Copter-4.0.2 has been released as the official firmware for multicopters and traditional helicopters!
The changes vs 4.0.1 are in the ReleaseNotes and copied below:
- Bug Fixes:
a) AutoTune fix to restore original gains when AutoTune completes
b) MAVFTP stack size increased to 3k (fixes reboot when using MAVFTP)
c) IO CPU timing fix which reduces ESC sync issues
d) Current Alt frame always relative to home (RTL could return at wrong alt)
e) Circle mode pitch control direction fixed
f) EKF only uses world magnetic tables if COMPASS_SCALE is set
g) Logging reliability improvements especially for FRAM logs
h) PX4Flow driver probes all I2C ports on Hex Cubes
i) RangeFinders using PWM interface (like Garmin LidarLite) use RNGFNDx_OFFSET param
j) RC override fix when RC_OVERRIDE_TIME=-1 (allows disabling timeout when using joystick)
k) Spektrum receivers decoding fix for Pixracer
l) SpeedyBeeF5 probes all I2C ports for external baro
m) TradHeli attitude control parameter description fixes (does not affect flight)
a) GCS failsafe warning lights and tones
b) Rangefinder fallback support (both must have same _ORIENT)
The most important fixes are the top 2 bug fixes which could certainly cause crashes (although MAVFTP is not regularly used yet). We strongly recommend Copter-4.0.0/4.0.1 users upgrade to this new version.
As always thanks very much to our beta testers who put their vehicles at risk during testing and provided valuable feedback which helped us get these issues identified and fixed. Also thanks to the other devs and pro-users who helped out on the forums over the past few weeks!