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All Copter users to be on at least ArduCopter 4.x and SB2 parameters, regardless
of cube age.


**Edit 3 April 2020
This issue is fully resolved by 3.6.12 but many updates have come since. Please
keep up to date as this SB only relates to the IMU matter.
Please see Ardupilot release notes for other Ardupilot matters covered in each
release

EDIT 11th December 2019
Due to SB_0000005 I’m updating this to ensure that you use 3.6.11 as a minimum
No other changes

Edit 28th July 2019
Please ensure you are using at least Arducopter 3.6.10
SB_0000002 Critical service bulletin for Cubes Purchased between January 2019 to
present.
flight is possible under the following conditions :

 1. You MUST run Latest Ardupilot RELEASE CUBE BLACK code.
 2. You must use latest Mission Planner or Latest QGC
 3. Set the following parameters
    CUBE_BLACK.param (98 Bytes)

> BRD_TYPE == 3
> EK2_IMU_MASK == 7
> (or EK3_IMU_MASK == 7  if using EKF3)
> INS_USE == 1
> INS_USE2 == 1
> INS_USE3 == 1    

 4. Save the parameters
 5. Reboot the cube
 6. reconnect mission planner
 7. If Mission planner flags your code, contact your local re-seller, and log
    the issue. DO NOT FLY TILL I HAVE PERSONALLY CHECKED YOUR LOGS, and either
    given the go ahead, or, organised what we will do next in your case.
    8.Further flight is only to be conducted where you have carried out a full
    risk assessment on the implications of a failure occurring, the new code is
    good… but it should not be relied upon as your only means of protection. You
    must not fly over people, you must not fly over critical infrastructure, you
    must also take responsibility for your payload and vehicle.

Failure to comply with these requirements may lead to serious damage, injury, or
death.

EDIT: 02nd of May 2019:
In addition to following the instructions on the 27th of April, ensure that the
following parameters are set.

EK2_IMU_MASK == 7 (or EK3 if using EKF3)
INS_USE == 1
INS_USE2 == 1
INS_USE3 == 1


EDIT: 27th of April 2019: Ardupilot has now added detection, prearm checking,
and inflight checking and failover to the redundant sensors. This is now in
Release Copter and Release Plane.
Detection of the fault has also been added to Mission Planner, and QGC latest.
Mission planner now collects information on this fault if you are willing to
send it to us.

As such, we are reducing this service bulletin to flight is possible under the
following conditions:
1. You MUST run Latest Ardupilot RELEASE CUBE BLACK code.
2. You must use latest Mission Planner or Latest QGC
3. If QGC or Mission planner flags your code, contact your local re-seller, and
log the issue. DO NOT FLY TILL I HAVE PERSONALLY CHECKED YOUR LOGS, and either
given the go ahead, or, organised what we will do next in your case.
4.Further flight is only to be conducted where you have carried out a full risk
assessment on the implications of a failure occurring, the new code is good… but
it should not be relied upon as your only means of protection. You must not fly
over people, you must not fly over critical infrastructure, you must also take
responsibility for your payload and vehicle.

Failure to comply with these requirements may lead to serious damage, injury, or
death.

--------------------------------------------------------------------------------

Original notice:

It has come to our attention, that there is an anomaly with sensor readings on
some recent cubes. This notification will be modified multiple times a day!!!
Please check often.

This is an unfolding investigation, more details will be added as they come to
light.

If your vehicle is fitted with a CUBE BLACK, DO NOT FLY. Wait for further
instructions.

Your Cube is fitted with Three Gyros, Three Accelerometers, two Barometers, two
internal Compasses.

to tell what is fitted…

Open mission planner and connect to your cube.
go to the full parameter list.

Please keep an eye on this notice for further instructions. There will be an
update to mission planner, and to Ardupilot coming to assist in determining if
your Cube is affected by this fault.

We are sorry about this situation, and will endeavour to follow up with
solutions as soon as possible
Thank you

NEW MISSION PLANNER BETA RELEASED TODAY! PLEASE UPDATE MISSION PLANNER TO ADD a
test of AUTO DETECTION OF THIS ISSUE . please let us know if you get the
following error…

“Your board has a Critical service bulletin please see
[link;https://discuss.cubepilot.org/t/sb-0000002-critical-service-bulletin-for-cubes-purchased-between-january-2019-to-present;Click
here]”

Failure to get the mission planner notification is NOT an indication that it is
safe to fly.

All advice given will assume your device is running MASTER ARDUPILOT FOR CUBE
BLACK, unless otherwise stated.

Philip Rowse

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