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/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
**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))