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Beta release 4.0 estimation?


Last weekend I flew my S900 (Hexacopter) and my Daya H680 (Quadcopter) with the recent built of 4.0 on a 3DR Pixhawk. Alltogether around 40 flights 10-15min per flight.
The only thing I can say: FANTASTIC and BRILLIANT WORK to all developers.
I couldn´t find any issue, the flights seemed to be much more stable and smooth than with 3.6.10. I only updated it without changing any parameter. Everything which is important for me worked. Some new functions (i.e dynamic notch) I didn´t test because I was not sure how to configure.

I am very confident about 4.0. So if you want me to participate on beta tests, please aks me and tell me what specific test I should do. I have 8 different Pixhawks/Pixkacks/Pixracers…, so I could do different test if you want.

Thanks again for the fantastic work

best regards


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I have one question with arducopter 4.0 passthrough telemetry. on a 3DR Pixhawk do I still need the special telemetry cable or can I now also use (analog Pixracer) a standard cable with configuring halfduplex and inverted in the parameters?



With a 3DR Pixhawk you’ll still need the cable to invert.

Anything based on a STM32F4 (regular Pixhawks, Black Cubes, etc) besides Pixracers will still need the serial inverter cable. Pixracers have the inverter onboard.
Anything sporting STM32F7 (and H7) like Pixhawk4, Kakute F7, Orange Cube, etc, are capable of inverting the signal internally.
But, to add some confusion, there are certain FrSky receivers that expect a straight uninverted serial :smiley:

Without the harmonic notch is only static, drastically reducing its value (except perhaps for helis) which is why I am so keen to get it in :slight_smile:. If it goes in I’m ready to write some extensive wiki pages documenting its use as, granted, it’s a bit of a dark art at the moment.


@andyp1per, yes Leonard is also very keen that the final part of the notch filter go in as well so I think it’s very likely we will include it in 4.0.0. Whether it makes it into 4.0.0-rc1 or -rc2 I can’t promise immediately…


That’s great news!

I would argue that it’s the “next” part rather than the “final” part, as there is always which I am using to drive the notch, but probably too much of a stretch for 4.0!

And then there’s dshot …

… and double notches …

To someone interested in some testing details:
We use “Continuous Integration” aka CI tests that test every single line of the source code against expected results. Right now those tests cover 50% of all source code lines against SITL based simulations. The results are here :

On top of that the developers and beta testers perform flight tests on real hardware.

This is just a small part of the quality measures that the ardupilot community uses :slight_smile:

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I have tested the flight:

Testing latest copter 4.0.0 on a quad with MatekSYS F765 Wing FC

First thing i noticed that CH7_OPT - CH12_OPT parameters are missing. This makes my radio switches programmed to ARM_DISARM, RTL, LAND, AUTOTUNE are no longer working.
Any plans to bring this functionality back to 4.0?


look for RCx_OPTION…

@Eosbandi it worked - thanks. MissionPlanner still is not reflecting this configuration.

I have successfully passed the test flight of a complete multi-flight mode development version 4.0 firmware, using the T-rex 500 FBL helicopter and the flight control of Matek F765 wing, I uploaded the video for your reference.

That has to be the SMOOTHEST helicopter I have seen in a LONG LONG time. The video frame rate shows the head speed is constant even during maneuvers.

Well Done!

Thanks for attention!

GOV uses the HOBBYWING Platinum V4 60A. This ESC’s ESC speed is very good and the head speed control is very accurate.

@rmackay9 @Eosbandi @ChrisOlson @bnsgeyer

Arduheli’s firmware v3.6.x has a “new loiter” mode, with efficient maneuverability, automatic turning aileron mixing, and the effect of a large elevation brake. How did it disappear in 4.0 dev?

@Eosbandi @rmackay9 Could you please clarify what happening to a configuration parameters when migrating from 3.6 to 4?
I’ve noticed some of my parameters have different values after upgrade, so I need to set them back. Is it possible that a newly added parameter corrupt some another param at current group or at neighboring group?
My concern is there could be another important parameters broken that I’m not aware of.

And another question is about PIDs - after upgrade my copter attitude is not so stable as it was on 3.6. Looks like I need to do autotune. Is that expected?

If parameters need changing to preserve behaviour, the code does that for you automatically, so do not be surprised if some parameters change their value.

But to be on the safe side, post here exactly which parameters changed their value.

No need to autotune or change the PIDs

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@sergbokh There is always an update part in the releases which converts values from previous version. However the change in code from 3.6 to 4.0 is huge and there are many-many new functions and settings which cannot be utilized with a simple upgrade.

So if you want a quick dirty look, you can upgrade in place. But if you need the real deal and want to learn then I would recommend a fresh install.

@amilcarlucas @Eosbandi thanks, I didn’t know there is an update function that does some conversion.
I think some of my RC_OPTION became wrong after upgrade, but I need to re-check.

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