Dev Call Nov 3 ,2025

CraigElder · November 3, 2025, 10:43pm

CI Review

Release Update

github.com/ArduPilot/ardupilot

ArduPilot 4.6 issues list

opened 12:01AM - 14 Nov 24 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.6 testing. Issues for [C…opter/Rover-4.5 issues are here](https://github.com/ArduPilot/ardupilot/issues/26103) **Reports requiring investigation** - [ ] https://github.com/ArduPilot/ardupilot/issues/31404 - [ ] https://github.com/ArduPilot/ardupilot/issues/31402 - [ ] https://github.com/ArduPilot/ardupilot/issues/31386 - [ ] F.Port not working with TradHeli ([discussion](https://discuss.ardupilot.org/t/trad-heli-tuning-fport-can-t-send-telemetry-back/138940/17)) - [ ] https://github.com/ArduPilot/ardupilot/issues/31287 - [ ] https://github.com/ArduPilot/ardupilot/issues/31108 - [ ] https://github.com/ArduPilot/ardupilot/issues/31099 - [ ] EKF reset leads to bad roll estimate ([issue](https://github.com/ArduPilot/ardupilot/issues/31098), [discussion](https://github.com/ArduPilot/ardupilot/issues/31098)) - [ ] BLHeli_S ESC passthrough not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-2-released/136822/26)) - [ ] yaapu ver X7 1.8.0 using Taranis QX7 receiver not displaying data ([discussion](https://discuss.ardupilot.org/t/copter-4-6-2-released/136822/12)) - [ ] log download slow? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-1-released/135697)) - [ ] Plane LEDs not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/30331#issuecomment-2988401515), [PR with potential fix](https://github.com/ArduPilot/ardupilot/pull/30469)) - [ ] Bad battery ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/74)) - [ ] Micoair h743aio failing to restart ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/57)) - [ ] Bad Gyro Health on Yaapu ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/50)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30142 - [ ] Rover follow Lua bindings almost always returning nil ([discussion](https://discuss.ardupilot.org/t/issue-with-follow-object-in-lua-script-for-rover-to-follow-copter/131666/11)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30173 ([discussion](https://discuss.ardupilot.org/t/cube-orange-plus-over-loaded-processor/134003/41)) - [ ] https://github.com/ArduPilot/ardupilot/issues/30156 - [ ] Solo gimbal not included on CubeSolo ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/5)) - [ ] uBlox fw update over DroneCAN with uCenter 24.x does not work - [ ] Since 4.6 NeoPixel strip led doesn’t work https://discuss.ardupilot.org/t/plane-4-6-release/134619/15?u=tridge - [ ] garbage data can be accepted as valid mavlink: https://github.com/ArduPilot/pymavlink/issues/1019 - [ ] FTP mission upload deadlock in 4.6.2: AP: CRITICAL Deadlock 814 FTP 0x3000AE6C **Confirmed issues** - [x] Lua related Internal error from multi-heap allocation ([issue](https://github.com/ArduPilot/ardupilot/issues/29563)) - [ ] AHRS upside soon after startup (reported by partners, [PR](https://github.com/ArduPilot/ardupilot/pull/29667), [issue](https://github.com/ArduPilot/ardupilot/issues/30064)) -- resolved for -beta6 but then re-opened - [ ] Hardfault on arming if CAN_SLCAN_CPORT set non-zero and have SERIAL6_PROTOCOL set to 22 (reported by @robertlong13, [Issue](https://github.com/ArduPilot/ardupilot/issues/30055)) -- also exists in 4.5 so not a blocker - [x] Internal error involved multiheap allocation for LUA in cygwin (https://github.com/ArduPilot/ardupilot/issues/29563) - [ ] EKF3 altitude runaway EK3_SRC1_POSZ = 2 (rangefinder) and rangefinder is out of range ([PR](https://github.com/ArduPilot/ardupilot/pull/29537)) - [ ] AM32 passthrough (without DroneCAN) not working ([issue](https://github.com/ArduPilot/ardupilot/issues/29348), [PR](https://github.com/ArduPilot/ardupilot/pull/29590)) - [ ] EKF3 velocity divergence before arming ([issue](https://github.com/ArduPilot/ardupilot/issues/29384), [PR](https://github.com/ArduPilot/ardupilot/pull/29434)) -- hoping PaulR will investigate (not a blocker) ***Plane Specific Issues*** - [ ] Plane servos using IOMCU not moving ([issue](https://github.com/ArduPilot/ardupilot/issues/29759)) -- aiming for fix in 4.6.x point release (not 4.6.0) - [ ] the assisted_flight flag oscillates rapidly in fwd transition of tilt quadplanes, possibly leading to incorrect tllt slew rate https://github.com/ArduPilot/ardupilot/issues/28957 -- aiming to fix in 4.6.1 (or higher) - [ ] possible landing glide slope bug https://discuss.ardupilot.org/t/plane-4-6-release/134619/8?u=tridge - [ ] possible sink rate issue in AUTOLAND https://discuss.ardupilot.org/t/autoland-mode-4-7-dev-reports/135441 - [ ] https://github.com/ardupilot/ardupilot/issues/30227 **Enhancements or Issues that may not be resolved before the stable release** - [ ] Octaquad missing on F4 boards ([discussion](https://discuss.ardupilot.org/t/bug-in-firmware-upgrade-copter-4-6-0/134683/30)) -- same with 4.5.7 so we should potentially also remove Octa from F4 boards - [ ] BLHeli SERVO_BLH_RVMASK mapping is achieved through trial and error (raised by xfacta, [issue](https://github.com/ArduPilot/ardupilot/issues/29325)) - [ ] when the user has configured ESC, FFT or RPM notch and has INS_HNTCx_REF=0 then they end up with a fixed notch. We should have an arming check to tell them they need to set the REF to 1.0 (any non-zero value will do actually) https://github.com/ArduPilot/ardupilot/issues/28786 - [ ] ROS2 attitude control + thrust enhancement request ([discussion](https://discuss.ardupilot.org/t/ros2-interface-for-controlling-thrust-and-attitude/127694)) - [ ] AutoTune should have a vehicle specific (or configurable) AngleP max (reported by Tridge) - [ ] add a warning if the GCS system clock and UTC clock on the flight controller differs by over 20s and signing is active, as signing will fail with a 30s difference - [ ] Custom Build Server for CubeOrangePlus with OpenDroneID shows linker error when out of flash ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/4), [discussion2](https://discuss.ardupilot.org/t/copter-custom-firmware-build-issue-with-remote-id-support-latest-not-4-5-7/125177), [Issue](https://github.com/ArduPilot/CustomBuild/issues/114)) - [ ] Add LDRobot LD19 support ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/8), [issue](https://github.com/ArduPilot/ardupilot/issues/28662)) - [ ] need to provide a clearer message to users when the power status flags change, indicating loss of a power source in flight. A statustext at message level CRITICAL I think is warranted, maybe "POWER STATUS CHANGE" ? (Tridge has details) **Wiki issues/enhancement requests ([Wiki To-Do list](https://github.com/ArduPilot/ardupilot_wiki/issues/4274))** - None **Resolved issues** - [x] incorrect glide slope for terrain NAV_LAND. https://github.com/ArduPilot/ardupilot/pull/30041 - [x] find_by_name() in AP_Param.cpp uses a bogus strncasecmp() ([PR](https://github.com/ArduPilot/ardupilot/pull/30659)) - [x] https://github.com/ArduPilot/ardupilot/issues/30722 -- resolved ahead of 4.6.3-beta1 - [x] Firmware erase on ECC error on boards that store params in flash ([PR](https://github.com/ArduPilot/ardupilot/pull/30031)) -- TBS bootloader released with 4.6.0, what's next? -- solved in 4.6.2 - [x] LD06 sensitive to sunlight ([discussion](https://discuss.ardupilot.org/t/copter-4-6-1-released/135697/31)) -- not a regression since 4.5. hardware issue? - [x] Ark FPV board mentioned in release notes but not in 4.6 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/83), [PR](https://github.com/ArduPilot/ardupilot/pull/28603)) -- marked for backporting, may be included in 4.6.3 - [x] JFB110 SD card not working? ([discussion](https://discuss.ardupilot.org/t/jfb110-fc-mavftp-issue/134938), [related PR](https://github.com/ArduPilot/ardupilot/pull/26090), [potential fix PR](https://github.com/ArduPilot/ardupilot/pull/30387)) -- resolved for 4.6.2-beta1 - [x] Copter Pixhawk 2.4.8 "check frame and type" ([discussion](https://discuss.ardupilot.org/t/bug-in-firmware-upgrade-copter-4-6-0/134683)) -- no response from user - [x] CubeOrange AK09916 internal compass orientation Yaw270 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-released/134617/44)) -- no functional impact - [x] “pitch level-off at takeoff altitude” is interfered with by the feature “pitch rotate speed for ground takeoff” ([discussion](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/165), [PR](https://github.com/ArduPilot/ardupilot/pull/29834)) -- resolved for 4.6.0 (randy thinks) - [x] DroneCan M10 GPS lock issue again (raised by TimT, [discussion](https://discuss.ardupilot.org/t/timts-dronecan-ublox-m10-num-sats-issue/132353)) -- waiting on Qiotek, no conclusive evidence of an issue - [x] LD19 average change makes it sensitive to sunlight ([discussion](https://discuss.ardupilot.org/t/looking-to-get-firmware-release-4-6-0-beta2-11-dec-2024/133422), [original PR](https://github.com/ArduPilot/ardupilot/pull/27045), [PR1](https://github.com/ArduPilot/ardupilot/pull/30016), [PR2](https://github.com/ArduPilot/ardupilot/pull/30107)) -- resolved ahead of 4.6.1-beta1 - [x] CubeOrangePlus 2nd IMU error ([discussion](https://discuss.ardupilot.org/t/imu-2-on-my-cubeorangeplus-errors/133691)) -- need log, no feedback from user - [x] SpeedyBee F4 running out of memory ([discussion](https://discuss.ardupilot.org/t/possible-side-problem/133917/2)) -- need log, no feedback from user - [x] Pixhawk6X IST8310 external compass not detected ([issue](https://github.com/ArduPilot/ardupilot/issues/29854)) -- need log, no feedback from user - [x] TBS parameter corruption on firmware update (reported by AndyP, [Issue](https://github.com/ArduPilot/ardupilot/issues/30058), [PR](https://github.com/ArduPilot/ardupilot/pull/30031)) -- TBS bootloaders released with 4.6.0 - [x] AIS not working on Copter? ([discussion](https://discuss.ardupilot.org/t/ais-no-work-daisy2-ac-45-46/131176), [related PR](https://github.com/ArduPilot/ardupilot/pull/29839#event-17337598051)) -- cannot reproduce, no response from user - [x] Secure bootloader doesn't work ([4.5 discussion](https://discuss.ardupilot.org/t/unable-to-update-signed-bootloader/133280/2)) -- could not reproduce - [x] Speedybee ENOMEM message ([discussion](https://discuss.ardupilot.org/t/logging-failed-failed-to-create-log-directory-apm-logs-enomem/132917), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/6768)) -- resolved, wiki updated ahead of -beta6 - [x] "No ap_message for mavlink id (271)" message ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta5-available-for-beta-testing/132624/23), [PR](https://github.com/ArduPilot/ardupilot/pull/29783)) -- resolved for -beta6 - [x] terrain following issue: https://github.com/ArduPilot/ardupilot/pull/29685 -- resolved for beta6 - [x] circle climb after terrain: https://github.com/ArduPilot/ardupilot/pull/29765 -- resolved for beta6 - [x] Microbrain UAV-R21 Proximity sensor ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/48), [discussion2](https://discuss.ardupilot.org/t/how-to-use-the-uav-h31-and-uav-r21-for-terrain-following-and-obstacle-avoidance/114423)) -- we do not support this model - [x] RPI PiPilot / Invensense ICM42688P hang ([issue](https://github.com/ArduPilot/ardupilot/issues/29572), [PR](https://github.com/ArduPilot/ardupilot/pull/29614)) -- resolved for beta6 - [x] on ICM45686 IMUs the SPI transfer overheads can be overwhelming on some boards, especially those with 3 of that sensor. Some PRs to address: https://github.com/ArduPilot/ardupilot/pull/28672 and https://github.com/ArduPilot/ardupilot/pull/27573 -- resolved for -beta6 - [x] [IMU temp cal pages](https://ardupilot.org/copter/docs/common-imutempcal.html) need updating -- no details on what needs updating - [x] Copter/TradHeli internal errors 0X4000000 and 0X4000020 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/23), [issue](https://github.com/ArduPilot/ardupilot/issues/29370), [PR](https://github.com/ArduPilot/ardupilot/pull/29409)) -- resolved for -beta5 - [x] SET_ROI_LOCATION support ([issue](https://github.com/ArduPilot/ardupilot/issues/28505#issuecomment-2709173400), [PR](https://github.com/ArduPilot/ardupilot/pull/29567)) -- resolved ahead of -beta5 - [x] Take Pic with no location ([issue](https://github.com/ArduPilot/ardupilot/issues/29530), [PR](https://github.com/ArduPilot/ardupilot/pull/29558)) -- fixed in master (won't backport) - [x] Pixhawk 5x ethernet not enabled ([issue](https://github.com/ArduPilot/ardupilot/issues/26397#issuecomment-2725220803), [wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/6697)) -- wiki PR merged ahead of -beta5 - [x] AP_Scripting should get follow binding for Rover ([discussion](https://discuss.ardupilot.org/t/issue-with-follow-object-in-lua-script-for-rover-to-follow-copter/131666/4), [PR](https://github.com/ArduPilot/ardupilot/pull/29548)) -- resolved for -beta5 - [x] Plane: fixed guided VTOL command in terrain mode ([PR](https://github.com/ArduPilot/ardupilot/pull/28406)) - [x] ARSPD_AUTOCAL can trigger while disarmed ([PR](https://github.com/ArduPilot/ardupilot/pull/29455)) -- resolved for -beta5 - [x] QuadPlane motors using BDShot making knocking noises ([discussion1](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/62), [discussion2](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/52), [PR1](https://github.com/ArduPilot/ardupilot/pull/29518), [PR2](https://github.com/ArduPilot/ardupilot/pull/29521)) -- fixed for beta5 - [x] Water Depth message too fast on boats ([discussion](https://discuss.ardupilot.org/t/water-depth-clogging-the-mavlink-transmission/131509), [PR](https://github.com/ArduPilot/ardupilot/pull/28877)) -- resolved for beta5 - [x] UBlox M10 can't get enough sats ([discussion](https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930/15)) -- testing is inconclusive - [x] Copter MOT_THST_HOVER param desc for lower limit should be 0.125 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/54), [PR](https://github.com/ArduPilot/ardupilot/pull/29478)) -- resolved for -beta5 - [x] iBUS telemetry not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta2-is-available-for-beta-testing/127445/11)) -- user error - [x] Mission option bit issue ([discussion](https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/42), [PR](https://github.com/ArduPilot/ardupilot/pull/29435)) -- resolved for -beta5 - [x] CADDX GM2 update slow ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/38), [PR](https://github.com/ArduPilot/ardupilot/pull/29428)) -- resolved for -beta5 - [x] Unknown message 45 ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/43), [discussion2](https://discuss.ardupilot.org/t/sending-unknown-message-44-on-mission-planner-with-speedybee-f405-v3-guided-mode/130303), [PR](https://github.com/ArduPilot/ardupilot/pull/29339)) -- resolved for -beta5 - [x] Holybro M10 waiting to configure GPS1 ([discussion](https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930/7), [PR](https://github.com/ArduPilot/ardupilot/pull/29320)) -- resolved for -beta5 - [x] LD06 support not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta4-released-for-beta-testing/130471/27), [PR](https://github.com/ArduPilot/ardupilot/pull/29375)) -- fixed ahead of -beta5 - [x] Reboot loop after enabling Scripting ([discussion](https://discuss.ardupilot.org/t/reboot-loop-after-enabling-scr-enable-lua-scripts/130420), [issue](https://github.com/ArduPilot/ardupilot/issues/29315)) -- user using incorrect compiler - [x] possible regression in attitude control in quadplanes? https://github.com/ArduPilot/ardupilot/issues/29060 -- no evidence that there's been a regression despite much effort spent searching - [x] Takeoff throttle behavior for planes without airspeed sensor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/28775), [PR](https://github.com/ArduPilot/ardupilot/pull/28776)) -- intentional change - [x] ESC Telemetry logging issue ([issue](https://github.com/ArduPilot/ardupilot/issues/28807), [PR](https://github.com/ArduPilot/ardupilot/pull/29001)) -- resolved for beta3 - [x] Community dev struggles with build options ([discussion](https://discuss.ardupilot.org/t/build-from-sources-with-custom-features/127879)) -- no response from user - [x] https://github.com/ArduPilot/ardupilot/issues/28969 - [x] Autotune acceleration limiting is not effective ([PR](https://github.com/ArduPilot/ardupilot/pull/28911)) -- resolved for beta3 - [x] Orqa 3030 autopilot config issue ([discussion](https://discuss.ardupilot.org/t/orqa-3030-f450-issue/127483), [PR](https://github.com/ArduPilot/ardupilot/pull/28855)) -- resolved for beta3 - [x] BeagleBoneBlue RC not working with Copter ([discussion](https://discuss.ardupilot.org/t/rc-sbus-works-with-plane-but-not-copter-beaglebone-blue/127540/2)) -- user error related to running as a service - [x] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 ([PR](https://github.com/ArduPilot/ardupilot/pull/28792)) -- resolved for beta3 - [x] plane takeoff regression since 4.5.x: https://github.com/ArduPilot/ardupilot/issues/28681 -- ready for beta2 - [x] on plane when FENCE_AUTOENABLE=3 and FENCE_ENABLE=0 the fence does not enable when arming if there is a RCn_OPTION set to FENCE. This is a regression from 4.5.x. (Tridge has details) Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] on plane the pre-arm check for being inside polygon fence was lost since 4.5.x. Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] Navio2 GPS not working ([discussion](https://discuss.ardupilot.org/t/rover-4-6-0-beta1-is-available-for-beta-testing/126296/4), [conflicting report that it does work](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/9)) -- fixed by refreshing/resetting firmware - [x] arming at mid-stick question ([discuss](https://discuss.ardupilot.org/t/arming-with-throttle-at-mid-stick/127203)) -- no issue - [x] Crossfire receiver does not reconnect after failsafe ([issue](https://github.com/ArduPilot/ardupilot/issues/28797), [PR](https://github.com/ArduPilot/ardupilot/pull/28805)) -- resolved for -beta2 - [x] Copter AutoTune can produce very low maximum acceleration values ([issue](https://github.com/ArduPilot/ardupilot/issues/28799), [PR](https://github.com/ArduPilot/ardupilot/pull/28800)) -- resolved for -beta2 - [x] memory fragmentation and multiple memory regions mean lua scripting can fail with out of memory error even if you have plenty of free memory. Addressed in https://github.com/ArduPilot/ardupilot/pull/26517 - [x] system time may be unstable when using only first GPS timestamp, consider https://github.com/ArduPilot/ardupilot/pull/24022 or similar fix (Tridge has details) - [x] Plane fences ignored ([issue](https://github.com/ArduPilot/ardupilot/issues/28666)) -- cannot reproduce - [x] Plane: auto-deploy landing gear on fixed wing ([PR](https://github.com/ArduPilot/ardupilot/pull/29321)) - [x] guided error with terrain target https://github.com/ArduPilot/ardupilot/pull/29602 - [x] QuadPlane fast attitude recovery issue ([PR](https://github.com/ArduPilot/ardupilot/pull/29498)) - [x] https://github.com/ArduPilot/ardupilot/issues/29555 - [x] Plane FBWA doesn't support vectored thrust? ([issue](https://github.com/ArduPilot/ardupilot/issues/30159#issuecomment-2908030994))

Issues & Pull Requests

github.com/ArduPilot/ardupilot

QuadPlane: add RPM check to takeoff

master ← robertlong13:pr/esc_rpm_takeoff_check

opened 05:28AM - 13 Jan 25 UTC

robertlong13

+192 -57

I'm taking over #27696. This PR addresses Tridge's requests, moving the check to… `QuadPlane::takeoff_controller` like the tiltrotor delay check, and never allows the motors to be blocked for plane. For clarity, I moved all the takeoff preventers (tilt, rpm, and rudder stick) into the same if-block on the spool state. The tilt check was checking `spool_state != AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED` and the rudder check was checking `spool_state <= AP_Motors::DesiredSpoolState::GROUND_IDLE`. These are currently identical conditionals, so I picked the former, rather arbitrarily. I also removed the AP_Motors_config stuff. If we want to add an `AP_MOTORS_ENABLED` define, I think we should do it properly and use it everywhere we're currently using `APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane)` around calls to `AP::motors`. I was going to do that as part of this PR, but it got a little tricky (has the same weird thing we had to do for AP_LANDINGGEAR_ENABLED), and I decided to punt it to [another branch](https://github.com/robertlong13/ardupilot/tree/pr/make-and-use-ap-motors-enabled) (for a future PR) so I can get Peter Barker's help with it later. Also, while I was here, I noticed that the max rpm check (to catch cases where one prop isn't installed) is almost certainly broken for real vehicles. It works in SITL because the simulated arm RPM goes immediately from 0 to the simulated value. Real vehicles will probably pass through a valid RPM value before reaching the invalidly high RPM, and once it passes once, it won't check again. `takeoff_check` is called at 50Hz on Copter, so it's pretty easy to imagine it will read at least one RPM value within bounds on its way. I don't want that to hold up this PR though (I'm not planning to use that check), so I'll fix it afterwards if nobody else takes it. It will take some SITL changes to properly autotest it.

github.com/ArduPilot/ardupilot

Add support for System ID on Aux Switch in Plane

master ← bnsgeyer:pr-sysid-plane

opened 03:19AM - 25 Mar 25 UTC

bnsgeyer

+326 -50

This PR adds the support to run System ID from the Aux Switch in plane. To this… point I have implemented the input, rate, and mixer SID_AXIS for pitch and roll. Because plane doesn't use a command model, I am thinking that I would just use the same method for the Recovery SID_AXIS inputs. I will need help with how to get the log data. I see in the log file that AETR has the servo outputs and CTUN has the desired and actual attitudes. The data I am missing is the desired rate and actual rate which I think I can get from PIDP and PIDR for the pitch and roll axes. Just not sure how I should go about this. What other modes should be included? Loiter?

github.com/ArduPilot/ardupilot

Plane: improve POSITION1 velocity control

master ← robertlong13:pr/improve-pos1-velocity

opened 02:51AM - 11 Jun 25 UTC

robertlong13

+2 -0

For a while, I've noticed an annoying behavior during POS1. The aircraft initial…ly can't decelerate fast enough, but then as it gets slower, it massively undershoots QPOS.TSpd. This can be seen by the aircraft pitching up to max and then suddenly pitching back down below 0 right after. I can reproduce this in RealFlight using the Titan Cobra, but I've encountered this in real life on Volanti and Ottano. ![backtransition_before](https://github.com/user-attachments/assets/276ae60f-18ea-477a-8a6e-cc2e2c4bc1b4) The POS1 controller target velocity is shown in purple. The actual velocity, in orange, is doing a terrible job following it. We can see that the undershoot is actually commanded by the underlying position controller's target velocity in brown (multiple brown lines, I know). The position controller's target velocity goes lower because we start winding up a position error (blue/brown lines). The pitch angle (green/brown) goes from 27 degrees pitched up to 4 degrees pitched down back-to-back. Essentially what the controller is saying is "I'm at the right speed to reach the point X meters away, but I got here too early and I should slow down even more to get my position-vs-time curve to match up with expectations". It does a great job of getting the actual position to come back and follow that curve, but that's entirely unnecessary. Instead, we should clear the position error when we're in POS1. The outer controller just wants the inner controller to handle velocity and acceleration. Here's the same plot after this PR. I think this is much nicer. Now the actual velocity follows QPOS.TSpd quite well. And our attitude commands are much more reasonable. We only hit 17 degrees pitch up, and after, we relax to 3 degrees pitch up, and we don't drop the nose until we switch to POS2 (I could try to knock that out too, but I'm fine with that). ![backtransition_after](https://github.com/user-attachments/assets/0f7e1111-fefd-4174-8de2-02c2dd592f9d)

github.com/ArduPilot/ardupilot

Stop initialising SITL's input.servos for Plane

master ← peterbarker:pr/sitl-servo-init-values-plane

opened 01:44PM - 19 Aug 25 UTC

peterbarker

+15 -24

- [x] normal Plane model - [x] glider model (interesting aileron has a trim !=… 1500) - [X] JSBSim - [X] RealFlight - [X] XPlane Plane and glider were tested by printing out the aileron, elevator and rudder as they come into calculate forces and making sure they come in as 0 (not the case in glider because its elevator has non-1500 trim!) JSBSim was tested by mucking around a little bit in SITL and comparing master vs this PR. RealFlight was tested on both the Alti Transition and the AddictionX frames XPlane was tested with the Alia

github.com/ArduPilot/ardupilot

SCurve: Add support for circular arc path segments

master ← lthall:20250919_mission_arcs

opened 12:56PM - 21 Sep 25 UTC

lthall

+268 -80

This PR extends the SCurve trajectory generator to support circular arc segments… in addition to straight-line segments. New segment type: Segments can now be defined by a signed arc angle (arc_angle_rad). Arc achieves the maximum velocity for that segment length and takes into account the maximum corner acceleration. For testing I have replaced the Spline waypoint type where P1 is now the arc angle. Ideally I would like to use the standard waypoint and add the ability for us to define P2 as the arc angle. However, this would require extra memory and it is probably more memory efficient in the long run to use it's own waypoint type. @MattKear has been helping me with the mavlink part of this effort. Ideally I would like to get some clear guidance from the dev team on what that implementation should look like so I don't waist his time. The figure below shows the results of the example mission I have added to the last commit: <img width="596" height="548" alt="image" src="https://github.com/user-attachments/assets/c33a9100-1f0f-4435-8d3b-114b5a53310f" />

github.com/ArduPilot/ardupilot

AP_BatteryMonitor: add support for INA260

master ← IamPete1:INA260

opened 09:54PM - 19 Oct 25 UTC

IamPete1

+265 -2

This adds a driver for the INA260. Its a stand alone driver, possibly it could b…e integrated into the existing `INA2XX` driver, but I don't have access to all the variants that it already supports to test. Since there is no (as far as I know) publicly available hardware this driver is only enabled in SITL by default. We did have a previous PR for the INA260, https://github.com/ArduPilot/ardupilot/pull/22767 but it was closed by the author.

github.com/ArduPilot/ardupilot

AC_PosControl: Improve EKF reset handling

master ← lthall:20251022_EKF_Reset_Handling

opened 12:06AM - 22 Oct 25 UTC

lthall

+116 -31

This improves Copter's EKF reset handling so that it is handled in one of two di…fferent ways depending upon the flight mode (or in the case of Guided and ZigZag, the flight mode's submode): 1. In flight modes like Loiter where, from the pilot's point of view, the flight mode doesn't have an absolute position target, when a EKF position reset occurs we adjust the PositionController's target so that there is no change in position error which means the vehicle doesn't actually move (the icon will move on the map but the vehicle will not twitch or change position from an external viewers point of view). This is unchanged from how Loiter currently works. 2. In flight modes like Auto (using a WP command) where the target is specified as an absolute Location, the EKF's position reset is added to the PositionController's position offset after which it will be slewed back, in a kinematically consistent manner, to zero This has been lightly tested in SITL to confirm the vehicle moves correctly in these modes: - Loiter - Guided Takeoff, WP, Velocity We should complete testing by: - [x] checking more modes including Auto, ZigZag and PosHold - [x] confirm Plane is unaffected - [x] confirm Rover is unaffected

github.com/ArduPilot/ardupilot

Plane: fix yaw calculation during POS1 overshoot

master ← robertlong13:pr/pos1-overshoot-fix-yaw-target

opened 04:32AM - 29 Oct 25 UTC

robertlong13

+11 -7

This PR fixes the issue @timtuxworth encountered recently: [logs](https://www.dr…opbox.com/scl/fi/nl3yrk05md41ndbuzez2s/log_52_2025-10-20-14-24-50.bin?rlkey=kb8nppl9kn2rvus6ih2et0htl&st=qz7rq1ad&dl=0) and [video](https://youtu.be/E8bJBzEQbvM). It's something I've also encountered a few times over the years (and it's terrifying) but never looked into fixing it and just did everything possible to prevent overshoot from ever occurring. During an overshoot, the aircraft should yaw to keep its nose into the _current_ apparent wind, not the future apparent wind when the target ground speed is eventually reached. This fix causes the aircraft to yaw gently as intended as it slows and corrects course during POS1 overshoot. This leads to significantly less yaw output, and overall better/safer control. The ground track itself is the same between the two, so this shouldn't negatively impact anything. Tested in RealFlight on the Cobra. 3m/s crosswind with a mission designed to cause a QRTL overshoot: - [logs.zip](https://github.com/user-attachments/files/23201368/logs.zip) - [mission](https://github.com/user-attachments/files/23201416/cmac_too_close.txt) <img width="602" height="676" alt="image" src="https://github.com/user-attachments/assets/7a480b7d-3080-41a7-aa8d-7385ca487ca7" /> Current Behavior: <img width="1529" height="477" alt="Current Behavior" src="https://github.com/user-attachments/assets/aabd21f2-9e92-4369-a537-a8069beee6f3" /> This Fix: <img width="1529" height="477" alt="This Fix)" src="https://github.com/user-attachments/assets/41e8dcb7-6c49-444c-9e22-15c5dfcb81dc" />

github.com/ArduPilot/ardupilot

FileSystem: allow crash_dump.bin files to be deleted via MAVFTP

opened 11:33AM - 29 Oct 25 UTC

rmackay9

DevCallTopic

crash_dumps are quite rare but [according to our wiki](https://ardupilot.org/cop…ter/docs/common-watchdog.html) once they occur, the user cannot arm the vehicle and the only way to delete the file is to re-upload the firmware. I understand that we want the crash dump files but I think users should be able to simply delete the file via MAVFTP (hopefully after sending them to us). Forcing them to update the firmware seems like an unnecessarily cumbersome step to put the users through

github.com/ArduPilot/ardupilot

ardupilotwaf: remove legacy source header dependency scanning logic

master ← tpwrules:pr/waf-deps-cleanup

opened 08:06PM - 01 Nov 25 UTC

tpwrules

+3 -90

waf has built in logic to scan your source files and automatically add dependenc…ies on the included files. It also supports using GCC to do this. Long long ago: * PR #4590 introduced logic to avoid scanning after cleaning since waf's scanning is slow * PR #8696 switched to using GCC's since it's fast, (probably unintentionally) disabling the above logic * PR #9342 added an option to switch back to waf's since it's more convenient when intermixing with pre-#8696 branches But today, seven years later, essentially nobody works with such old branches and nobody's run into issues with GCC's scanner. So we can remove the option to switch to waf's scanner then delete the complex logic from #4590 which has been disabled by default for seven years and only helped waf's scanner anyway. Confirmed that there is no performance reduction and no compiler output change. Timings of CubeOrange copter build: ``` before, fresh git tree, gccdeps: 2m3s before, `./waf clean`, gccdeps: 2m2s before, fresh git tree, default: 2m26s before, `./waf clean`, default: 2m2s after, fresh git tree, gccdeps: 2m3s after, `./waf clean`, gccdeps: 2m3s ```

github.com/ArduPilot/ardupilot

Replace Zynq board subtype with specific defines in hwdefs

master ← peterbarker:pr/remove-zynq-board-subtypes

opened 12:02AM - 02 Nov 25 UTC

peterbarker

+51 -29

Compiler output is identical except for the board ID we send out via mavlink. … The board ID we currently send out for mavlink for the zynq board (1004) conflicts with `AP_HW_F303_PERIPH` and ocpoc_zynq (1019) conflicts with (AP_HW_MAMBA405). I suggest we need to allocate fresh IDs for the Linux boards in `board_types.txt` and include a BOARD_ID in the Linux hwdefs (similarly for the esp32 boards). This allows a GCS to know what sort of board it is talking to... ``` Board,plane CubeOrangePlus,* dark,* ocpoc_zynq,0 zynq,0 ```

github.com/ArduPilot/ardupilot

ardupilotwaf: force versions when consistent builds are enabled

master ← tpwrules:pr/waf-more-consistent

opened 04:00AM - 02 Nov 25 UTC

tpwrules

+39 -18

Avoids the need to specify manually in environment variables. Tested that aft…er this PR is applied, changing the git commit hash does not change the binary for an arbitrary board for each of ChibiOS, ESP32, and Linux. Did not remove the environment variable specification setting from existing stuff in tree because it either needed to be compatible with older trees or was not trivial to update.