Copter-4.0.1-rc2 has been released for beta testing and is available for download using the ground stations’s Beta Firmwares link. The changes are in the ReleaseNotes and also copied below:
- FrSky SPort Passthrough telemetry status text handling fix (Critical Fix)
- Circle mode allows pilot control of radius and rotation speed
- CAN servo feedback logged
- Magnetic declination tables updated
- Serial0 protocol forced to MAVLink (avoids accidental disabling of USB port)
- Bug Fixes:
a) TradHeli RSC RC passthrough fixed
b) CubeOrange and Durandal I2C timing fixed (was running slow)
c) Compass calibration auto orientation skips “pitch 7” which could cause cal to fail
d) Durandal’s fourth I2C port fixed
e) Linux boards with CAN support fixed
f) Neopixel added to SERVOx_FUNCTION param description
g) NMEA Output fixed (was sending an extra CR)
h) Optflow messages sent even if EKF has no height estimate
i) SkyViper build fixed
j) Spektrum/DSM 22ms RC input fixed
k) “UC Node Down” message removed (was unnecessarily scary)
The first item is a critical fix meaning it resolves an issue that can cause vehicles with FrSky SPort Passthrough telemetry to crash. The issue was first reported this morning and we hope to release this as the official version within a few days. By the way, the independent CPU watchdog logging was critical in tracking down the issue because it logs some important state of the vehicle. This issue does not exist in Copter-3.6.x.
@Pedals2Paddles and I are very interested to hear feedback on the Circle mode changes (good or bad!).
Any other testing and feedback is also greatly appreciated!