ArduPilot 4.6 issues list

[rmackay9]

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

Reports requiring investigation

• BLHeli SERVO_BLH_RVMASK mapping is achieved through trial and error (xfacta, andyp)
• ESC Telemetry logging issue (issue)
• Takeoff throttle behavior for planes without airspeed sensor changed (issue, PR)
• 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) check that INS_HNTCn_REF is non-zero for ESC,RPM or FFT notches #28786

Confirmed issues

• on ICM45686 IMUs the SPI transfer overheads can be overwhelming on some boards, especially those with 3 of that sensor. Some PRs to address: Prearm check to validate backend read rates against scheduler loop rate #28672 and Do not Read FIFO faster than requested rate for ICM45686 #27573

Plane Specific Issues

• None

Heli Specific Issue

• Autotune acceleration limiting is not effective (added by BillG)

Enhancements or Issues that may not be resolved before the stable release

• 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

• Orqa 3030 autopilot config issue (discussion, PR) -- resolved for beta3
• BeagleBoneBlue RC not working with Copter (discussion) -- user error related to running as a service
• Plane takeoff not completing under TKOFF_OPTIONS[0]=0 Takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 (PR) -- resolved for beta3
• plane takeoff regression since 4.5.x: regression in plane takeoff behaviour in 4.6 #28681 -- ready for beta2
• 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: AC_Fence: fixed 2 regressions from 4.5.x #28729 -- ready for beta2
• on plane the pre-arm check for being inside polygon fence was lost since 4.5.x. Fix: AC_Fence: fixed 2 regressions from 4.5.x #28729 -- ready for beta2
• Navio2 GPS not working (discussion, conflicting report that it does work) -- fixed by refreshing/resetting firmware
• arming at mid-stick question (discuss) -- no issue
• Crossfire receiver does not reconnect after failsafe (issue, PR) -- resolved for -beta2
• Copter AutoTune can produce very low maximum acceleration values (issue, PR) -- resolved for -beta2
• 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 AP_Scripting: allow expansion of memory for scripting at runtime #26517
• system time may be unstable when using only first GPS timestamp, consider AP_RTC: allow time to shift forward when disarmed #24022 or similar fix (Tridge has details)
• Plane fences ignored (issue) -- cannot reproduce

[amilcarlucas]

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

[rmackay9]

@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

[tridge]

@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

[Ryanf55]

Here's a new one. I'm not sure whether you want me to add it to the list:
#28666

[rmackay9]

@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.

[menschel]

@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

[rmackay9]

@menschel thanks for that, added!

[menschel]

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

[rmackay9]

Hi @menschel, thanks, added to the list!