Copter-3.6.0-rc3/-rc4 is now available for beta testing and can be downloading using the Mission Planner’s (and perhaps other GCS’s) Beta Firmwares link.
The changes are listed in the Release Notes and also copied below:
a) airbotf4, matekF305, matekF405-wing, omnibusf4pro, mini-pix, omnibusf7v2, revo-mini, sparky2 binaries built on firmware.ardupilot.org
b) STM32F7 support including the CUAV v5 Autopilot and the PixHawk 4 (aka fmuv5)
c) fixed dataflash logfile dates
d) bootloader included in firmware for easier uploading
e) additional UART added to fmuv4 and fmuv5 (STM32 F7 boards)
f) ChibiOS version written to dataflash log files
a) fix collective jump on rotor shutdown in AltHold and Loiter
b) fix interlock pre-arm check
- Follow uses relative altitudes (FOLL_ALT_TYPE param allows specifying relative or absolute alts)
- Auxiliary switch de-bounced to avoid false positives
- Bug fixes and minor enhancements:
a) ESC calibration fix
b) ESC_TELEMETRY messages sent to ground station
c) ESC Telemetry current scaling fix (added in -rc4)
d) LED pre-arm GPS colour fix if glitch occurs (added in -rc4)
- Build-in OSD improvements including home direction fix, altitude fix (added in -rc4)
This was a “rebase on master” meaning we brought in all the changes that have been made in the last month (not just critical changes) so it really is the latest code available even to the developers. This was required because of all the changes in the ChibiOS area in particular. Any future release candidates we do will be much smaller updates than this one.
All testing is greatly appreciated and my main focus over the next week is addressing any issues that crop up so that we can get Copter-3.6 out the door so you can expect faster replies from now on.
Thanks again for helping us get Copter-3.6 ready for the general public!