Copter-4.3.1-rc1 available for beta testing!

Copter-4.3.1-rc1 is now available for beta testing and can be installed using MP or QGC’s beta firmwares link or it can be manually downloaded from

Changes vs 4.3.0 are in the release notes and copied below

  1. Autopilot specific enhancements
    a) ARKV6X support
    b) MatekH743 supports 8 bi-directional dshot channels
    c) Pixhawk boards support MS5607 baros
    d) SpeedbyBee F405v3 support
  2. DroneCAN Airspeed sensor support including hygrometer (aka water vapour) readings
  3. EFI support (electronic fuel injection engines)
  4. Pre-arm warning if multiple UARTs with SERIALx_PROTOCOL = RCIN
  5. Siyi gimbal support
  6. Bug fixes
    a) Arm check warning loses duplicate “AHRS” prefix
    b) AtomRCF405NAVI bootloader file name fixed
    c) BRD_SAFETY_MASK fixed on boards with both FMU safety switch and IOMCU
    d) Compass calibration continues even if a single compass’s cal fails
    e) Gremsy gimbal driver sends autopilot info at lower rate to save bandwidth
    f) Invensense 42605 and 42609 IMUs use anti-aliasing filter and notch filter
    g) Mode change to AUTOTUNE message shortened
    h) OSD stats screen fix
    i) RC input on serial port uses first UART with SERIALx_PROTOCOL = 23 (was using last)
    j) RunCam caching fix with enablement and setup on 3-pos switch
    k) RTK CAN GPS fix when GPSs conneted to separate CAN ports on autopilot
    l) SkyViper GPS fix
    m) Turtle mode safety fixes (e.g. can only enter Tutle mode with at zero throttle)

All feedback is greatly appreciated!


I just upgraded to 4.3.1-rc1 and flown several times. No issues noted. I find the throttle response on Stabilized and Acro became a bit more sensitive. Not a big drama. We’ll keep on testing and update this thread if I find something. Autotune message is already clear and not truncated. Thanks for fixing this.


On a small quad 4 "I did not find any problems in stabilize, althold, loiter.