Copter-4.0.7 stable released!

ArduCopter Copter 4.0
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@pkocmoud can you help @Daniel_Met out? He is having problems with https://github.com/ArduPilot/ardupilot/pull/16638

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@Daniel_Met - Which board are you having trouble with?

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Hi Philip,
im using the mro F7 board.
The other issue i have with the board with 4.0.5 i have described here

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Hello after the update to stable 4.0.7 the motor test is not working properly. when I test the motors one by one motor A cannot be tested. Testing all motors works ok. In particular testing motor A rotates motor C, testing motor B is ok, testing motor C ok, testing motor D is ok. testing the motors in sequence gives the same problem. Have you noticed a similar behavior or have an indication for the problem.

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It will run in sequence (A,B,C,D…) if you press the “Test All In Sequence” button. Starting from The Front Right Motor (A). It won’t run in Motor Output number order.

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I build a new Copter based on Matek H743-SLIM.
In Loiter mode after a while (about 10-20 min) the copter tilts forward and flies away.
After deactivating IMU0/ICM20602 all is fine.
I think this is the same issue with ICM20602 AccelY offset which was fixed with 4.1.0 some days ago … and is btw working fine with my 4.1.0-dev rover toys.
FC/AHRS_ORIENTATION is mounted 90 deg CW, so it tilts to the front and not to the left.

Will there be a backport of the PR to 4.0.7? And perhaps also for the plane release?

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What PR was that, do you have a number for me to look at?

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@amilcarlucas @tridge IMU2 in Cube Orange is the ICM20602. I am afraid to fly my drones now. Unless you are planning for a 4.0.8 release, this must be backported. Any suggestion?

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Can you create a PR against the Copter-4.0 branch?

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I backported the bugfix on top of 4.0.7. Can anyone test it? I do not have the hardware to do it

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@amilcarlucas I can give it a try. Where can I get the APJ file for MatekH743?
I’m not able to compile by myself.

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@amilcarlucas thank you very much! I will give a try and report back as soon as possible.

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So… is there an ICM-20602 accelerometer bug present in 4.0.7 ?

I’m trying to commit an Orange Cube to a build and I’d hate to collect its remains from the field in a bag.

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Did anyone test my bugfix? If no one is willing to test… It can not be merged!

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Have been flying it for the last week or so on an orange cube, will write my toughts on github as soon as i get my login infos back, i can’t find them anywhere.

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I’m willing to test, but need an APJ file for Matek H743.
Where can I find the APJ file?

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@amilcarlucas
I have flown AC.4.0.7 on Frame class as quad and frame typa as 13 (DJIX) many time without any issue.

But to when I trying to takeoff it was flipped then I have checking the configuration,noticed that it has changed to quad + configuration automatically.this problem still exists.

Hardware CUAV V5+ Autopilot running on AC 4.0.7

In future firmware can be add prearm check for Frame class and frame type to check before takeoff for this kind of problem to avoid.

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@kalai1219 send us the contents of your APM/STRG_BAK directory on the microSD card so we can analyse the corruption that happened.

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@amilcarlucas
Here is the file you asked for
https://drive.google.com/file/d/1QoLGFW_StHpju8ER6j4MDZd4ceaUmkOg/view?usp=drivesdk
I don’t know which file to send so I send whole STRG_BAK folder.