Copter-4.2.1-rc1 has been released for beta testing and should be available for download within a few hours of this post.
The changes vs 4.2.0 are in the ReleaseNotes and copied below.
- CAN ESCs bus bandwidth efficiency improvements (see CAN_Dx_UC_ESC_OF parameter)
- DShot timing improvements to support for ESC variants
- LOITER_TURNS command radius max increased from 255m to 2550m (but only 10m accuracy when over 255)
- Luftan EFI measures fuel consumption (see EFI_COEF1, EFI_COEF2)
- Bug fixes
a) CAN ESCs work on boards with no safety switch (e.g. MatekH743)
b) Inflight Compass calibration checks GSF yaw estimate is good
c) LOITER_TURNS command’s Turns field limited to 255 (previously would wrap to lower number)
d) NeoPixel colour fix
e) Precision Landing maintains yaw during retries
The changes fixup a few things that came up at the end of beta testing but weren’t critical enough to block the stable release.
Any testing and feedback is greatly appreciated!