Dev Call Sept 29,2025

CraigElder · September 29, 2025, 10:57pm

CI Workflow 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/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** - [ ] 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 - [ ] 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

Plane follow lua applet

master ← timtuxworth:pr-plane-follow

opened 11:43PM - 14 Jul 25 UTC

timtuxworth

+1690 -46

This creates a new Lua Script applet that implements "plane follow" - a fixed wi…ng follow/chase functionality that runs in guided mode. The code uses the core AP_Follow library functionality and therefore uses most of the documented FOLL_ parameters that are used in Copter and Rover FOLLOW mode. The kinematic extrapolation improvements made by @lthall significantly improved the quality and smoothness of the follow. I've made one small enhancement to make the follow Altitude sensitive as this was required by the partner who I worked with through this process. If FOLL_ALT_TYPE = 3:terrain then the follow altitude will be terrain relative. There is also a scripted FOLLP_OVR_ALT that forces the follow vehicle to use a specific altitude overriding the altitude it receives from the lead plane and the follow library. I've also included a Lua module that is used by the script but might also be useful to others. pid.lua - A PID controller extracted/generalized from plane_aerobatics

github.com/ArduPilot/ardupilot

Add Lua script allowing selection of different configuration sets

master ← peterbarker:pr/config-chooser

opened 08:18AM - 06 Sep 25 UTC

peterbarker

+1032 -0

This is an *example* script which allows switching between different vehicle par…ameter configurations. It should *not* be run un-modified as the tuning parameter in the example is unlikely to be correct for vehicles other than Callisto. The concept here (see the README.md for more information...) is that generally parameter sets are denied, except for a new set of parameters which allow you to move the vehicle from one (e.g.) battery configuration to another, or from one (another e.g.) payload configuration to another) This work sponsored by Freespace Solutions.

github.com/ArduPilot/ardupilot

Plane: prevent bad climbs in auto mode

master ← peterbarker:pr/bad-plane-climb-fix

opened 10:32PM - 21 Sep 25 UTC

peterbarker

+49 -4

if we entered auto mode before we get our home location then we can end up subtr…acting a 0m AMSL from a supplied absolute altitude, making the relative-takeoff-altitude a Very Big Number Supplied autotest fails before and passes after. From before the fix: <img width="1933" height="919" alt="image" src="https://github.com/user-attachments/assets/c8cfc940-b621-48e1-85e0-6bf78d29a5f4" /> (I'm not even going to speculate on what's going on with that altitude at the end of the test, but you can see we climb to ~1000m AMSL rather than the mission-desired 650m) After the fix: <img width="1933" height="919" alt="image" src="https://github.com/user-attachments/assets/1c998fb6-1a3a-4644-bee8-ce6102b6da50" /> I'm labeling this for backport, but I'm dubious as this is probably a very long-standing bug. The pre-arm check is probably overkill as Plane currently requires position for arming anyway and home will get set rapidly from that. Might close a thin race.

github.com/ArduPilot/ardupilot

AP_Networking: PPP gateway only enabled by default on AP_Periph and CubeRedPrimary

master ← rmackay9:network-ppp-gateway-disable-by-default

opened 01:43AM - 22 Sep 25 UTC

rmackay9

+10 -1

The removes the networking PPP gateway feature except on the handful of boards t…hat really need it which is: - BotBlox DroneNet - CubeRedPrimary and CubeRedPrimary-PPPGW - CubeNode and CubeNode-ETH - Pixhawk6X-PPPGW This saves a tiny bit of flash but more importantly it avoids users accidentally enabling this feature (by setting NET_OPTIONS = 1 / Enable PPP gateway) when it's not required and actually cause problems. In particular it can lead to the autopilot being unable to reliably reconnect to the network. See https://github.com/ArduPilot/ardupilot/issues/30998 I've tested this on a CubeOrange (with networking enabled) and a CubeNodeETH to confirm that the above endless "reconnecting" issue is resolved and that both the CubeOrange and CubeNode function as expected. I have lightly tested the CubeRedPrimary and the networking appears to be working. For some reason I'm unable to connect to the CubeRedSecondary but this issue is present even using latest (e.g. not affected by this PR) and I believe the issue is specific to my board (I disabled its network connection many months ago and I forget how to re-enable it) <img width="654" height="262" alt="image" src="https://github.com/user-attachments/assets/46ab905e-ee18-449b-befd-2964d5b8a04b" />

github.com/ArduPilot/ardupilot

[WIP] AP_NavEKF: report active EKF source sets and lanes

master ← Ecognize:pr/ekf_srcset_report

opened 10:14AM - 24 Sep 25 UTC

landswellsong

+7 -5

Adds the indication of currently active EKF source set (and core/lane for good m…easure). 1-based indices because it's how the source switch message was coded. I'm not entirely sure about whether to keep it or to change the switch message to 0-based scheme, both have pros and cons, can do as the reviewer decides. mavlink PR: Ardupilot/mavlink#428 Works for me in SITL. Marking as WIP to get comments about the index domain. CC @peterbarker

github.com/ArduPilot/ardupilot

AP_GyroFFT: prevent buffer overwrite when FFT is not possible

master ← peterbarker:pr/fft-nyquist-limit-checks

opened 01:43AM - 25 Sep 25 UTC

peterbarker

+36 -8

max-Hz was being set to a value below min-Hz because of the constraint of max-Hz… to be below the Nyquist limit. This was causing start and endpoints to be reversed, leading to integer underflow leading to indexing of arrays with Vrey Large Numbers. 4.6 version is here: https://github.com/ArduPilot/ardupilot/pull/31156

github.com/ArduPilot/ardupilot

AP_Scheduler: cleanup after #31138 (remove redundant checks, clarify comments)

master ← neo-0007:scheduler-cleanup

opened 04:05PM - 25 Sep 25 UTC

neo-0007

+8 -10

This PR follows up on #31138 and #30305 and should close #30234 **Changes:**… - Simplify `get_loop_rate_hz`, `get_loop_period_us`, `get_loop_period_s` getters - Removed lazy initialization logic - Marked as `const` - Updated comment to clarify initialization occurs only in `init()` - Changed `_active_loop_rate_hz` type from `AP_Int16` to `uint16_t` - Removed redundant scheduler validation in `ArduPlane` These changes are only cleanup / style improvements, no functional behavior is changed. **Tests** - Build succesfully for sitl <img width="1585" height="465" alt="copter_build_test" src="https://github.com/user-attachments/assets/a495f22a-1f2c-4f86-8e89-6f2917e1d911" /> <img width="1625" height="467" alt="plane_build_test" src="https://github.com/user-attachments/assets/89fcf369-0839-4908-9728-22b7dc180d45" />

github.com/ArduPilot/ardupilot

AP_Scripting: avoid `DEV_PRINTF` for initial memory usage

master ← tpwrules:pr/script-mem-quieter

opened 02:53AM - 29 Sep 25 UTC

tpwrules

+5 -4

This corrupts other MAVLink messages going out at the same time, particularly in… CI, causing tests to fail because scripting restart and script initial startup messages are destroyed. Instead use a MAVLink debug statustext, but only send it if the runtime measurement debug bit is on to avoid an obvious change in behavior and unnecessary appearance of a new message. Tested on Cube Orange that the message appears at the right time. I don't love that it now requires an extra step and additional messages to see this but the CI fix is important. Closes #26478 . We also still use `DEV_PRINTF` [here](https://github.com/ArduPilot/ardupilot/blob/a3041bd10f8b62e8157dbf68e55783577a8096c9/libraries/AP_Scripting/lua_scripts.cpp#L127) but that is probably less likely to cause a CI problem since we retransmit the message several times.

CraigElder · September 30, 2025, 1:24am

Attendee count (max): 17

UTC1101 - discussion of CI

AutoTune test flapping
- Leonard’s got a log to look at
Only getting 10Hz logging in autotune now?!
- LOG_FILE_RATE_MAX is set!

UTC1105 - ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

Vehicle update
Time to start thinking about 4.6.3
- Randy’s tied up with JIC
  - But is happy to review a creation of someone else’s
- Bob is going to take a crack at it!
Here4 having zero satellites?
- Stays at zero satellites forever?

UTC1123 - GLOBAL_POSITION_INT - move from common to standard (#2350) by peterbarker · Pull Request #427 · ArduPilot/mavlink · GitHub

Move GLOBAL_POSITION_INT into standard.xml
Merged!

UTC1123 - Plane follow lua applet by timtuxworth · Pull Request #30654 · ArduPilot/ardupilot · GitHub

Plane follow lua applet
Problems around the default value for the maximum-distance parameter
- Might break long-distnace ship landers
- May affect logging
- Timeout problems with timestamping
- Wraps are problematic…
Tridge will follow up with Tim

UTC1135 - Plane: timeout for external guided command by eppravitra · Pull Request #31032 · ArduPilot/ardupilot · GitHub

Configurable timeout for external guided command
Merged!

UTC1138 - Add Lua script allowing selection of different configuration sets by peterbarker · Pull Request #31052 · ArduPilot/ardupilot · GitHub

Example that allows switching between different parameter sets
Merged!

UTC1142 - Plane: prevent bad climbs in auto mode by peterbarker · Pull Request #31140 · ArduPilot/ardupilot · GitHub

Prevent bad climbs in auto
Need to stabilise the vehicle before early return in ModeAuto
- And add an autotest for that
Discussions around whether we can cross the internal error path
Peter to bring it back on Wednesday night

UTC0004 - [WIP] AP_NavEKF: report active EKF source sets and lanes by landswellsong · Pull Request #31154 · ArduPilot/ardupilot · GitHub

Add active source sets and lanes
Some discussion on the shape of the XML
We generally like this!

UTC0010 - AP_GyroFFT: prevent buffer overwrite when FFT is not possible by peterbarker · Pull Request #31156 · ArduPilot/ardupilot · GitHub

Prevent buffer overwrite when FFT is not possible
Can only happen when disarmed
Can go in when Andy’s happy with it

UTC0013 - AP_Scheduler: cleanup after #31138 (remove redundant checks, clarify comments) by neo-0007 · Pull Request #31165 · ArduPilot/ardupilot · GitHub

Cleanup after previous PRs
Internal error if you try to use the scheduler methods before it is initialised from parameters
Merged!

UTC0019 - AP_Networking: PPP gateway only enabled by default on AP_Periph and CubeRedPrimary by rmackay9 · Pull Request #31141 · ArduPilot/ardupilot · GitHub

Removes networking ppp gateway when not explicitly initialised
Key thing with ppp-gw is that you can have both ethernet and ppp running at the same time
Pixhawk6x?
We should enable this
PPPGW target only has a little to do with the pppgw feature
- Not orthogonal!
Pppgw has more than one netif
- You now need to route!
- The periph target shuffles between the two netifs
- This PR would break this on a Pixhawk6X which wants to gate
We should gate this on whether you have a physical ethernet adapter
Modify chibios_hwdef.py instead?
We’ll discuss on DevCallEU

UTC0031 - off the floor

Ppp doesn’t work with broadcast or multicast?
- It’s right there in the name….
- But multicast can apparently work

UTC0040 - AP_Compass: add a MSP probe method which can fail by peterbarker · Pull Request #31179 · ArduPilot/ardupilot · GitHub

Fix MSP compass registration problem
Can be merged after testing

UTC0043 - AP_Scripting: avoid `DEV_PRINTF` for initial memory usage by tpwrules · Pull Request #31180 · ArduPilot/ardupilot · GitHub

Avoid DEV_PRINTF for initial memory usage
Screws up autotests in some places
merged!

UTC0046 - MissionPlanner zero-altitude warnings

zero-altitude meaning current altitude
- Not true for a normal waypoint
- True for loiters
Asking for zero altitude meaning no altitude change in Copter is strange!

Attendee count (max): 17

UTC1101 - discussion of CI

UTC1105 - ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub

UTC1123 - GLOBAL_POSITION_INT - move from common to standard (#2350) by peterbarker · Pull Request #427 · ArduPilot/mavlink · GitHub

UTC1123 - Plane follow lua applet by timtuxworth · Pull Request #30654 · ArduPilot/ardupilot · GitHub

UTC1135 - Plane: timeout for external guided command by eppravitra · Pull Request #31032 · ArduPilot/ardupilot · GitHub

UTC1138 - Add Lua script allowing selection of different configuration sets by peterbarker · Pull Request #31052 · ArduPilot/ardupilot · GitHub

UTC1142 - Plane: prevent bad climbs in auto mode by peterbarker · Pull Request #31140 · ArduPilot/ardupilot · GitHub

UTC0004 - [WIP] AP_NavEKF: report active EKF source sets and lanes by landswellsong · Pull Request #31154 · ArduPilot/ardupilot · GitHub

UTC0010 - AP_GyroFFT: prevent buffer overwrite when FFT is not possible by peterbarker · Pull Request #31156 · ArduPilot/ardupilot · GitHub

UTC0013 - AP_Scheduler: cleanup after #31138 (remove redundant checks, clarify comments) by neo-0007 · Pull Request #31165 · ArduPilot/ardupilot · GitHub

UTC0019 - AP_Networking: PPP gateway only enabled by default on AP_Periph and CubeRedPrimary by rmackay9 · Pull Request #31141 · ArduPilot/ardupilot · GitHub

UTC0031 - off the floor

UTC0040 - AP_Compass: add a MSP probe method which can fail by peterbarker · Pull Request #31179 · ArduPilot/ardupilot · GitHub

UTC0043 - AP_Scripting: avoid `DEV_PRINTF` for initial memory usage by tpwrules · Pull Request #31180 · ArduPilot/ardupilot · GitHub

UTC0046 - MissionPlanner zero-altitude warnings

UTC0057 - close