Copter-4.0.7 stable released!

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?

1 Like