Copter: 4.1.0 issues list

[rmackay9]

This is a list of known issues especially blockers for the 4.1.0 copter release. (also see Rover-4.1, Plane-4.1, Wiki-4.1, 4.2 issues)

Issues to be resolved asap:

• Yaapu scripts doesn't work on 4.1.x with omnibus (discussion)
• MAV_CMD_DO_MOUNT_CONTROL not decoded properly (issue)
• EKF3 vertical velocity issue with loss of GPS (issue)
• EKF3 won't initialise without GPS unless EK3_SRCx are changed (issue)

Nice to have for stable release:

• KDECAN unreliable with more than 2 motors
• update MP's auto analysis because it complains of compass offsets being too large, NaNs (discussion)
• 3D Loiter to allow simple avoidance to backaway in 3D
• Avoid "PreArm: Bad GPS Position" if using only optical flow (issue)

Existing 4.0 issues:

• SmartRTL can trigger flow-of-control internal error (issue Copter: SmartRTL can trigger flow-of-control internal error #17416, PR: Corrrect SmartRTL internal error by preserving home srtl point #17419)
• POS oscillation on unusual EKF condition (discussion, issue)
• EKF altitude reset handling (discussion, issue)
• DO_CAM_TRIGG_DIST doesn't turn off after exiting Auto (discussion, issue)

Reports requiring investigation:

• Dronekit commands not working? (Randy has report from Anand Singh)
• FPort disconnection after 25min (discussion, plane discussion)
• internal error when doing temperature calibration on CubeBlack and CubeOrange (issue)
• shift_wp_origin_to_current_pos() not working? (see PR Copter: fix takeoff drift if vehicle is not in origin #17294)
• GPS instability thread:
  • GPS_DRV_OPTIONS not setting UBlox baud rate to 115200? (discussion)
  • CRSF + GPS not working well together on MambaF405v2 (GPA.Delta spikes, discussion)
  • Mamba losing GPS connection (discussion) -- maybe fixed by GPS_DRV_OPTIONS
• GPS-for-yaw issues
  • continuous yaw drift with NMEA GPS-for-yaw (discussion)
  • gps-for-yaw fail-over testing leads to GPS glitch and ability to arm (discussion)
  • 2nd F9 GPS not updating at 5hz during GPS-for-yaw, probably does not have DMA on serial port (discussion)
  • GPS-for-yaw will not use compass at startup (discussion)
• 7-inch quad thread:
  • AP_Periph HAL battery monitor default for Matek board (discussion, discussion2)
  • Matek Slim pre-arm check "Compass not healthy" if external CAN baro is enabled (discussion)
• quadsour reports:
  • oscillating pitch in Loiter (discussion)
  • Ground effect compensation not working as well as 4.0 with no GPS? (discussion)
  • quadsour's Pixracer Pro BLHeli passthrough issues but stable works (discussion) -- fixed with latest? @andyp1per knows.
• acro mode loses control when throttle at zero even in airmode (discussion)
• Small EKF alt oscillations when using GPS for alt (discussion)
• IMU1 failure handling not working (4.0.x discussion)
• EKF3 yaw drift with no compass higher than EKF2 (issue)
• EKF2 regains GPS while falling, produced invalid climb rate (using modified 4.0.5) (Randy, Tridge, PaulR have logs)
• watchdog reset on modified omnibusf4pro (issue)
• FS_OPTIONS not working with RC failsafe? (issue, issue2) -- GCS failsafe was disabled. need to improve docs or add pre-arm check?

SCurve known issues:

• Vehicle will fly below target speed if waypoints are too close together even if vehicle will not stop at waypoints

---

Unresolved issues that will not be resolved in time for 4.1.0

• Lumenier LUX-H7 (ultimate) F7 board missing 2nd IMU (apaprently same as MatekH743) (discussion)
• pre-arm "EK3 sources require RangeFinder" if only 2nd rangefinder is setup discussion, issue)
• DShot passthrough not working on Nora and Tekko 35A ESCs (discussion)
• Morse simulator Loiter unstable after PR Copter: position controller updates #17345 (reported by rishabh). Morse closing down it seems so we recommend users move to AirSim

---

Resolved issues that will be included in future releases (but not 4.1.0)

• allow aligning viso yaw when using GPS-for-yaw (discussion, issue) -- in master, maybe 4.1.1

---

Resolved issues:

• loiter-to-alt moves too quickly (4.0 issue) (code) -- may or may not be backported to 4.1
• SBUS on PH4-mini not working for at least one user (discussion, discussion2) -- resolved in Copter-4.1.3
• TradHeli bug fix for continue after land (PR) -- resolved in Copter-4.1.3
• SET_POSITION_TARGET_LOCAL_NED has incorrect flags? (issue) -- user error although there is also a change in behaviour that should be better documented
• Copter-4.1 branch does not build (issue)
• surface tracking is resetting incorrectly after a glitch (reported by Yamaguchi-san, PR) -- included in 4.1.2
• QGC can't download parameters over wifi (USB connection on Windows is OK) (discussion, discussion2) -- caused by SERIALx_PROTOCOL default changed to "2" (MAVlink 2) and some ESP radios being on an older version of the firmware that can't handle mavlink2.
• missing IMU on Matek H743 (Rover discussion) -- caused by changing the meaning of the bits in the INS_ENABLE_MASK and users changing the value from the default.
• ExtendedSysStatus flags change (discussion) -- resolved in 4.1.1
• autopilot reboot if batt monitor changed (issue) -- could not reproduce
• Scary Guided (discussion) -- resolved in -rc4
• Yaw change after Guided mode takeoff completes (discussion, PR) -- included in 4.1.0-rc3
• Guided mode not ignoring pilot yaw during takeoff is GUID_OPTIONS bit is set (issue, PR) -- included in 4.1.0-rc3
• Drift mode controls reversed? (discussion) -- could not reproduce, seems to be fine.
• Matek H743-Slim serial1 not working (discussion, PR) -- resolved for -rc2
• Dijkstra's in Guided mode not working (reported by Yamaguchi-san, PR) -- resolved for beta9
• Ch6 tuning of WP speed causes div-by-zero in SITL (discussion, PR) -- resolved for beta9
• laggy suface tracking (discussion, PR) -- resolved for beta9
• uLanding driver broken (discussion, PR) -- resolved for beta9
• check Andy Piper's items in comments below (RunCam, etc) -- all but one issue seems resolved in -beta8. The one remaining issue seems to be a 4.0 issue as well so not technically a blocker.
• FrSky on KakuteF7 with R9 MX OTA Receiver (discussion, issue) -- resolved with beta7 (or earlier).
• mRo Pixracer Pro gyro & accel health failures + GSF constrain nan internal error (ask Randy for logs) -- could not reproduce
• DJI MSP OSD requires turning off serial flow control on H7 (issue) -- hardware issue
• SBusOut setup for Matek (and other) boards (discussion, Wiki) -- resolved through documentation on how to setup SBUS on any serial port
• SmartAudio setup with Crossfire TBS (discussion) -- seems resolved. many questions and answers
• SegFault: ./Tools/autotest/autotest.py --gdb --debug build.Copter test.Copter.OpticalFlow --force-ahrs-type=2 (PR) -- resolved for beta8
• QGC doesn't allow changing params with 4.1.0 with blank params? (discussion) -- QGC issue
• motor test causes main_loop_stk internal error (discussion) -- cannot replicate, might have been fixed with logging improvements in subsequent betas
• Internal error 0x1000000 (imu_reset) on PXFmini (discussion) --we assume this is a hardware issue
• Matek fails on boot if ESC Telemetry used (discussion) -- follow-up request received no answer so closing
• OSD range finder panel not visible on omnibusf4pro even though rangefinder is present (reported by Henry) -- re-checked with Henry and seems resolved.
• I2C ports not working on CubeOrange if UAVCAN GPSs are used (issue) -- was issue with tfluna lidar
• position controller safety improvements from Leonard -- resolved for beta8
• Internal error in position controller on Matek H743 (PreArm: Internal errors 0x100000 l:868 flow_of_ctr #17763. PR) -- resolved for beta8
• Sergey reports OSD on iFlight Beast7 does not show flight time (discuss, youtube) -- user resolved it. seems to be related to a low output throttle.
• bad heading after 10min (discussion) -- no response to request for logs. note: involves non-default AHRS_ORIENT.
• M8030 based GPSes do not work due to autobauding issue (issue, PR) -- resolved for beta7 (we think)
• BAT_ARM_VOLT not working? (discussion) -- works fine
• circle mode does not respond to changes in CIRCLE_RADIUS parameter (reported by Arace, PR) -- resolved for beta8
• Internal Error after 68ms delay on Matek (discussion, issue1, issue2) -- resolved for beta8
• Flywoo external compass support still broken? (PR) -- merge for beta8
• Helicopter Guided mode takeoff issue (PR: Tradheli: Fix guided mode spoolup and takeoff #15826, PR: Tradheli: fix guided mode takeoff #17043) -- resolved for beta8
• MP's PX4flow "focus mode" seems broken (discussion) -- fixed in beta MP on 20-Aug-2021
• tricopter crash after wp2 (discussion) -- we think this is a power issue. no indication of Watchdog reset and radio seems to lose power with autopilot
• Pixhawk4 LEDs are swapped (issue, discussion, PR) -- resolved for beta8
• Very slow main loops based on RC out configuration (Blocking calls in motor output functions slow down fast_loop when using DShot #17891) -- resolved for beta6 (or earlier)
• request that Guided velocity control go beyond WPNAV_SPEED_UP/DN limits (discussion) -- resolved for beta7
• GSF Yaw source can only be executed EK3_GSF_RST_MAX times (discussion, PR). This hopefully resolves these items too -- resolved for beta7
• EKF3 Core x unhealthy if using GSF for yaw (discussion) -- resolved for beta6 or beta7 (we think)
• GPS glitch and emergency yaw reset (GSF) (discussion) -- resolved for beta6 or beta7 (we think)
• issues switching between GSF and Compass yaw sources (discussion, discussion2) -- resolved for beta6 or beta7 (we think)
• Flywoo external compass support (PR) -- resolved for beta7
• vehicle may crash into terrain in Guided (discussion, PR) -- resolved for beta7
• support very fast auto missions (discussion, PR) -- resolved for -beta7
• Position controller target velocity vibration (issue) -- lthall thinks the vibration is not a significant issue.
• Guided with high rate position target updates don't work (see issue Copter: SET_POSITION_TARGET_GLOBAL_INT mavlink command not working at higher frequencies #17795, PR) -- resolved with -beta6
• remove parameter reset internal error (issue) -- Randy and Tridge decided to leave this in place. It happens so rarely that it is not annoying for users.
• copter reversing with spline waypoints switching from rel to terrain (discussion) -- expected behaviour
• rapid POS oscilliation when using GPS-for-yaw (discussion) -- resolved in -beta6
• Arming check does not trigger with EK3_SRC1_YAW = GPS (2) but GPS is not actively providing yaw (discussion, PR) -- resolved for beta7
• yaw rate timeout bug (PR) -- resolved for beta7
• QMC compass not detected on Goku autopilot (discussion) -- not an officially supported autopilot (yet)
• do-set-speed broken in Auto? (issue to add autotest to stop this from happening) -- not sure if it was really broken, certainly resolved for beta6
• S-Curves OA PR: AC_Avoidance: fixes to work with SCurves #17003 -- resolved for beta6
• Auto terrain following may hit terrain (or fly too high) if terrain is too steep (issue, PR) -- resolved for beta6
• XTrack reporting broken? (PR, PR2, PR3) -- resolved for beta6
• Heli tail rotor control check broken (issue, PR) -- resolved for beta6
• AP_Logger: stuck thread (write)" on a Matek-405 (discussion, issue) -- probably fixed in -beta5 with logging improvements
• watchdog reset on Pixhawk1MB (discussion) -- probably fixed in -beta5 with logging improvements
• logs not created on force arm (PR)
• Copter: guided mode update to use PosControl tools (PR)
• Copter: guided mode update (PR Copter: guided mode update to use PosControl tools #17539)
• Guided terrain following may hit terrain (or fly too high) if terrain is too steep -- resolved before beta6
• Internal Error 1048576 in Guided mode if velocity control used after attitude control (issue) -- resolved before beta6
• build env on mac (discussion, PR) -- resolved post beta5 (need to backport?)
• SITL Tri frame still broken (discussion). SITL issue SITL: Copter tri flies laterally quickly due to thrust from rear motor #17876
• Terrain following in Auto bouncey (aka "Dolphin") and "ERR:Terrain" in logs (discussion, PR, PR) -- resolved for beta5
• "loiter bucketing" when EKF origin is far from vehicle position (issue, PR) -- resolved for beta5
• MP still evaporating for XinChengGe and others (discussion) -- fixed for beta5 (MP version 1.3.74.2 and higher OK)
• position jump during OptFlow->GPS source switch (discussion, discussion2, PR) -- resolved for beta5
• rocking loiter - loiter braking active, non-zero desired climb rate when sticks in mid position (discussion, PR) -- resolved for beta5
• Auto WP->RTL alt drop (reported by Tridge in copter channel, PR) -- resolved for beta5
• EKF position going bad on CubeOrange with GPS-for-yaw (discussion, PR) -- resolved for beta5
• FLTMODE_CH and RCx_OPTION conflict (PR) -- resolved for beta5
• EKF3 origin alts not consistent across cores (issue, Plane issue1, Plane issue2, PR) -- resolved for beta5
• Vibration failsafe is broken (issue PR) -- resolved for beta5
• low LOIT_ACC_MAX leads to incorrect loiter speed (issue, PR) -- resolved for beta5
• 6DOF frame broken (PR) -- resolved for beta5
• AP_Motors: correct expo parameter description and internal limits (PR) -- resolved for beta5
• Sergbokh's low desired climb rate when switching from Stab->AltHold while falling (discussion) -- seems OK. this is input shaping
• UAVCAN GPS can't get satellites on 4.0.7 but works on 4.1 (discussion, question only, can then be moved to resolved) -- hardware power issue
• brake accel not reset (4.0.7 issue, PR) -- resolved for beta5
• BLHeli current reporting incorrect (issue, PR) -- resolved for beta5
• SCurve internal error when origin and destination very close (PR) -- resolved for beta5
• SCurve issues (discussion):
  • internal error after arming from auto (AUTO_OPTIONS=3) (reported by Peter Barker) -- old, marking as resolved
  • twitch when switching from SCurves to Loiter (reported by Giacomo Pinagli, awaiting log) -- old, marking as resolved
  • at end of RTL, vehicle spends more time waiting above home (reported by Giacomo Pinagli) -- old, marking as resolved
  • wild movement getting to the first waypoint (reported by Andy Piper in "copter" discord channel) -- old, marking as resolved
• TeraRange Evo 60m has large spikes, no readings under 80cm (discussion, same issue with 4.0.7) -- IR sensor has low range outdoors, updated wiki
• EKF3: becomes unhealthy beyond 38km from origin (EKF2's limit is about 130km) EKF3 in SITL: becomes unhealthy beyond 38km from origin (EKF2's limit is about 130km) #16736 -- probably SITL only 'cuz real-flights at up to 120km done with EKF2 and EKF3
• scheduler jump due to overflow (issue, PR) -- resolved for beta4
• MOT_PWM_MIN/MAX not being set to 1000/2000 when MOT_PWM_TYPE is set to a DShot type, but SERVO_BLH_* parameters not setup. Looks like a regression from 4.0 -- resolved for beta4
• PreArm: Internal errors 0x1000000 l:168 imu_reset on Matek H743 (discussion) -- we believe it is a hardware issue, reported to Matek.
• SITL tri broken. Appears to move yaw in wrong direction (issue). Fix here Fixed SITL tricopter model #17695 -- resolved in beta4
• DO_SET_MODE command segfaults in SITL (discussion) -- intentional to find unsupported messages.
• "PreArm: DCM Roll/Pitch inconsistent by X deg" when actually yaw is inconsistent (issue, PR) -- resolved in beta4
• EKF3 is still using ExtNav even when source is switch to Baro (reported by David Astesas, Randy has log) -- cannot reproduce
• improve SITL yaw tuning (discussion1, discussion2, PR)
• do-change-speed requires fractional speeds (?!) (discussion) -- could not reproduce (think fixed as part of SCurves)
• EKF ground effect compensation not working with EKF3? (discussion, issue, PR) -- fix included in -beta4
• Yaw imbalance warning too tight for Helicopters at least (discussion, PR: Copter: these two errors are too common to be called "emergency" #17574) -- fixed in beta4
• Serial passthrough not working on serial ports configured to "GPS" with GPS protocol set to ublox (issue: Serial passthrough does not work for serial ports configured to "GPS" with GPS protocol set to ublox #17269) -- also happens with 4.0. workaround is to set the SERIAL_PROTOCOL = -1 or GPS_TYPE = 0. updated docs
• SITL copter-optflow.parm file out-of-date (issue, PR) -- developer issue but fixed for beta4
• MP crashing after trying to load params using MAVFTP (discussion) -- fixed in beta MP before beta4
• dma.txt file can't be downloaded the first time (PR HAL_ChibiOS: empty dma.txt on first fetch #17615 makes it return an emtpy file the firs time, MP's error message has been improved) -- included in beta4
• Pix32v5 IMU heater not operations? reported by holybro (PR) -- included in beta4
• EKF terrain estimate incorrect? (PR) -- probably not a problem but will go out with beta4
• little motor cuts (discussion) -- could not reproduce, no logs.
• EKF3 becomes unhealthy if source is switched to Optflow and then T265 (ok if switched to GPS). Reported by Randy -- user error in EK3_SRCx_YAW.
• do change speed not working (discussion) -- known limitation of Scurves
• SITL crashes if optflow enabled but rangefinder disabled/unhealthy (issue, PR) -- fixed in beta4
• firmware version is not displayed in banner (issue, PR) -- fixed in beta4
• Holybro Pix32v5 is not automatically understood by MP during upload (PR). -- fixed in beta4
• HC-SR02 sonar not working? (discussion, wiki) -- PeterB could not reproduce
• Copter/QuadPlane: set yaw rate to zero during arming (PR) -- included in beta4
• No PSZ logging unless in mode with 3D control (issue, PR) -- included in beta4
• CUAV X7 rebooting and getting hot (discussion) -- USB power issues, not software.
• CUAV X7 safety LED not working (discussion, related issue?) -- somehow fixed in beta3
• MP's link status is very low for Matek H743-slim (same as 4.0) (discussion) -- problem went away when switched to Sik radio
• Visual Odometry "Calibration" (aka yaw alignment) via aux switch seems to have an issue which means that after the aux switch is moved, VISP.Yaw does not equal ATT.Yaw. (PR) -- fixed in beta4
• ACRO_RP_EXPO constraint incorrect (PR, discussion) -- included in beta4
• Copter: position controller updates (PR Copter: position controller updates #17345)
• new bootloader fails on trad heli firmware at least on some boards (issue) -- bootloader changes reverted in master and for beta2
• yaw oscillations during high speed descent (discussion) -- SITL tuning issue
• EKF3 does not regain position estimate after loss of GPS (see PR autotest: add test for EKF losing then refinding a GPS #17104) -- could not reproduce
• PSC_ACCZ_FLTx param defaults don't match recommendations from @lthall and @andyp1per? (discussion) -- Leonard says it's fine as it is and it's his page
• EKF3: GPS-for-yaw timeout broken (issues: EKF3 yaw timeout for GPS-for-yaw not working #17314, PR Fix failure of EKF3 to reset yaw to GPS if GPS stops outputting yaw #17342) -- included in beta2
• RC failsafes with KakuteF7 & CRSF & Yaapu telemetry during mode changes (discussion, discussion2) -- fixed with "latest" (should become beta2)
• KakuteF7, DShot150 motor failure when using 6s (discussion). User was on 4.0.7
• PixRacer, luminousbee5, Radiolink Mini Pix LED/Buzzer issue (discussion). -- fixed in beta2
• MatekF9 GPS almanac upload (AP_Periph) (discussion). enhancement request added to issues list UBlox GPS AssistNow support #17305.
• Splines require terrain database (see issue Copter: Spline waypoints always require terrain database #17250, PR: AC_WPNav: fix spline initialisation of terrain offset #17280. reported by Peter Barker)
• FPort not supported on VR Brain? (discussion) -- board has very few serial ports so user wanted an enhancement to all usign FPort on the regular RC input (I think). Not a bug but rather just a question.
• Flywoo board's onboard logging not working (close issued - should have been raised on discuss)
• EK3_DRAG_BCOEF_Y param are reset to default on reboot (see issue EK3_DRAG_BCOEF_Y param are reset to default on reboot #17167, PR AP_Param: fixed sentinal handling for group element 255 #17228)
• Move DEV_OPTIONS bit "2" (thrust as thrust) to GUIDED_OPTIONS (issue Copter: move DEV_OPTIONS's "2:SetAttitudeTarget_ThrustAsThrust" to GUIDED_OPTIONS #17161, PR Copter: attitude target thrust-as-thrust bit moved to GUID_OPTIONS #17185)
• Sebbb's "PreArm: Internal errors 0x800000 l:57 stack_ovrflw" when using SmartAudio on master (discord, general, PR: Increase stack for smart audio thread #17226)
• S-curves PR: Copter, QuadPlane, Sub: navigation using s-curves #15896
• Durandal Vcc fix
• COMPASS_USE=0, COMPASS_USE2=1 results in no compass being used (issue: COMPASS_USE=0, COMPASS_USE2=1 results in no compass being used #16509, PR:AP_Arming: pre-arm check if compass1 is disabled but 2 or 3 are enabled #17047)
• UAVCAN GPS ordering PR: Add support for ordering UAVCAN GPS #16156
• DMA Locking with Thread Priority Inheritance PR:DMA Locking with Thread Priority Inheritance #15984
• mRo Pixracer Pro Baro issue: AP_Baro: Add retries for initializing DPS280 and DPS310 #16993, PR:AP_Baro: work around bad WHOAMI read on DPS310 #17054
• All boards building on autotest server (see below)

SCurve resolved issues:

• apparent "climb away" in RTL after spline mission (reported by Peter Barker, Randy has logs). Caused by Rallypoints alt=90
• waypoints in a straight line can cause the vehicle to not reach top speed (reported by Ryan Beall). Leonard says expected behaviour
• vehicle took-off in Guided but then descended (reported by @tridge). no problem.
• Auto mission Loiter-Turns broken (issue: Copter: NAV_LOITER_TURNS Broken on 4.1.0-DEV #17126, PR: Copter: loiter-turns fix #17142)

[andyp1per]

@rmackay9 from my perspectve its pretty important that #15984 goes in

[IamPete1]

I think we should also bring scripting up to date with master. Mostly just bindings and one or two helpers.

[rmackay9]

@IamPete1, 4.1 will branch from master so it will have everything in master.

[amilcarlucas]

I vote for GPS ordering bugfix and AC_fence support PRs

[rmackay9]

@amilcarlucas, @andyp1per, I've added two PRs mentioned to a new "before stable release" section. We can expect the beta period will be up to 3 months (depending upon how quickly we investigate and resolve issues) and we often rebase on master for the first few release candidates so I think there is time to get these into the stable release even if they don't make it into the first beta release.

@amilcarlucas I wasn't sure what the AC_Fence PRs are but in any case, if we can get them into master then they'll go out with 4.1.

[amilcarlucas]

The AC_Fence stuff is #15288

[joshanne]

@rmackay9 #15288 (AC_Fence for Plane) is in a state ready for people to look at, review, comment, etc.

[pompecukor]

@rmackay9 @IamPete1 @pkocmoud
With the help of Peter Hall, we will try to investigate the Pixracer Pro unhealthy gyro issue on 4.1 (3rd item on the above list).
Peter has suggested to see if turning off/on each IMU will help identify the source. I will do that tomorrow and report here.

[anbello]

I think also #16842 should go in.

[amilcarlucas]

@rmackay9 the Fence has been merged now. 4.1 will have low altitude fences, and ArduPlane Fences will work in QGC.

[JoshWelsh]

Hi @rmackay9 I see that the S-Curve "climb-away" has been marked as resolved, but I was curious if there was a discussion somewhere that detailed what the fix/finding was? Thank you!

[rmackay9]

Hi @JoshWelsh, the issue was a rally point had been setup with an altitude of 90m so because that point was closer than home the copter started climbing to get to that alt (or maybe 15m above that alt). I reproduced the behaviour both with 4.0 and 4.1 and it's unchanged. Climbing to 90+ meters is scary if you're not expecting it but the copter would have been OK and would have gotten to the rally point safely.

[peterbarker]

On Wed, 14 Apr 2021, Josh wrote: Hi @rmackay9 I see that the S-Curve "climb-away" has been marked as resolved, but I was curious if there was a discussion somewhere that detailed what the fix/finding was? Thank you!

User (me) error :-)

[JoshWelsh]

Hi @JoshWelsh, the issue was a rally point had been setup with an altitude of 90m so because that point was closer than home the copter started climbing to get to that alt (or maybe 15m above that alt). I reproduced the behaviour both with 4.0 and 4.1 and it's unchanged. Climbing to 90+ meters is scary if you're not expecting it but the copter would have been OK and would have gotten to the rally point safely.

Great thanks Randy! Great to hear it was an easy find!

On Wed, 14 Apr 2021, Josh wrote: Hi @rmackay9 I see that the S-Curve "climb-away" has been marked as resolved, but I was curious if there was a discussion somewhere that detailed what the fix/finding was? Thank you!
User (me) error :-)

You should see the stuff I've done! Glad you got the copter back.

[lthall]

#17345 and #17399

[Hwurzburg]

-[ ] new bootloader fails on trad heli firmware

[andyp1per]

MOT_PWM_MIN/MAX not being set to 1000/2000 when MOT_PWM_TYPE is set to a DShot type, but SERVO_BLH_* parameters not setup. Looks like a regression from 4.0 is now fixed

[andyp1per]

Extant Dshot issues:

• Bi-directional dshot not working on MatekF405 discussion PR
• DShot doesn't work on KakuteF7 with default settings discussion
• BLHeli passthru not working with Pixhawk 2.4.8 with TMotor 45A discussion
• Dshot commands not sent if all checks are disabled and no telemetry is available PR
• RunCam split 4 video start/stop not working discussion (user error)
• SBUS not working on KakuteF4Mini discussion PR

[lthall]

low LOIT_ACC_MAX leads to incorrect loiter speed (issue) Fix here: #17815
Guided with high rate position target updates don't work (see issue #17795) Fix here: #17539

[andyp1per]

RunCam split 4 video start/stop not working discussion

[rmackay9]

@andyp1per, txs for this. Maybe keep a single list in your comments from 22 days ago (a few comments higher in this issue..)

[lthall]

#18190 to address the lean angle limit for auto.

[rmackay9]

@pompecukor @IamPete1 @pkocmoud,

I've marked the "mRo Pixracer Pro gyro & accel health failures" issue as resolved above because in a quick test by Tridge we couldn't reproduce the issue. This is a very old issue from early on in the beta and I haven't heard anything about it since so I suspect it was a one-off problem with just one user's autopilot or we've resolved the issue as part of other fixes in subsequent beta releases.

Of course I'm very happy to re-open the issue if anyone can reproduce it with a newer beta.

[hendjoshsr71]

I checked off one that i fixed via, #19263 "AP_Periph HAL battery monitor default for Matek board (discussion, discussion2)"