- Velocity filter is not configurable. Velocity filter does not have a config to choose between latency and filtered output. CTRE has found configurable velocity filters to be less relevant, as the Kalman filtering produces reasonably smooth velocities while minimizing latency. Default setting is currently lowest latency. Discovered by Internal Testing
- Velocity measurements are noisy at higher velocities. At velocities greater than 2000 RPM the velocity measurement becomes noisier than expected. Discovered by Internal Testing
- Devices may disappear in Tuner under a specific circumstance. This issue may present itself if all the following are true: A device is being field-upgraded, there is a CANcoder vH on the bus, that CANcoder vH has ship firmware 20.1.0.0. If all the requirements are met, then devices may disappear from Tuner once the field-upgrade is finished. The process to resolve this is to do the following: Power cycle CANcoder vHs with ship firmware, Flash CANcoder vH with latest firmware, Repeat until every CANcoder vH is updated. This only affects Tuner, this does not affect API. Discovered by Internal Testing
- Silicon vendor has announced a recent silicon errata that may prevent the CANivore from powering up. This has been fixed in firmware version 25.3.0.0. In order to apply the fix, the CANivore V+/V- supply voltage must be stable between 11.5 and 13.5 volts and USB power must be present for at least 5 seconds. Silicon errata suggests this affects a very small number of CANivores. Discovered by Supplier
- Velocity reporting is noisy when using FusedCANcoder or SyncCANcoder with a very large RotorToSensorRatio. Firmware 26.1.1.1 fixes the issue where velocity reporting is noisy with RotorToSensorRatios greater than ~10, with the noise getting greater the higher the ratio. However, this only pushed the limits of the ratio out by an order of magnitude. In our tests, noise becomes ~1% worse at ratios approaching 100:1, and would expect higher percentages at greater ratios. Discovered by Internal Testing
- Diagnostic Servers built before July 19, 2023 do not support field-upgrading Pigeon 2 vers. S. 2023 Diagnostic Servers built before July 19th may report a InvalidCrfFileSzInvald or that the function requires API version 23.2.0 or greater. To fix this, update to the latest v5/v6 API. This only affects field-upgrade, other functionality is unaffected. Discovered by Internal Testing
- Swerve uses the 2026 field coordinate system. WPILib is planning on changing the origin and orientation of the field coordinate system in 2027, which will be accounted for in a future release. Discovered by Internal Testing
- Pigeon 2 may report magnetometer fault. Pigeon 2 may occasionally report a magnetometer fault in the self test. This will not affect performance of the Pigeon 2. Discovered by Internal Testing
- Pigeon 2 may report accelerometer fault. Pigeon 2 may occasionally report an accelerometer fault in the self test if it moves during startup. This will not affect performance of the Pigeon 2 as long these faults do not occur all the time. Discovered by Internal Testing
- Pigeon 2 may report accelerometer fault. Pigeon 2 may occasionally report an accelerometer fault in the self test if it moves during startup. This will not affect performance of the Pigeon 2 as long these faults do not occur all the time. Discovered by Internal Testing
- Pigeon 2 may report magnetometer fault. Pigeon 2 may occasionally report a magnetometer fault in the self test. This will not affect performance of the Pigeon 2. Discovered by Internal Testing
- Remote Sensor Data Invalid sticky fault occurs on first configure of remote feedback source. The first time a Talon FX is configured to use a remote feedback source, the Remote Sensor Data Invalid sticky fault trips. To workaround this, clear the sticky faults after initial configure of remote feedback source. Discovered by Internal Testing
- Talon FX erroneously reports Sensor Data is invalid while moving and using a Fused Sensor Source. When the TalonFX is on a RIO bus and using a Fused sensor source, the Sensor Data is Invalid fault will erroneously assert while the TalonFX is moving. This fault is purely for telemetry and will not affect operation of the motor. Discovered by Customer Email
- Velocity Filter Time Constant is not currently supported. The velocity filter time constant configuration is not supported on Talon FXS. Discovered by Internal Testing
- Acceleration reports 0 when ExternalFeedbackSensor is pulse-width. The acceleration signal always reports as 0 when the ExternalFeedbackSensor is configured to be pulse-width. Discovered by Internal Testing
- Acceleration is noiser than expected. The acceleration signal may be noiser than within expectations. Discovered by Internal Testing
- Swerve Generator: Options popup is missing on macOS. This will be re-added in a future release. The option popup when a swerve generator project is in-progress is missing. This will be re-added in a future release. Discovered by Internal Testing
- Phoenix Tuner v1 is no longer supported. Please migrate to Phoenix Tuner X for new features and bug fixes. Discovered by Internal Testing
- corvus does not support generating Java mechanisms using WPILib Commands v3. Commands v3 support may be added in a future release based on community feedback and adoption of the framework, and after the next WPILib release becomes available with the prerequisite changes. Discovered by Internal Testing