Copter-4.3.7 released!

Copter-4.3.7 has been released as the stable version for multicopters and helicopters and can be installed using Mission Planner, QGC or manually downloaded from

The changes vs 4.3.6 are in the ReleaseNotes and copied below.

  1. Bug fixes
    a) EKF3 accel bias calculations bug fix
    b) EKF3 accel bias process noise adjusted for greater robustness
    c) GSF yaw numerical stability fix caused by compassmot
    d) INS batch sampler fix to avoid watchdog if INS_LOG_BAT_CNT changed without rebooting
    e) Memory corruption bug in the STM32H757 (very rare)
    f) RC input on IOMCU bug fix (RC might not be regained if lost)
    g) documentation fix for BRD_SAFETYOPTION

The most important is item (f) which, in very rare cases, can lead to the autopilot not regaining RC if it is lost. I.e. once lost, the pilot may not be able to re-take control with the RX/TX even when the vehicle has returned back within RC range.

As always, thanks for those who helped us with beta testing.


Just loaded it on my 690 class copter running Orange Cube BD-Dshot. I’ll be alert for any problems.

Thanks for the update!

1 Like

I want to report that KDEcan is not working with this release. I’m using a Cube Orange Plus. It works as it should on 4.2.3. When I loaded 4.3.7 today it does not detect the KDEcan ESCs. I saw a PR a couple weeks back stating that the issue was fixed, but it does not seem to be. I would really like to run this release. Let me know if there’s anything I can do to assist.