Copter-3.6.10-rc1 has been released for beta testing and should be available from the various ground stations’s within the next couple of hours (if using MP then click the “Beta Firmwares” link on the “Install Firmware” screen).
This release has the following changes vs 3.6.9 (ReleaseNotes):
- EKF improvements:
a) learns biases even for inactive IMUs
b) EKF uses earth magnetic field model to reduce in-flight compass errors
c) EKF switches to first healthy IMU when disarmed
d) IMU fix for dropped samples during high CPU usage
e) Optical flow fusion start fix when some gyros disabled
- Ublox F9 GPS support
- Integrated CPU Watch Dog for STM boards including logging of reset reason
- ChibiOS I/O firmware for ChibiOS builds to support Spektrum binding
- Auxiliary switch changes always logged
- CUAVv5 Nano LED fix
- Solo Gimbal fix when some gyros disabled
This an important release including a number of EKF improvements so any testing and feedback provided is greatly appreciated!