Copter-4.0.6 released!

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.

  1. 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
  2. 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
  3. 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
  4. 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.


Very cool thanks for everything.

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