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ArduPilot 4.6 issues list

Open rmackay9 opened this issue 1 year ago • 23 comments

This is a list of issues discovered during ArduPilot 4.6 testing. Issues for Copter/Rover-4.5 issues are here

Reports requiring investigation

  • [ ] RC tuning of Loiter speed not working? (discussion)
  • [ ] https://github.com/ArduPilot/ardupilot/issues/31584
  • [ ] https://github.com/ArduPilot/ardupilot/issues/31484
  • [ ] Internal Error (flow-of-control) during takeoff in AltHold (discussion)
  • [ ] https://github.com/ArduPilot/ardupilot/issues/31402
  • [ ] https://github.com/ArduPilot/ardupilot/issues/31386
  • [ ] F.Port not working with TradHeli (discussion)
  • [ ] https://github.com/ArduPilot/ardupilot/issues/31287
  • [ ] https://github.com/ArduPilot/ardupilot/issues/31099
  • [ ] EKF reset leads to bad roll estimate (issue, discussion)
  • [ ] BLHeli_S ESC passthrough not working? (discussion)
  • [ ] yaapu ver X7 1.8.0 using Taranis QX7 receiver not displaying data (discussion)
  • [ ] log download slow? (discussion)
  • [ ] Plane LEDs not working? (issue, PR with potential fix)
  • [ ] Bad battery (discussion)
  • [ ] Micoair h743aio failing to restart (discussion)
  • [ ] Bad Gyro Health on Yaapu (discussion)
  • [ ] https://github.com/ArduPilot/ardupilot/issues/30142
  • [ ] Rover follow Lua bindings almost always returning nil (discussion)
  • [ ] https://github.com/ArduPilot/ardupilot/issues/30173 (discussion)
  • [ ] https://github.com/ArduPilot/ardupilot/issues/30156
  • [ ] Solo gimbal not included on CubeSolo (discussion)
  • [ ] 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

  • [ ] AHRS orientation on startup (discussion, issue) -- known issue
  • [ ] AHRS upside soon after startup (reported by partners, PR, issue) -- 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) -- 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)
  • [ ] AM32 passthrough (without DroneCAN) not working (issue, PR)
  • [ ] EKF3 velocity divergence before arming (issue, PR) -- hoping PaulR will investigate (not a blocker)
  • [ ] https://github.com/ArduPilot/ardupilot/issues/31108

Plane Specific Issues

  • [ ] Plane servos using IOMCU not moving (issue) -- 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) -- 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)
  • [ ] 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)
  • [ ] 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, discussion2, Issue)
  • [ ] Add LDRobot LD19 support (discussion, issue)
  • [ ] 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)

  • None

Resolved issues

  • [x] Rover: "field elevation set 0m" spamming GCS messages (discussion, PR)
  • [x] Ch6 tuning of WPSpeed not working on tradheli (discussion1, discussion2) -- user error
  • [x] Lua related Internal error from multi-heap allocation (issue)
  • [x] https://github.com/ArduPilot/ardupilot/issues/31404 -- resolved through documentation
  • [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)
  • [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) -- TBS bootloader released with 4.6.0, what's next? -- solved in 4.6.2
  • [x] LD06 sensitive to sunlight (discussion) -- not a regression since 4.5. hardware issue?
  • [x] Ark FPV board mentioned in release notes but not in 4.6 (discussion, PR) -- marked for backporting, may be included in 4.6.3
  • [x] JFB110 SD card not working? (discussion, related PR, potential fix PR) -- resolved for 4.6.2-beta1
  • [x] Copter Pixhawk 2.4.8 "check frame and type" (discussion) -- no response from user
  • [x] CubeOrange AK09916 internal compass orientation Yaw270 (discussion) -- no functional impact
  • [x] “pitch level-off at takeoff altitude” is interfered with by the feature “pitch rotate speed for ground takeoff” (discussion, PR) -- resolved for 4.6.0 (randy thinks)
  • [x] DroneCan M10 GPS lock issue again (raised by TimT, discussion) -- waiting on Qiotek, no conclusive evidence of an issue
  • [x] LD19 average change makes it sensitive to sunlight (discussion, original PR, PR1, PR2) -- resolved ahead of 4.6.1-beta1
  • [x] CubeOrangePlus 2nd IMU error (discussion) -- need log, no feedback from user
  • [x] SpeedyBee F4 running out of memory (discussion) -- need log, no feedback from user
  • [x] Pixhawk6X IST8310 external compass not detected (issue) -- need log, no feedback from user
  • [x] TBS parameter corruption on firmware update (reported by AndyP, Issue, PR) -- TBS bootloaders released with 4.6.0
  • [x] AIS not working on Copter? (discussion, related PR) -- cannot reproduce, no response from user
  • [x] Secure bootloader doesn't work (4.5 discussion) -- could not reproduce
  • [x] Speedybee ENOMEM message (discussion, wiki PR) -- resolved, wiki updated ahead of -beta6
  • [x] "No ap_message for mavlink id (271)" message (discussion, PR) -- 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, discussion2) -- we do not support this model
  • [x] RPI PiPilot / Invensense ICM42688P hang (issue, PR) -- 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 need updating -- no details on what needs updating
  • [x] Copter/TradHeli internal errors 0X4000000 and 0X4000020 (discussion, issue, PR) -- resolved for -beta5
  • [x] SET_ROI_LOCATION support (issue, PR) -- resolved ahead of -beta5
  • [x] Take Pic with no location (issue, PR) -- fixed in master (won't backport)
  • [x] Pixhawk 5x ethernet not enabled (issue, wiki PR) -- wiki PR merged ahead of -beta5
  • [x] AP_Scripting should get follow binding for Rover (discussion, PR) -- resolved for -beta5
  • [x] Plane: fixed guided VTOL command in terrain mode (PR)
  • [x] ARSPD_AUTOCAL can trigger while disarmed (PR) -- resolved for -beta5
  • [x] QuadPlane motors using BDShot making knocking noises (discussion1, discussion2, PR1, PR2) -- fixed for beta5
  • [x] Water Depth message too fast on boats (discussion, PR) -- resolved for beta5
  • [x] UBlox M10 can't get enough sats (discussion) -- testing is inconclusive
  • [x] Copter MOT_THST_HOVER param desc for lower limit should be 0.125 (discussion, PR) -- resolved for -beta5
  • [x] iBUS telemetry not working? (discussion) -- user error
  • [x] Mission option bit issue (discussion, PR) -- resolved for -beta5
  • [x] CADDX GM2 update slow (discussion, PR) -- resolved for -beta5
  • [x] Unknown message 45 (discussion, discussion2, PR) -- resolved for -beta5
  • [x] Holybro M10 waiting to configure GPS1 (discussion, PR) -- resolved for -beta5
  • [x] LD06 support not working? (discussion, PR) -- fixed ahead of -beta5
  • [x] Reboot loop after enabling Scripting (discussion, issue) -- 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, PR) -- intentional change
  • [x] ESC Telemetry logging issue (issue, PR) -- resolved for beta3
  • [x] Community dev struggles with build options (discussion) -- no response from user
  • [x] https://github.com/ArduPilot/ardupilot/issues/28969
  • [x] Autotune acceleration limiting is not effective (PR) -- resolved for beta3
  • [x] Orqa 3030 autopilot config issue (discussion, PR) -- resolved for beta3
  • [x] BeagleBoneBlue RC not working with Copter (discussion) -- user error related to running as a service
  • [x] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 (PR) -- 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, conflicting report that it does work) -- fixed by refreshing/resetting firmware
  • [x] arming at mid-stick question (discuss) -- no issue
  • [x] Crossfire receiver does not reconnect after failsafe (issue, PR) -- resolved for -beta2
  • [x] Copter AutoTune can produce very low maximum acceleration values (issue, PR) -- 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) -- cannot reproduce
  • [x] Plane: auto-deploy landing gear on fixed wing (PR)
  • [x] guided error with terrain target https://github.com/ArduPilot/ardupilot/pull/29602
  • [x] QuadPlane fast attitude recovery issue (PR)
  • [x] https://github.com/ArduPilot/ardupilot/issues/29555
  • [x] Plane FBWA doesn't support vectored thrust? (issue)

rmackay9 avatar Nov 14 '24 00:11 rmackay9

Why not copy the open issues from 4.5 into this page to make sure they are not forgotten?

amilcarlucas avatar Nov 15 '24 09:11 amilcarlucas

@amilcarlucas,

We could but I worry that the result will be that we have two really long lists of issues that we don't actually clear up. If we can get focus from the dev team on investigating the issues and resolving them then that could work. We should discuss at the next dev call I think

rmackay9 avatar Nov 15 '24 23:11 rmackay9

@rmackay9 @CraigElder I think we need to restructure the dev calls. By the time we get to the copter/plane issues section we are all exhausted (I know I am). I think we should start with the release issues, and look at PRs that address those issues. PRs for new features or cleanups should come after we've looked at critical issues

tridge avatar Nov 16 '24 20:11 tridge

Here's a new one. I'm not sure whether you want me to add it to the list: https://github.com/ArduPilot/ardupilot/issues/28666

Ryanf55 avatar Nov 18 '24 06:11 Ryanf55

@Ryanf55, Thanks for that. Tridge has put an item on the list that involves the auto-enable parameter. Maybe it's the same? In any case, I've added this to the list as well under confirmed issues.

rmackay9 avatar Nov 18 '24 07:11 rmackay9

@rmackay9 In case you want to list it separately for plane. Issue Takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 PR attempting to fix it Plane: Fix inability to climb the last few meters of takeoff

menschel avatar Nov 23 '24 08:11 menschel

@menschel thanks for that, added!

rmackay9 avatar Nov 25 '24 00:11 rmackay9

I have created another issue.

Plane 4.6 beta - Takeoff throttle behavior for planes without airspeed sensor changed from 4.5.7

and the corresponding PR Plane: Fix level-off and throttle without airspeed sensor

menschel avatar Nov 29 '24 11:11 menschel

Hi @menschel, thanks, added to the list!

rmackay9 avatar Nov 29 '24 11:11 rmackay9

There is a missing battery monitor option in the param meta data that will need to be brought across. PR here: #29017

MattKear avatar Jan 06 '25 10:01 MattKear

This: Holybro M10 waiting to configure GPS1 (discussion, https://github.com/ArduPilot/ardupilot/pull/29320) -- resolved for -beta5

This fixed a problem I was seeing with the QioTek M10S GPS on master.

timtuxworth avatar Mar 04 '25 21:03 timtuxworth

When I arm my plane the status changes to DCM Active and it throws continual Bad AHRS errors. As soon as I disarm it changes back to EKF3 Active.

mikedkelly avatar Mar 10 '25 14:03 mikedkelly

When I arm my plane the status changes to DCM Active and it throws continual Bad AHRS errors. As soon as I disarm it changes back to EKF3 Active.

Can you set LOG_DISARMED to 1 and get logs of it? Have you tried to reproduce on 4.5?

Ryanf55 avatar Mar 10 '25 14:03 Ryanf55

Here is the log and my params. I confirmed this happens on 4.5 and 4.6 beta 4. I guess I didn't notice it before. 36 3-10-2025 10-31-44 AM.zip

mikedkelly avatar Mar 10 '25 16:03 mikedkelly

Hi @mikedkelly, @Ryanf55,

It's tough to do support on this issue so I've created a new discussion here https://discuss.ardupilot.org/t/mikedkellys-report-on-dcm-active-and-bad-ahrs/131592

rmackay9 avatar Mar 11 '25 01:03 rmackay9

There is definitely a problem with the M10S @tridge . I had a plane that was struggling to get satellites on it's M10S, so I replaced it with a brand new one out of the box. After 2 hours after booting with master no (zero satellites), I flashed 4.5.7 and it immediately came up with 11 satellites.

timtuxworth avatar Mar 23 '25 23:03 timtuxworth

There is definitely a problem with the M10S @tridge . I had a plane that was struggling to get satellites on it's M10S, so I replaced it with a brand new one out of the box. After 2 hours after booting with master no (zero satellites), I flashed 4.5.7 and it immediately came up with 11 satellites.

I tend to agree - seeing issues on an M10 on my Pavo20.

andyp1per avatar Mar 24 '25 07:03 andyp1per

It seems that a recent change (or changes) might have resolved this issue. If I build AP from the latest master an M10S GPS that comes up with zero satellites on 4.6 will now come up with satellites. This seems to involve two commits (or at least commits somewhere near these):

This commit gets me from zero satellites to about 12 22a70a9287 GCS_MAVLink: avoid use of OwnPtry during DeviceOp read/write

This commit (or something just before it) gets me to about 25 satellites e431b1eaf9 Plane: ATT and RATE logging in sysid log at full rate

I found this by a laborious process of building 18 versions of AP for the QioTekZealot H743 and trying them one by one.

timtuxworth avatar Mar 25 '25 16:03 timtuxworth

I tend to agree - seeing issues on an M10 on my Pavo20.

Try building the latest master Andy (more recent than 23rd March) - do you still see the problem?

timtuxworth avatar Mar 25 '25 16:03 timtuxworth

Hi @andyp1per @timtuxworth,

This issue probably isn't the best place to discuss this. Can we move the discussion to this new topic?

rmackay9 avatar Mar 26 '25 00:03 rmackay9

hello. I have a problem with using ardupilot sub of any version. after flashing usb firmware, the usb connection with the mission planner is lost. this is a bug in all stable versions of sub for speedebeef405v3. only the latest firmware version for developers using the speedebeef405v3 flight controller works properly

ilia-enginer avatar Jul 17 '25 07:07 ilia-enginer

Converting board hwdef.dat from 4.7 (and later) to 4.6:

Rename AP_COMPASS_PROBING_ENABLED to HAL_PROBE_EXTERNAL_I2C_COMPASSES (see https://github.com/ArduPilot/ardupilot/pull/30317)

peterbarker avatar Oct 22 '25 07:10 peterbarker

Hi, I have this crash when takeoff but i exactly don't know what happened

  • Hardware is ok.
  • PreArm check is 'ready to arm' https://discuss.ardupilot.org/t/crash-arducopter-4-6-2-desroll-and-despitch-error-when-arming/139726/6

ThuanDuy2K avatar Nov 26 '25 09:11 ThuanDuy2K