Copter-4.1.5-rc1 available for beta testing

ArduCopter Copter 4.1
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Copter-4.1.5-rc1 has been released for beta testing and can be downloaded using the “beta firmwares” links in MP, QGC or it can be downloaded directly from firmware.ardupilot.org.

Changes vs 4.1.4 are in the ReleaseNotes and copied below:

  1. Bug fixes
    a) attitude control I-term always reset when landed (previously only reset after spool down)
    b) revert SBUS RC frame gap change from 4.1.4

This is hot on the heels of 4.1.4 because we sadly found an issue with the SBUS change that meant some SBUS receivers (including the FrSky R9 receivers) didn’t work.

All help with beta testing this release is greatly appreciated. The 1a could affect how the vehicle behaves just as it lands and takesoff especially on sloped surfaces so anyone who feel like trying this please report back how it goes.

It is likely that this is the last 4.1 point release before we begin 4.2 beta testing

Thanks!

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Conducted flight on my Synergy 626 Helicopter with CUAV v5 and CUAV GPS. Conducted piloted flight in Stabilize and AltHold modes. Conducted a mission in Auto mode. No issues. Post data analysis of the landing in auto mode showed the integrator reset working as intended with it being reset once land complete flag posted.

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