Copter-4.0.6-rc1 has been released and within a few hours of this post should be available for download from the ground stations using their “Beta Firmwares” links.
This is a relatively minor update. The full list of changes is below and in the ReleaseNotes .
- Bug fixes:
a) Fix vertical flyaways when rangefinder stops providing data and the user has configured EK*_ALT_SOURCE=1
b) Correct units on raw accel data
c) Fport RSSI value fix
d) Correct compilation when Advanced Failsafe compile time option is enabled
e) Correct time wrap in RAW_IMU mavlink message
f) PixracerPro - Fix analog volt pin assignments
g) fix landing detector for tradheli in acro mode
- Small enhancements:
a) Parameter documentation enhancements and corrections
b) Improve harmonic notch filter parameter documentation
c) Report prearm check status in the MAV_SYS_STATUS_PREARM_CHECK flag of the SYS_STATUS mavlink message
d) Smooth I term reset over 0.5 seconds
- TradHeli enhancements:
a) Differential Collective Pitch (DCP) trim support for Dual Heli
b) Incorporate hover collective learning
c) Option for pitch, roll and yaw I term to be based on takeoff/landing
We plan to keep the beta testing period open for about 2 weeks or so. Any testing you can do is greatly appreciated!