Copter/Rover: 4.2.0 issues list

[rmackay9]

This is a list of issues discovered during Copter and Rover 4.2.0 beta testing. For reference Copter-4.1 issues , Rover-4.1 issues.

Reports requiring Investigation

• Rover running slowly with full SD card but no logs (discussion)
• request for wiki docs on signing firmware (discussion)
• SoloGimbal broken (also broken in 4.1.x) (issue)
• Missions may complete while the vehicle is disarmed (issue)
• UAvionix Ping disrupts param download (discussion)
• modalAI Voxl setup problems (issue, discussion)

Copter

• RPM harmonic notch not working? (issue, PR)
• circle mode can't keep vehicle pointed at center if CIRCLE_RATE > ATC_SLEW_YAW (issue)
• do-change-speed doesn't work if immediately after a TAKEOFF command (discussion, issue)
• DShot BlueJay not working (discussion) -- fixed in 4.2.1-rc1?
• DShot LEDs not working (issue) -- fixed in 4.2.1-rc1?
• AndyP's ongoing alt-hold issues (PR) -- agreed not blocker for 4.2.0 release
• neopixel shows incorrect colours on some boards (discussion, PR)
• Copter set-attitude-target doesn't accept roll,pitch angles and yaw rate (issue)

Rover Specific

• none

Enhancement Requests (may or may not be done)

• request to update mavlink repo (issue, PR)
• CubeBlack not-enough-memory with CAN enabled (discussion) -- many small changes increased memory usage. Not easy to fix.
• OSD Group2 Params LINK_Q Items appear even for disabled OSD screens (issue, PR) -- a display issue and quite difficult to fix
• Custom Build server should support building beta and stable (discussion)
• Log fence locations (discussion, issue)
• SBP (aka Swift) GPS driver should accept yaw (discussion)

Wiki improvement Requests

• Improve optical flow wiki (discussion)
• document DO_LAND_START / AutoRTL (discussion, MP PR)

Resolved Items

• Pixhawk6x issues (discussion, discussion2) -- resolved with PR Tools: added Holybro 6C/6X px4 USB IDs #21581
• Rover 4.2.2 using NMEA RTK GPSs cannot attain position estimate (no logs sadly, no public discussion) -- not logs so can't investigate
• add Pixhawk1M-bdshot (discussion, issue, PR) -- resolved for 4.3
• BlueRobotics ping sensor not working above 4.0.0 (discussion) -- sensor firmware needs to be upgraded, wiki has been updated to add instructions on how to do this.
• climb during precision landing (discussion, PR) -- not included in 4.2 because it is an existing issue. I think we will wait for 4.3 for the fix to go out.
• LidarLight broken on CubeOrange, Nora (all H7?) (issues) -- hardware issue
• Circle mode should stop at fence (issue, PR) -- resolved for 4.2.2-rc1
• OSD not showing latest modes (PR) -- resolved for 4.2.1-rc2
• precision landing yawing during descent when tag lost (discussion, PR) -- resolved for 4.2.1
• Matek H743 has 4 IMUs so INS_ENABLE_MASK needs an extra bit? (discussion, PR) -- resolved for 4.2.1
• CHUTE_ENABLE somehow set to zero (RC switch?) (discussion, issue) -- present in 4.1.x as well
• TradHeli internal error from Guided mode (discussion, PR) -- resolved for -rc4
• ATC_SLEW_YAW affects yaw speed in Loiter (issue, PR) -- resolved for -rc4
• AP_Button's internal error when using PWM input (issue) -- maybe caused by servo tester used during testing -- not a real problem
• Chimera EKF issues after acro flight (worse in -rc1 than -beta3). AndyPiper has logs (PR, related PR) -- resolved in -rc3
• MatekF765-Wing-bdshot requested (discussion) -- included in -rc2
• BLHeli_S not working and "all zeros" watchdog (discussion, zeroWD issue) -- resolved for -rc2 (we think)
• User struggles setting up wheel encoders, camera triggers, brushed-motors-with-relays due to BRD_PWM_COUNT removal (Rover discussion, Copter discussion, Plane issue, PR) -- resolved for -rc2
• MP param download 30+ seconds on Randy's CubeOrange after CAN_P1_DRIVER = 1 or BTN_ENABLE = 1 (issue) -- resolved in Beta MP (build 1.3.8150.28411 or higher)
• Vision Position Estimates treated as offsets from internal origin (issue) -- working correctly
• compass learn testing (discussion, discussion2) -- FYI only
• DO_SET_SERVO does not work on Servo9 ~ 14 on CubeOrange (discussion, PR, PR) -- resolved for -rc2
• RPM spams console until gpio PIN parameter is set (issue, PR) -- resolved for -rc2
• Linux crash due to UART or scheduler change? (issue, PR) -- resolved for -rc2
• Tradheli autotune not properly exiting rate P/rate D tuning when max allowed gains are not determined (PR) -- resolved for -rc2
• SYSID FF fix (PR) -- resolved for -rc2
• Rover watchdog reset on MatekH743-Mini-bdshot (discussion) -- probably resolved in -rc1
• Balance bot not standing for user with brushed motors (discussion) -- needed to set SERVOx_FUNCTION = -1 (need better docs?)
• Bi-directional dshot doesn't work on Rover (PR) -- fixed in beta3
• landing not slowing at LAND_ALT_LOW (Randy and PeterHall have logs) -- fixed in beta3
• WP_SPEED from Ch6 tuning not working? (discussion) -- vehicle config issue, works.
• DSHOT reverse range is inverted (4.2 issue. see issue, PR1, PR2) -- resolved for beta3
• BLHeli passthrough not working on CubeOrange's AUX1 (issue) -- but is likely a hardware issue
• MinimOSD not working? (discussion, Wiki PR) -- user needs to set SERIALx_PROTOCOL = 1
• BalanceBot does not stand-up in Acro mode (discussion) -- resolved in beta3
• takeoff stuck if alt-above-home is lower than alt-above-terrain (comment, issue, PR, PR2) -- fixed in beta2 (the problem was only ever present in master, never made it to a beta)
• GPS-for-yaw with DroneCan GPS not working (discussion, PR) -- resolved in -beta2
• DShot esc issue (discussion, PR) -- resolved in beta2

[hendjoshsr71]

OSD Group2 Params LINK_Q Items appear even for disabled OSD screens
Reported on Discord and replicated on 4.2Beta:
Related issue: #18418 (comment)

[amilcarlucas]

Very nice work @rmackay9, good documentation here.