is a hardware issue, reported to Matek. - [x] SITL tri broken. Appears to move yaw in wrong direction ([issue](https://github.com/ArduPilot/ardupilot/issues/17645)). Fix here #17695 -- resolved in beta4 - [x] DO_SET_MODE command segfaults in SITL ([discussion](https://discuss.ardupilot.org/t/segmentation-fault-with-mav-cmd-do-set-mode/72191)) -- intentional to find unsupported messages. - [x] "PreArm: DCM **Roll/Pitch** inconsistent by X deg" when actually **yaw** is inconsistent ([issue](https://github.com/ArduPilot/ardupilot/issues/17442), [PR](https://github.com/ArduPilot/ardupilot/pull/17630)) -- resolved in beta4 - [x] EKF3 is still using ExtNav even when source is switch to Baro (reported by David Astesas, Randy has log) -- cannot reproduce - [x] improve SITL yaw tuning ([discussion1](https://discuss.ardupilot.org/t/unstable-yaw-angles-in-octa-frames/71935), [discussion2](https://discuss.ardupilot.org/t/high-yaw-oscillations-when-descending-fast-in-sitl/71216), [PR](https://github.com/ArduPilot/ardupilot/pull/17634)) - [x] do-change-speed requires fractional speeds (?!) ([discussion](https://discuss.ardupilot.org/t/4-1-vehicle-speed/70752/4)) -- could not reproduce (think fixed as part of SCurves) - [x] EKF ground effect compensation not working with EKF3? ([discussion](https://discuss.ardupilot.org/t/gnd-effect-comp-not-working-as-good-as-in-copter-4-0/71421), [issue](https://github.com/ArduPilot/ardupilot/issues/17552), [PR](https://github.com/ArduPilot/ardupilot/pull/17575)) -- fix included in -beta4 - [x] Yaw imbalance warning too tight for Helicopters at least ([discussion](https://discuss.ardupilot.org/t/yaw-imbalance-how-to-troubleshoot/70259), PR: https://github.com/ArduPilot/ardupilot/pull/17574) -- fixed in beta4 - [x] Serial passthrough not working on serial ports configured to "GPS" with GPS protocol set to ublox (issue: https://github.com/ArduPilot/ardupilot/issues/17269) -- also happens with 4.0. workaround is to set the SERIAL_PROTOCOL = -1 or GPS_TYPE = 0. [updated docs](documentation.) - [x] SITL copter-optflow.parm file out-of-date ([issue](https://github.com/ArduPilot/ardupilot/issues/17400), [PR](https://github.com/ArduPilot/ardupilot/pull/17590)) -- developer issue but fixed for beta4 - [x] MP crashing after trying to load params using MAVFTP ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta3-has-been-release-for-beta-testing/71489/14)) -- fixed in beta MP before beta4 - [x] dma.txt file can't be downloaded the first time (PR https://github.com/ArduPilot/ardupilot/pull/17615 makes it return an emtpy file the firs time, MP's error message has been improved) -- included in beta4 - [x] Pix32v5 IMU heater not operations? reported by holybro ([PR](https://github.com/ArduPilot/ardupilot/pull/17605)) -- included in beta4 - [x] EKF terrain estimate incorrect? ([PR](https://github.com/ArduPilot/ardupilot/pull/17561)) -- probably not a problem but will go out with beta4 - [x] little motor cuts ([discussion](https://discuss.ardupilot.org/t/little-motor-cuts-in-gps-mode-beta-3/71759)) -- could not reproduce, no logs. - [x] EKF3 becomes unhealthy if source is switched to Optflow and then T265 (ok if switched to GPS). Reported by Randy -- user error in EK3_SRCx_YAW. - [x] do change speed not working ([discussion](https://discuss.ardupilot.org/t/4-1-vehicle-speed/70752/4)) -- known limitation of Scurves - [x] SITL crashes if optflow enabled but rangefinder disabled/unhealthy ([issue](https://github.com/ArduPilot/ardupilot/issues/17565), [PR](https://github.com/ArduPilot/ardupilot/pull/17577)) -- fixed in beta4 - [x] firmware version is not displayed in banner ([issue](https://github.com/ArduPilot/ardupilot/issues/17515), [PR](https://github.com/ArduPilot/ardupilot/pull/17549)) -- fixed in beta4 - [x] Holybro Pix32v5 is not automatically understood by MP during upload ([PR](https://github.com/ArduPilot/ardupilot/pull/17563)). -- fixed in beta4 - [x] HC-SR02 sonar not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-1-0-beta-released-for-beta-testing/70075/62), [wiki](https://ardupilot.org/copter/docs/common-rangefinder-hcsr04.html)) -- PeterB could not reproduce - [x] Copter/QuadPlane: set yaw rate to zero during arming ([PR](https://github.com/ArduPilot/ardupilot/pull/17541)) -- included in beta4 - [x] No PSZ logging unless in mode with 3D control ([issue](https://github.com/ArduPilot/ardupilot/issues/17441), [PR](https://github.com/ArduPilot/ardupilot/pull/17548)) -- included in beta4 - [x] CUAV X7 rebooting and getting hot ([discussion](https://discuss.ardupilot.org/t/cuav-x7-safety-led-not-working-on-copter-4-1/71444)) -- USB power issues, not software. - [x] CUAV X7 safety LED not working ([discussion](https://discuss.ardupilot.org/t/cuav-x7-safety-led-not-working-on-copter-4-1/71444), [related issue?](https://github.com/ArduPilot/ardupilot/issues/17481)) -- somehow fixed in beta3 - [x] MP's link status is very low for Matek H743-slim (same as 4.0) ([discussion](https://discuss.ardupilot.org/t/terrible-link-quality-over-usb-mavlink-is-this-expected/71647)) -- problem went away when switched to Sik radio - [x] Visual Odometry "Calibration" (aka yaw alignment) via aux switch seems to have an issue which means that after the aux switch is moved, VISP.Yaw does not equal ATT.Yaw. ([PR](https://github.com/ArduPilot/ardupilot/pull/17551)) -- fixed in beta4 - [x] ACRO_RP_EXPO constraint incorrect ([PR](https://github.com/ArduPilot/ardupilot/pull/17486), [discussion](https://discuss.ardupilot.org/t/acro-rp-p-and-acro-rp-expo-range-check/71385)) -- included in beta4 - [x] Copter: position controller updates (PR https://github.com/ArduPilot/ardupilot/pull/17345) - [x] new bootloader fails on trad heli firmware at least on some boards ([issue](https://github.com/ArduPilot/ardupilot/issues/17487)) -- bootloader changes reverted in master and for beta2 - [x] yaw oscillations during high speed descent ([discussion](https://discuss.ardupilot.org/t/high-yaw-oscillations-when-descending-fast-in-sitl/71216)) -- SITL tuning issue - [x] EKF3 does not regain position estimate after loss of GPS (see PR https://github.com/ArduPilot/ardupilot/pull/17104) -- could not reproduce - [x] PSC_ACCZ_FLTx param defaults don't match recommendations from @lthall and @andyp1per? ([discussion](https://discuss.ardupilot.org/t/psc-accz-fltd-function/70528/27)) -- Leonard says it's fine as it is and it's his page - [x] EKF3: GPS-for-yaw timeout broken (issues: https://github.com/ArduPilot/ardupilot/issues/17314, PR https://github.com/ArduPilot/ardupilot/pull/17342) -- included in beta2 - [x] RC failsafes with KakuteF7 & CRSF & Yaapu telemetry during mode changes ([discussion](https://discuss.ardupilot.org/t/radio-failsafe-with-crsf-with-yaapu-telemetry-with-frsky-taranis-log-analysis-help-requested/70544), [discussion2](https://discuss.ardupilot.org/t/4-1-beta-autotune-failsafe/70698)) -- fixed with "latest" (should become beta2) - [x] KakuteF7, DShot150 motor failure when using 6s ([discussion](https://discuss.ardupilot.org/t/quad-tilted-to-the-left-and-hit-ground/70680)). User was on 4.0.7 - [x] PixRacer, luminousbee5, Radiolink Mini Pix LED/Buzzer issue ([discussion](https://discuss.ardupilot.org/t/radiolink-mini-pix-with-radiolink-buzzer-led-switch-k170725-problem/70587)). -- fixed in beta2 - [x] MatekF9 GPS almanac upload (AP_Periph) ([discussion](https://discuss.ardupilot.org/t/ublox-assistnow-with-gps-via-ap-periph/70631/2)). enhancement request added to issues list https://github.com/ArduPilot/ardupilot/issues/17305. - [x] Splines require terrain database (see issue https://github.com/ArduPilot/ardupilot/issues/17250, PR: https://github.com/ArduPilot/ardupilot/pull/17280. reported by Peter Barker) - [x] FPort not supported on VR Brain? ([discussion](https://discuss.ardupilot.org/t/ac-4-1-and-vr-ubrain/70330/6)) -- board has very few serial ports so user wanted an enhancement to all usign FPort on the regular RC input (I think). Not a bug but rather just a question. - [x] Flywoo board's onboard logging not working ([close issued](https://github.com/ArduPilot/ardupilot/issues/17245) - should have been raised on discuss) - [x] EK3_DRAG_BCOEF_Y param are reset to default on reboot (see issue https://github.com/ArduPilot/ardupilot/issues/17167, PR https://github.com/ArduPilot/ardupilot/pull/17228) - [x] Move DEV_OPTIONS bit "2" (thrust as thrust) to GUIDED_OPTIONS (issue https://github.com/ArduPilot/ardupilot/issues/17161, PR https://github.com/ArduPilot/ardupilot/pull/17185) - [x] Sebbb's "PreArm: Internal errors 0x800000 l:57 stack_ovrflw" when using SmartAudio on master (discord, general, PR: https://github.com/ArduPilot/ardupilot/pull/17226) - [x] S-curves PR: https://github.com/ArduPilot/ardupilot/pull/15896 - [x] Durandal Vcc fix - [x] COMPASS_USE=0, COMPASS_USE2=1 results in no compass being used (issue: https://github.com/ArduPilot/ardupilot/issues/16509, PR:https://github.com/ArduPilot/ardupilot/pull/17047) - [x] UAVCAN GPS ordering PR: https://github.com/ArduPilot/ardupilot/pull/16156 - [x] DMA Locking with Thread Priority Inheritance PR:https://github.com/ArduPilot/ardupilot/pull/15984 - [x] mRo Pixracer Pro Baro issue: https://github.com/ArduPilot/ardupilot/pull/16993, PR:https://github.com/ArduPilot/ardupilot/pull/17054 - [x] All boards building on autotest server (see below) SCurve resolved issues: - [x] apparent "climb away" in RTL after spline mission (reported by Peter Barker, Randy has logs). Caused by Rallypoints alt=90 - [x] waypoints in a straight line can cause the vehicle to not reach top speed (reported by Ryan Beall). Leonard says expected behaviour - [x] vehicle took-off in Guided but then descended (reported by @tridge). no problem. - [x] Auto mission Loiter-Turns broken (issue: https://github.com/ArduPilot/ardupilot/issues/17126, PR: https://github.com/ArduPilot/ardupilot/pull/17142)

Rover

github.com/ArduPilot/ardupilot

Rover: 4.1.0 issues list

opened 07:51AM - 07 Apr 21 UTC

rmackay9

Rover DevCallTopic ReleaseAdmin

This is a list of known issues especially blockers for the 4.1.0 rover release. … The equivalent Copter issue is https://github.com/ArduPilot/ardupilot/issues/16478 Issues requiring investigation: - [ ] Kenny Trussell suggestions for GPS-for-yaw config improvements ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) - [ ] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) - [ ] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) - [ ] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) - [ ] another Matek H7 imu reset internal error report ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/47)) - [ ] Lost accel calibration parameters ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/23)) - [ ] Rover avoidance of fence OK? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta4-released-for-beta-testing/72504/19)) - [ ] PRX missing from 1MB boards for Rover although it probably would fit ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beat4-released-for-beta-testing/72504/12)), simple avoidance not working with TFLuna? ([discussion](https://discuss.ardupilot.org/t/how-should-i-resolve-the-error-system-overflowexception/71800/10)) - [ ] Speed controller I-term build-up when motors are saturated ([discussion](https://discuss.ardupilot.org/t/pidachieved-opposite-to-piddesired/71911/14)) - [ ] PreArm: Internal errors 0x8000 l:428 main_loop_stk ([discussion](https://discuss.ardupilot.org/t/prearm-internal-errors-0x8000-l-404-main-loop-stk-after-upgrading-to-latest-4-1-0-dev/66476/4)) Existing 4.0 issues - [ ] MP's Frame Type screen shows copter values ([discussion](https://discuss.ardupilot.org/t/about-frame-havent-boat-to-choose/74680/2), [issue](https://github.com/ArduPilot/MissionPlanner/issues/2673)) Resolved issues: - [x] MIS_DONE_BEHAVE not working ([discussion](https://discuss.ardupilot.org/t/issues-in-balance-bot/74844)) -- misunderstanding / confusion over Loiter and Hold options which are implemented from within Auto and Acro and Manual options that do cause a real change in flight mode. - [x] Nick Nunno's report of EKF attitude going bad and position jumping ([issue](https://github.com/ArduPilot/ardupilot/issues/18169)) -- can't reproduce. probably resolved for beta6 - [x] EKF yaw not recovering if GPS-for-yaw lost (i[ssue](https://github.com/ArduPilot/ardupilot/issues/17658)) -- resolved for beta7 (we think) - [x] GPS-for-yaw at 5hz leads to more GPS unhealthy messages ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/127)) -- resolved for beta7 (we think) - [x] Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100/23)) -- resolved for beta7 (we think) - [x] ArduSimple F9 GPS does not work with GPS-for-yaw unless GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/107)) -- resolved for beta7 (we think) - [x] Kenny Trussell suggestions for GPS-for-yaw config improvements when GPSs directly connected ([discussion](https://discuss.ardupilot.org/t/kevings-autonomous-zero-point-turn-lawn-mower/29178/109)) -- resolved for beta7 (we think) - [x] GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta1-update-gps-yaw/71100)) -- resolved for beta7 (we think) - [x] GPS_POS_X/Y/Z relative to IMU or COG? ([discussion](https://discuss.ardupilot.org/t/rover-4-1-0-beta6-released-for-beta-testing/74013/25), [PR](https://github.com/ArduPilot/ardupilot/pull/18264)) -- resolved for -beta7 - [x] EKF issues mentioned on the Copter-4.1 issue https://github.com/ArduPilot/ardupilot/issues/16478 -- resolved for beta6 - [x] Rovers cannot backup in Acro when simple avoidance is active ([issue](https://github.com/ArduPilot/ardupilot/issues/17518), [PR](https://github.com/ArduPilot/ardupilot/pull/17571)) - [x] Pre-arm check "DCM Roll/Pitch inconsistent by 32 deg" when using GPS-For-Yaw ([see code here](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp#L2080), [PR](https://github.com/ArduPilot/ardupilot/pull/17630)). Reported by @tatsuy. Note: the issue may be that body-frame roll and pitch are not actually being compared. -- should be fixed in beta4 - [x] THR logging shows lateral acceleration ([issue](https://github.com/ArduPilot/ardupilot/issues/17682), [PR](https://github.com/ArduPilot/ardupilot/pull/17689)) -- included in beta4 - [x] Waypoint delay of -1 leads to 65k of delay ([discussion](https://discuss.ardupilot.org/t/delay-time-issue-at-a-waypoint/71410), [issue](https://github.com/ArduPilot/ardupilot/issues/17488)) -- included in beta4 - [x] DShot not working with -beta3 ([discussion](https://discuss.ardupilot.org/c/ardurover/rover-41/158), [PR](https://github.com/ArduPilot/ardupilot/pull/17598)) -- included in beta4 - [x] Fence Radius are being truncated to integers ([discussion](https://discuss.ardupilot.org/t/yuris-4-1-0-beta-update-gps-yaw-now-beta3/71100/38), [PR](https://github.com/ArduPilot/ardupilot/pull/17619)) -- included in beta4 - [x] QGC with gamepad doesn't work ([discussion](https://discuss.ardupilot.org/t/qgc-fails-mavlink-parameters-with-gamepad-joystick-connected/71668)) -- QGC issue - [x] Twitching at waypoints if WP_RADIUS set to 0.05m (issue https://github.com/ArduPilot/ardupilot/issues/17417, PR https://github.com/ArduPilot/ardupilot/pull/17494) -- fixed in beta2 - [x] GPS-for-yaw wiki params incorrect ([wiki issue](https://github.com/ArduPilot/ardupilot_wiki/issues/3512)) - [x] RFND messages missing (see issue: https://github.com/ArduPilot/ardupilot/issues/17334, [PR](https://github.com/ArduPilot/ardupilot/pull/17355)) -- fixed in beta2 - [x] AP_Button's use of aux functions executes both high and low positions ([reported by RobertoN](https://discuss.ardupilot.org/t/rover-4-1-0-beta1-released/69868/8)) -- may be changed as part of a future enhancement - [x] Rover param meta data for Fence includes Altitude (issue https://github.com/ArduPilot/ardupilot/issues/17207)

CraigElder · November 30, 2021, 11:21pm

UTC 2255 Build Server

Need visualisation for broken builds
Vrubrain51 broken
Killing off Peter’s tests to get release out
Need to look at getting a much faster build server
- Maybe point people at the custom build server for weird boards?

Peter adjusted the timeout againUTC2302 - https://github.com/ArduPilot/ardupilot/pull/18658

2d vs 3d clarifications in InertialNav
Merged!

UTC2308 - AP_Rangefinder: Use default address for TFMiniPlus I2C unless specified by shiv-tyagi · Pull Request #19031 · ArduPilot/ardupilot · GitHub

Use default address for tfminiplus
Don’t need to specify default address after this
Non-zero means it uses the address
merged!

UTC2309 - AP_Compass: move param to table per instance by IamPete1 · Pull Request #19123 · ArduPilot/ardupilot · GitHub

Table per instance
MissionPlanner does support this new format now
New method in mission planner to make conversion easy
- New string/old string and it works?
- If it finds both it breaks?
Discussed at last week’s call
Longer-term is going to be good
Pain in the short term
Much more consistent naming now
Not going to MAG1_?
- People are looking under C already
- Too much confusion
  - Can’t patch people’s brains….

UTC2315 - AP_Terrain: cast result of labs to unsigned by peterbarker · Pull Request #19387 · ArduPilot/ardupilot · GitHub

Fix build for navio
Merged!

UTC2316 - Cubes Define EKx_IMU_MASK and Change INS_USE check to apply for all Cubes by hendjoshsr71 · Pull Request #19392 · ArduPilot/ardupilot · GitHub

Cube and IMU_MASK
- Default doesn’t use third IMU
Special-case for Cubes where we use third IMU in some cases
- Safety bulletin for when ribbon cable comes loose
  - Very, very rare cases and only when thing has been abused
Doesn’t actually enable it in the EKF by default on Black
CPU and memory on Black is tight

UTC2320 - Tradheli: fix bug for auto missions using continue after land by bnsgeyer · Pull Request #19383 · ArduPilot/ardupilot · GitHub

Fixes tradheli bug for continue-after-land
Run-up-timer / critical speed
- Timer counts down 5 seconds then declares ground-idle on land
- Idle-up 5 seconds isn’t necessarily enough
  - ESC smarts can make it longer
This PR forces full run-up timer
Will wait for test on hardware before merging

UTC2326 - APM_Control: make 2nd reduction of P smaller by tridge · Pull Request #19359 · ArduPilot/ardupilot · GitHub

Reduce 2nd reduction of P
Oscillation might take time to disappear
Double-reduction of P gain - 0.35 * 0.35
Second reduction only drops it by
Damned heuristics
This will fix too-low a P gain

UTC2331 - SRV_Channel: correct casting of servo function number by peterbarker · Pull Request #19393 · ArduPilot/ardupilot · GitHub

Correct memory overwrite issue in case of servo channel misconfiguration
Need to find how to get AP_Enum to work with switch statements
Merged!

UTC2333 - AP_Math: memcpy nanfs rather than iteratively setting them by peterbarker · Pull Request #19394 · ArduPilot/ardupilot · GitHub

Memcpy nanfs rather than filling
Saves a lot of CPU
Merged!
SITL-on-HW
- Run Sim on hardware
- Physics runs on flight controller
  - No latency for sensor data
  - Great for testing lots of vehicles eg. swarms

UTC2336 - Plane: stable 4.1.0 issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
Fence issue
- Hidden fence point
- Was being used by polygon geofence
- Not transferred to MAVProxy
- Easy to reproduce in SITL
- Only an issue using old fencepoint protocol, probably
Airspeed affinity not correct
- Fixed in master
Old 4.0 log
- One GPS becoming lagged over the other?!
- GMS field is 2.5 seconds
- EKF would continue to use the bad data
  - And not indicate it was unhappy
- Uarts being drained unevenly?
- Need an autotest
- 2.5 s lag and 16km off course?
  - Wasn’t actually fusing GPS position!
  - Dead-reckoning essentially for 20 minutes
    - Reporting was misleading
- Two GPSs shows the data is lagged
- Autotest for 4.0.7 and then forward-port it
Internal error on camera feedback?
- PixRacerPro
- Interrupt storm?
- No long with hardfault yet
Potential safety switch issue?
- 4.0 issue too
- No throttle suppression with safety on?

UTC2352 - Copter update

New beta coming out today
New issues
- Copter: 4.1.0 issues list · Issue #16478 · ArduPilot/ardupilot · GitHub
- Vertical velocity issue
- Was in 4.0

UTC0000 - Rover: 4.1.0 issues list · Issue #17116 · ArduPilot/ardupilot · GitHub

dshot is reversed?!
- Andy’s looking at it
Maybe a month before we fork for next stable release

UTC0002 - autotest: disable flightgear output by peterbarker · Pull Request #19396 · ArduPilot/ardupilot · GitHub

Stop outputting flightgear packets in autotest
Merged!

UTC0004 - scripting question

Methods to get firmware version?

UTC0006 - partner’s meeting tomorrow

UTC0006 - close