Copter-4.0.6 has just been released and should appear in the ground stations as the official/stable version within a few hours. The changes vs 4.0.5 are in the ReleaseNotes and copied below.
- 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
h) Fix support for BLHeli_S passthru - 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 - Add support for keeping a backup of storage for last 100 boots
As always, thanks very much to our beta testers for putting their vehicles at risk to help us ensure this is a safe release.