Rover: 4.1.0 issues list

[rmackay9]

This is a list of known issues especially blockers for the 4.1.0 rover release. The equivalent Copter issue is #16478

Issues requiring investigation:

• BalanceBot broken in Acro mode? (discussion) -- fixed in Rover-4.2.0-beta3
• Kenny Trussell suggestions for GPS-for-yaw config improvements (discussion)
  • Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 (discussion)
  • GPS-for-yaw at 5hz leads to more GPS unhealthy messages (discussion)
  • GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config (discussion)
• another Matek H7 imu reset internal error report (discussion)
• Lost accel calibration parameters (discussion)
• Rover avoidance of fence OK? (discussion)
• PRX missing from 1MB boards for Rover although it probably would fit (discussion), simple avoidance not working with TFLuna? (discussion)
• Speed controller I-term build-up when motors are saturated (discussion) -- fixed in Rover-4.2.0-beta1
• PreArm: Internal errors 0x8000 l:428 main_loop_stk (discussion)

Existing 4.0 issues

• MP's Frame Type screen shows copter values (discussion, issue)

Resolved issues:

• MIS_DONE_BEHAVE not working (discussion) -- misunderstanding / confusion over Loiter and Hold options which are implemented from within Auto and Acro and Manual options that do cause a real change in flight mode.
• Nick Nunno's report of EKF attitude going bad and position jumping (issue) -- can't reproduce. probably resolved for beta6
• EKF yaw not recovering if GPS-for-yaw lost (issue) -- resolved for beta7 (we think)
• GPS-for-yaw at 5hz leads to more GPS unhealthy messages (discussion) -- resolved for beta7 (we think)
• Unhealthy GPS Signal when GPS_DRV_OPTIONS=0 (discussion) -- resolved for beta7 (we think)
• ArduSimple F9 GPS does not work with GPS-for-yaw unless GPSs directly connected (discussion) -- resolved for beta7 (we think)
• Kenny Trussell suggestions for GPS-for-yaw config improvements when GPSs directly connected (discussion) -- resolved for beta7 (we think)
• GPS_SAVE_CFG option does not performs a complete save of the uBlox F9 config (discussion) -- resolved for beta7 (we think)
• GPS_POS_X/Y/Z relative to IMU or COG? (discussion, PR) -- resolved for -beta7
• EKF issues mentioned on the Copter-4.1 issue Copter: 4.1.0 issues list #16478 -- resolved for beta6
• Rovers cannot backup in Acro when simple avoidance is active (issue, PR)
• Pre-arm check "DCM Roll/Pitch inconsistent by 32 deg" when using GPS-For-Yaw (see code here, PR). Reported by @tatsuy. Note: the issue may be that body-frame roll and pitch are not actually being compared. -- should be fixed in beta4
• THR logging shows lateral acceleration (issue, PR) -- included in beta4
• Waypoint delay of -1 leads to 65k of delay (discussion, issue) -- included in beta4
• DShot not working with -beta3 (discussion, PR) -- included in beta4
• Fence Radius are being truncated to integers (discussion, PR) -- included in beta4
• QGC with gamepad doesn't work (discussion) -- QGC issue
• Twitching at waypoints if WP_RADIUS set to 0.05m (issue Rover-4.1: twitches at waypoints if WP_RADIUS set to very small value #17417, PR Rover: revert limiting all turn rates to ATC_TURN_MAX_G #17494) -- fixed in beta2
• GPS-for-yaw wiki params incorrect (wiki issue)
• RFND messages missing (see issue: Rover: add RFND messaging #17334, PR) -- fixed in beta2
• AP_Button's use of aux functions executes both high and low positions (reported by RobertoN) -- may be changed as part of a future enhancement
• Rover param meta data for Fence includes Altitude (issue Rover: FENCE_ param descriptions shouldn't include Altitude #17207)

[yuri-rage]

I connected uCenter today and used Tools->Receiver Configuration->GNSS->File to save these four configuration files.

They are labeled accordingly with the GPS_AUTO_CONFIG parameter value in the filenames. A diff of the moving base (MB) files and Rover files reveals no obvious answers - they are identical.

However, as I was downloading them with the flight controller active and telemetry connected, I had no 'Unhealthy GPS Signal' warnings when GPS_AUTO_CONFIG was enabled. When I rebooted with it disabled, the 'Unhealthy GPS Signal' warnings were present even after full EKF3 alignment and a good GPS yaw solution. Without rebooting, I enabled GPS_AUTO_CONFIG, and the message instantaneously disappeared.

UBX_F9P_Auto=1_MB.txt
UBX_F9P_Auto=1_Rover.txt
UBX_F9P_Auto=0_MB.txt
UBX_F9P_Auto=0_Rover.txt

[NickNunno]

@rmackay9 has anyone validated whether "Speed controller I-term build-up when motors are saturated" is a legit bug?

[geofrancis]

the DSHOT reverse range is inverted issue is only on 4.2, it works on 4.1