Copter-3.6.11-rc1 has been released for beta testing and should appear in the ground stations within a few hours of this post. The list of changes is available in the ReleaseNotes and also copied below.
Changes from 3.6.10
- EKF and IMU improvements:
a) IMU3 enabled by default if present
b) IMU3 fast sampling enabled by default on Cube autopilots
c) EKF protection against large baro spikes causing attitude error
d) EKF origin fixes (consistent across cores, set externally only when not using GPS)
e) EKF logging of 3rd core
- Minor enhancements:
a) Land mode supports heading requests (ie. ROI)
b) Support Hexa-H frame
c) MatekF405-STD binaries created
d) Benewake TFminiPlus lidar support
- Bug Fixes
a) Barometer health checks include sanity check of temperature
b) Lightware serial driver handles invalid distances
c) IO firmware fix involving delayed writes to serial ports (ChibiOS only)
d) CAN Compass fis to for unintialised device IDs
e) mRo x2.1-777 USB ID fix
f) ChibiOS fix for I2C storm
This point release has a number of important reliability fixes including 1c (EKF protection against large baro spikes) and 3f (ChibiOS fix for I2C storm) but we have seen at least one incident of each across the vehicles (Plane, Copter, Rover).
For Benewake TFmini-Plus lidar users, note that you’ll need to set RNGFND_TYPE = 25, RNGFND_ADDR = 16.
Any beta testing and feedback that you can do is greatly appreciated!