Plane: stable 4.5.x issues list

[tridge]

This is an issue to gather key issues for the plane 4.2-4.5 release

• display message on pilot override active in VTOL pos controller (can prevent descent stage)
• disable uart reboot checker for non-debug build
• lua scripts sometimes do not start: lua scripts sometimes do not start or re-start #25455
• Plane: RTL with rally point does not track terrain #25157
• can AGL -> ABS fail in upload of rally point, leading to incorrect rally point height
• scaling of baro gate with height: scaling of baro noise with pressure altitude #25337
• pitch stick mixing can stall aircraft
• guided takeoff in quadplane when home not at ground level #25283
• support new DroneCAN ESC status msg
• slow down EFI update in periph
• rapid mode change in DO_VTOL_TRANS test: Plane: allow DO_VTOL_TRANSITION as both LONG and INT commands #24954
• SBUS input corruption on F4: AP_RCProtocol: Serial port SBUS input erratic #14105
• add frame to fly to in mavproxy
• check for no fence available in FENCE_AUTOENABLE pre-arm, to match FENCE_ENABLE
• BVLOS quadplane docs: BVLOS failure handling for quadplanes #21876
• TECS descent in CRUISE mode (log from @Hwurzburg )
• jetcat EFI applet
• ublox jamming indicator Ublox GPS spoofing indicator #11239
• add check for RC3_MAX at least 100 above RC3_MIN
• scripting bug: AP_Scripting: Only allow scripting restart if disarmed #24106 (review)
• calculate USB strings at compile time for flash savings
• Improve quadplane use of forward throttle in VTOL modes #13760
• pre-gen lua mavlink on firmware server
• we should scale baro height process noise with pressure altitude
• CANFD incorrect timing, giving bus off errors
• add tcp option for support.ardupilot.org
• lane switch add delay till all lanes have fused, or ensure consistent for some time period (eg. 50ms)
• EK3 gate mod: https://github.com/priseborough/ardupilot/commits/pr-ekf3-gps-velpos-igate-mod
• make stabilize mode use proper rate control
• AUTOTUNE needs to reset SMAX to 0 during twitch
• possible problem with disconnected RC on H16
• resting voltage can be very bad
• quadplane precland
• fix i2c probing of LEDs
• add CAN pkt logging to DroneCAN gui tool and ardupilot, and log loading in gui tool
• possible bug in ICE restart
• mavcan to multiple clients at once
• can gui tool panel for secure commands
• add rate limited filter to airspeed to prevent large spike from corrupting airspeed
• default TECS_LAND_ARSPD to mid-point of cruise and min airspeed
• propogate Dmod up to angle loop
• look at using -g -O2 for stable builds for better crash dump analysis
• ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD)
• motor_lost_index never reset and not exposed in lua
• work out why 2048 byte reads in AP_Filesystem: changed MAX_IO_SIZE to 512 #23455 failed
• allow clear mission when disarmed in AUTO ?
• add waf docs target?
• possible bug in RTSCTS?
• Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150
• GSF yaw errors: GSF failiures on fixed wing #23224
• mission on sdcard
• more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212
• fix pitch limit in FBWA for transition: Plane: transition pitch limit should not apply to FBWA #22730
• after a bounce off the ground, PIQA.I can peg high (seen in Alia model)
• switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode
• ARSPD_TUBE_ORDER=3 to auto-detect order
• MS4525 probe all buses not working in 4.3 after update from 4.2
• rudder arming causes yaw in AUTO takeoff Plane: holdoff auto takeoff till rudder released on rudder arming #22665
• VTOL approach can turn overshoot if WP_LOITER_RAD is small
• COMPASS_DIA_X of zero not treated as 1.0 AP_Compass: fixed zero compass diagonals #22666
• level cal not clearing 3d accel cal needed msg?
• CubeOrangePlus param diff BAT*PIN doesn't show changes
• not using full throttle in non-airspeed takeoff: Not using full throttle in non-airspeed takeoff #22572
• random voltages with voltage pin -1
• large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX?
• with RTL autoland: Mode change to AUTO denied, in fence recovery
• MS5607 sub for MS5611 for Pixhawk1 Marco
• annoying msg Cannot calibrate with Q_TRIM_PITCH set
• not fully resetting tdrag takeoff state on new takeoff
• ICE idle governor in Q modes while disarmed
• Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman)
• receive DO_AUX_FUNCTION in lua scripts
• need better BVLOS advice and testing: BVLOS failure handling for quadplanes #21876
• throttle slew limit when re-starting engine on RPM outage
• reduce XY gains when rate gains activate Dmod?
• incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info
• remove loop rate dependency on power limit for fixed wing
• limit integetrator buildup longer for catapult launch
• allow idle governor to control ICE idle in Q modes when disarmed
• scale down rate PIDs during back-transiton based on airspeed?
• auto-lower pos controller gains when have attitude error?
• should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode
• add package drop support
• always allow at least 10 deg roll limit for fixed wing
• add arming check for VTOL I gain <= P gain on roll/pitch
• motors spin sometimes on soft reboot of HWing
• test ublox fw update with passthru
• before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed
• add mission and fence extraction to MAVExplorer
• add tailsitter tune param for P, I, D sequence
• option for median filter between synthetic airspeed and dual-airspeed
• re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge
• rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5
• look at methods of handling flash parity errors on H7, possibly using HW CRC
• obey primary sensors with EK3_AFFINITY
• motors spinning when they shouldn't? Plane: MOTORS ARMED with Safety Switch ON #16630
• force arm bypass of logging start and fence auto-enable
• need force_descend change for quadplane: Copter: Set Force Descend to true only when in the last phase of landing #17824
• surface control while booting not working: [Plane] No servo control when in Initializing mode #17966

Features for later 4.2.x releases:

• sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last
• support rangefinder correction of AP_Terrain data, with configurable time constant

[pompecukor]

* [ ]  hybrid landing with RTL/QRTL from high alt #10559

This is fixed with this: #16977

[Hwurzburg]

-[ ] fence in Plane: if action is guided to return point, and no point is entered, the median lat/long extremes of any fence is used...this generates out of bounds returns and looping behavior around zone boundaries.....should just RTL IMHO
-[ ] if you lose GPS, and fall back to DCM?, there is no GCS message informing you of this while in normal flight
-[ ] MP fence status, nothing is shown for the simple tincan around home when active

[joshanne]

@Hwurzburg - I've submitted a PR to attempt to address the spiralling loiter behaviour you mention in point 1.

[Hwurzburg]

-[ ] fences in all vehicles: can be ENABLED but none selected in TYPE....probably should be a pre-arm for that and a gcs message if live enabled...

[Hwurzburg]

-[ ] New bootloader fails in trad heli firmware

[IamPete1]

#18932

[IamPete1]

User was allowed to arm when they should not have been: https://discuss.ardupilot.org/t/rolled-inverted-during-takeoff-mode/84904