WARNING: we have a report that FrSky R9 receivers are not detected because of (3j) so if you are using these receivers please upgrade to 4.1.5
Copter-4.1.4 has been released as the official/stable version for multicopters and helicopters.
The changes vs 4.1.3 are in the ReleaseNotes and also copied below
Benewake CAN Lidar support
CAN GPS default lag dropped to 0.1 seconds (was 0.22 seconds)
Bug fixes
a) Compass custom orientation is never overwritten during calibration
b) EKF logging gaps fixed (some messages were occasionally being skipped)
c) Guided mode cornering improvements
d) IMU logging fix for IREG message (records IMU register changes)
e) LOITER_TO_ALT mission command’s climb rate fixed (could climb or descend too quickly)
f) Position controller init fix to avoid twitch on vehicles with high vibrations
g) Position controller init fix to better handle high speed entry to flight mode
h) Position controller prioritises reducing cross track error
i) Position controller relax fix
j) SBUS RC frame gap increased to better handle some new receivers
k) SERVOx_FUNCTION protection to avoid memory overwrite if set too high
l) SD card init triggering watchdog fixed
m) Spline path max lateral acceleration reduced (vehicle stays on path better but may be slower)
n) Takeoff bug fix if taking off below home or frame specified as MSL
After a few flights with 4.1.5 & 4.1.4 (EK3), I still experience a holding height issue (Hereflow+ LW20) at Alt-hold flight mode. Not Sure is it due to settings. Turn OFF Hereflow and LW20, just use built-in baro, holding height is reasonable. Turn off Hereflow and turn ON LW20 also experience hover oscillation. All flights are without GPS installed and fly indoor (logs). I notice XKF1->n->PD is oscillating when LW20 is enabled, not in baro case.
