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

• OSD5 configurable parameter metadata (min / max / increment) changes unexpectedly. #32344
• After upgrading to arduplane 4.6.x GPS bitrate 115k can't be enforced by option. #31484
• Internal Error (flow-of-control) during takeoff in AltHold (discussion)
• F.Port not working with TradHeli (discussion)
• Copter: height setpoint drift during LOITER_TURNS in AUTO mode #31287
• SpeedyBeeF4v3: firmware for SUB. no connection from GCS using 4.5.6, custom firmvare, latest. the version indicated by the date is working #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)
• Bogus Telemetry message about missing RC reciever #30142
• Rover follow Lua bindings almost always returning nil (discussion)
• Gyro 1 rate 1000Hz < loop ratex1.8 1440Hz #30173 (discussion)
• Dangerous change in behaviour of TECS_PITCH_MIN #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: Failing CRCs can sometimes pass due to signing pymavlink#1019
• FTP mission upload deadlock in 4.6.2: AP: CRITICAL Deadlock 814 FTP 0x3000AE6C
• T-Motor DroneCAN ESCs get very low ESC status rate and thus RPM rate
• AP: Internal Errors 0x800000 (stack_overflow) on speedybeef4v4 with signing and eLRS RC on ArduCopter 4.6.3/master #32087

Confirmed issues

• Copter: Ch6 tuning of WP Speed overshoots during the beginning of the first leg #31584
• RTL_ALT_FINAL is relative to home, not terrain, causing hard landing at rally point #31968
• RC tuning of Loiter speed not working? (discussion)
• 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
• Internal error involved multiheap allocation for LUA in cygwin (Internal error from multi-heap allocation #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)
• Watchdog Reset Caused by Slow SD Card or Removal (Possibly Intermittent connection) During Flight #31108
• fix ocean tile causing zero altitude for land tiles terraingen#23

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 Plane: quadplane tilt rate 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
• ArduPlane keeps going up when the next waypoint alt is down #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) check that INS_HNTCn_REF is non-zero for ESC,RPM or FFT notches #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

• Copter: Guided should resume horiz pos control when takeoff completes regardless of WP_NAVALT_MIN #31953 -- fixed in 4.7, could be backported to 4.6.4
• [s] RTL mission item changes from Terrain to Absolute on writing causing Controlled Flight Into Terrain (CFIT) MissionPlanner#3661 -- misunderstanding
• Rover: GPS glitch can cause EKF failsafe #31402 -- resolved for 4.7
• Rover-4.6.2: watchdog when downloading logs #31386 -- resolved for 4.7
• Rover: "field elevation set 0m" spamming GCS messages (discussion, PR)
• Ch6 tuning of WPSpeed not working on tradheli (discussion1, discussion2) -- user error
• Lua related Internal error from multi-heap allocation (issue)
• FileSystem: allow crash_dump.bin files to be deleted via MAVFTP #31404 -- resolved through documentation
• incorrect glide slope for terrain NAV_LAND. AP_Landing: fixed assumption of AMSL WPs #30041
• find_by_name() in AP_Param.cpp uses a bogus strncasecmp() (PR)
• Infinite loop in AP_HAL/utility/ftoa_engine when formatting floats with very small exponents #30722 -- resolved ahead of 4.6.3-beta1
• 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
• LD06 sensitive to sunlight (discussion) -- not a regression since 4.5. hardware issue?
• Ark FPV board mentioned in release notes but not in 4.6 (discussion, PR) -- marked for backporting, may be included in 4.6.3
• JFB110 SD card not working? (discussion, related PR, potential fix PR) -- resolved for 4.6.2-beta1
• Copter Pixhawk 2.4.8 "check frame and type" (discussion) -- no response from user
• CubeOrange AK09916 internal compass orientation Yaw270 (discussion) -- no functional impact
• “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)
• DroneCan M10 GPS lock issue again (raised by TimT, discussion) -- waiting on Qiotek, no conclusive evidence of an issue
• LD19 average change makes it sensitive to sunlight (discussion, original PR, PR1, PR2) -- resolved ahead of 4.6.1-beta1
• CubeOrangePlus 2nd IMU error (discussion) -- need log, no feedback from user
• SpeedyBee F4 running out of memory (discussion) -- need log, no feedback from user
• Pixhawk6X IST8310 external compass not detected (issue) -- need log, no feedback from user
• TBS parameter corruption on firmware update (reported by AndyP, Issue, PR) -- TBS bootloaders released with 4.6.0
• AIS not working on Copter? (discussion, related PR) -- cannot reproduce, no response from user
• Secure bootloader doesn't work (4.5 discussion) -- could not reproduce
• Speedybee ENOMEM message (discussion, wiki PR) -- resolved, wiki updated ahead of -beta6
• "No ap_message for mavlink id (271)" message (discussion, PR) -- resolved for -beta6
• terrain following issue: Plane: fixed terrain guided target intermediate alt handling #29685 -- resolved for beta6
• circle climb after terrain: Plane: fixed incorrect set of location alt fields #29765 -- resolved for beta6
• Microbrain UAV-R21 Proximity sensor (discussion, discussion2) -- we do not support this model
• RPI PiPilot / Invensense ICM42688P hang (issue, PR) -- resolved for beta6
• 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 -- resolved for -beta6
• IMU temp cal pages need updating -- no details on what needs updating
• Copter/TradHeli internal errors 0X4000000 and 0X4000020 (discussion, issue, PR) -- resolved for -beta5
• SET_ROI_LOCATION support (issue, PR) -- resolved ahead of -beta5
• Take Pic with no location (issue, PR) -- fixed in master (won't backport)
• Pixhawk 5x ethernet not enabled (issue, wiki PR) -- wiki PR merged ahead of -beta5
• AP_Scripting should get follow binding for Rover (discussion, PR) -- resolved for -beta5
• Plane: fixed guided VTOL command in terrain mode (PR)
• ARSPD_AUTOCAL can trigger while disarmed (PR) -- resolved for -beta5
• QuadPlane motors using BDShot making knocking noises (discussion1, discussion2, PR1, PR2) -- fixed for beta5
• Water Depth message too fast on boats (discussion, PR) -- resolved for beta5
• UBlox M10 can't get enough sats (discussion) -- testing is inconclusive
• Copter MOT_THST_HOVER param desc for lower limit should be 0.125 (discussion, PR) -- resolved for -beta5
• iBUS telemetry not working? (discussion) -- user error
• Mission option bit issue (discussion, PR) -- resolved for -beta5
• CADDX GM2 update slow (discussion, PR) -- resolved for -beta5
• Unknown message 45 (discussion, discussion2, PR) -- resolved for -beta5
• Holybro M10 waiting to configure GPS1 (discussion, PR) -- resolved for -beta5
• LD06 support not working? (discussion, PR) -- fixed ahead of -beta5
• Reboot loop after enabling Scripting (discussion, issue) -- user using incorrect compiler
• possible regression in attitude control in quadplanes? possible regression in quadplane attitude controller? #29060 -- no evidence that there's been a regression despite much effort spent searching
• Takeoff throttle behavior for planes without airspeed sensor changed (issue, PR) -- intentional change
• ESC Telemetry logging issue (issue, PR) -- resolved for beta3
• Community dev struggles with build options (discussion) -- no response from user
• Floating Point Exception in the position controller #28969
• Autotune acceleration limiting is not effective (PR) -- resolved for beta3
• 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
• Plane: auto-deploy landing gear on fixed wing (PR)
• guided error with terrain target Plane: fixed terrain alt target guided #29602
• QuadPlane fast attitude recovery issue (PR)
• disarm in fwd flight on all motor tailsitter #29555
• Plane FBWA doesn't support vectored thrust? (issue)

[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.

@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!

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!

[MattKear]

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