Copter/Rover-4.4.0 issues list

[rmackay9]

This is a list of issues discovered during Copter and Rover 4.4 testing. The older 4.3 issues list can be found here.

Reports requiring investigation:

• [ ] CubeOrangePlus support for AP 4.2/4.3 (4.4 is OK) -- reported by UAVGarage
• [ ] Navio+ PPM input not working? (discussion)
• [ ] H743 I2C with 0x70 not working? (issue)
• [ ] CRSF option for "RX Battery Sensor" sends telem that conflicts with Yaapu telem (?) (discussion)
• [ ] EKF3 external nav is fusing using wrong GPS noise (issue)
• [ ] benewake TFminiPlus-I2C timing out with NoData (discussion)
• [ ] Lane switching warning (reported by Partner, issue)
• [ ] MSP on Matek board (discussion)
• [ ] CSRF and Mount Siyi boot loop (see bottom of this issue)
• [ ] very short ELRS failsafes (issue, PR)
• [ ] endless climb with vertical bendy ruler? (discussion)
• [ ] Baro TCal not working? (issue)

Confirmed issues:

• [ ] MP basic tuning needs updating for 4.4 (discussion)
• [ ] GSF on Rover not working below 5m/s (discussion, related PR, issue, PR)
• [ ] Yaapu reports battery 2 error but only one battery is installed (discussion)

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

• [ ] MAVFTP (using MP) of terrain data to SD card takes 25min (discussion, MP issue, MAVProxy issue)
• [ ] KDECAN not working (discussion) -- needs backport from 4.5.
• [ ] Gremsy ZIO zoom and focus not working (discussion) -- needs backport from 4.5
• [ ] MAV_CMD_YAW should accept direction=0 (issue)
• [ ] Provide RemoteID support firmware to ease setup (issue, discussion)
• [ ] ADSB on AP_Periph support? (discussion, wiki, issue)
• [ ] Terrain alt clamping can lead to failed takeoff and flip on takeoff in Auto (reported by rmackay9)
• [ ] Enable 10hz PID logging
• [ ] RPLidarA2M12 not working (discussion)
• [ ] Auto mode yaw changes slightly even if WP_YAW_BEHAVE = 0 (issue)

Resolved issues:

• [x] Rover LEDs blinking on Pixhawk 6C (issue) -- RC calibration required
• [x] Rover Omni3 frame broken? (discussion, PR) -- fixed for 4.4.5
• [x] Rover overshoots at waypoint (issue, PR)
• [x] SERVO_FUNCTION = RCIN3Scaled output range incorrect (discussion, issue, PR)
• [x] EKF error on small quad (reported by MichelleR, PR may help) -- PR merged, no further followup
• [x] TKOFF_THR_MAX not actually included in release (discussion, PR)
• [x] corners less curved? (discussion) -- caused by slight change in default cornering acceleration.
• [x] users keep forgetting to set CAM1_TYPE (or CAM_TRIGG_TYPE) (discussion) -- fewer reports recently perhaps because of wiki updates
• [x] RockBlock only works with MAVProxy (discussion, wiki PR) -- Stephen Dade will raise wiki and MP/QGC issues -- added to wiki for -beta4
• [x] yaw reset from low flying copter passing over bridge (Randy has logs) -- older version of AP, new versions should be a little better
• [x] Request to add Custom Build Server support for beta builds (discussion, [issue](https://github.com/ArduPilot/CustomBuild/issues/54, PR)) -- resolved for -beta3
• [x] Gremsy WE not working (4.4 discussion, 4.3.7 discussion) -- Gremsy software issue. Fix from Gremsy coming soon
• [x] Siyi A8 ROI not working (reported by Kelly Schrock on facebook, discussion, PR) -- resolved for -beta3
• [x] MatekF405-TE-bdshot only 2 channels working (see Painless360's channel) -- user error
• [x] FPV406 watchdog due to cracked SD card (discussion) -- no logs
• [x] Mount serial gimbal param description confusion (discussion) -- fixed for beta3
• [x] serial pass through (for GPS) broken (issue, PR) -- fixed in -beta2
• [x] RC loss+regain issue (PR) -- fixed in -beta2
• [x] MP scales set-ekf-origin-here altitude incorrectly (MP issue) -- fixed in MP 1.3.80 build 1.3.8522.19145
• [x] Custom build server broken for Matek405 builds (discussion)
• [x] CubeOrangePlus not booting due to early memory corruption (reported by rmackay9, investigated by Tridge, PeterB, Sid)
• [x] RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall, PR)
• [x] Watchdog using CSRF (discussion, PR) -- resolved for beta2

[oraziotorre]

Regarding "RTL_SPEED does not work if WPNAV_SPEED adjusted (reported by lthall)", I have noticed that when starting a WP mission and subsequently switching to the RTL mode, the RTL_SPEED parameter is no longer considered and the WPNAV_SPEED parameter is used instead. Is this intentional? Can I open a pull request to improve this issue?

[rmackay9]

@oraziotorre, normally when the vehicle switches into RTL it should use the RTL_SPEED parameter unless it is zero in which case it should fall back to WPNAV_SPEED. It that's not what it's doing then it sounds like a problem. I've added a link above to the PR that we think will resolve the problem although it comes at the cost of not allowing users to change the vehicle's speed in-flight by changing the WPNAV_SPEED parameters... instead they must use the do-change-speed command.