Copter-4.5.3 released!

ArduCopter Copter 4.5
1

Copter-4.5.3 has been released as the stable/official version for multicopters and traditional helicopter and can be installed using Mission Planner, QGC or downloaded directly from firmware.ardupilot.org.

The changes vs 4.5.2 can be seen in the ReleaseNotes and they’re also copied below.

  1. Board specific enhancements and bug fixes
  • correct default GPS port on MambaH743v4
  • added SDMODELV2
  • added iFlight Blitz H7 Pro
  • added BLITZ Wing H743
  • added highres IMU sampling on Pixhawk6X
  1. System level minor enhancements and bug fixes
  • fixed rare crash bug in lua scripting on script fault handling
  • fixed Neopixel pulse proportions to work with more LED variants
  • fixed timeout in lua rangefinder drivers
  • workaround hardware issue in IST8310 compass
  • allow FIFO rate logging for highres IMU sampling
  1. Copter specific changes
  • fixed speed constraint during avoidance backoff
  • zero D_FF during autotune twitch

The most important fix is the Lua script related item bolded above. It is very rare but in some unfortunate cases, if the lua script stopped it could cause the main C++ code to fail as well.

Thanks to the developers and beta testers who contributed to this release!

7 Likes
3

PreArm: Internal errors 0x400 l:298 cnstring_nan
CubeOrange
FFT_ENABLE,1
INS_HNTCH_ENABLE,1

20241217_internal_err
20241217_internal_err875×947 220 KB

4

Hi @Jai.GAY,

Thanks for the report. I see you’ve reported it a few times here and there with no joy.

So this means that a calculation produced a NaN value somehow which can be dangerous (or not) depending upon where it occurs. The “298” means that it happened on a line 298 in the code (there are many files and thus many lines numbered 298). There are only two that look possible to me though:

  1. the DSP/FFT library line 298 in which case @andyp1per should probably have a look
  2. Single rotor heli motors library line 298 but this seems impossible because you’re flying a quadcopter

If it is easily reproduceable I wonder if you might try on 4.6.0-beta2? I see this bug fix from Andy that seems to be the same.

5

It’s the same bug as 4.6, we should probably backport

1 Like
6

@andyp1per,

Great, thanks for that. The fix was included in -beta2 so hopefully we will hear back from @Jai.GAY that the issue is gone in 4.6.

7

Is year end and I am rushing this drone for a stable flight demo. Will able to do it probably next year Jan.

Currently, @xfacta helped and FFT is not require for this frame Harmonic Notch filter. Issue seen never reappeared.

8

If FFT is the cause, these are the values that resulted it in 4.5.3. For the rest of the parameters, it can be found in the log here.

Not very sure if it is of any help to conclude the issue.

FFT_ATT_REF,15
FFT_BW_HOVER,20
FFT_ENABLE,1
FFT_FREQ_HOVER,111
FFT_HMNC_FIT,10
FFT_HMNC_PEAK,2
FFT_MAXHZ,245
FFT_MINHZ,50
FFT_NUM_FRAMES,2
FFT_OPTIONS,0
FFT_SAMPLE_MODE,0
FFT_SNR_REF,25
FFT_THR_REF,0.35
FFT_WINDOW_OLAP,0.75
FFT_WINDOW_SIZE,128
INS_ACCEL_FILTER,15
INS_HNTCH_ATT,40
INS_HNTCH_BW,40
INS_HNTCH_ENABLE,1
INS_HNTCH_FM_RAT,1
INS_HNTCH_FREQ,71
INS_HNTCH_HMNCS,3
INS_HNTCH_MODE,4
INS_HNTCH_OPTS,2
INS_HNTCH_REF,0.34
INS_LOG_BAT_MASK,7
INS_LOG_BAT_OPT,4
1 Like
9

Another issue I faced with Arducopter 4.5.3 is the following relay setup produced intermittent results. The signal pin (Main out 7) is held at 3.0V and never reaches 0 volts when RC11 is low or toggled. The Servo rail is 5V powered.

The same setup with Ardrucopter 4.5.7 does not have such an issue.

CubeOrange

BRD_PWM_VOLT_SEL,0 # 3.3V
RC11_OPTION,28 # Relay1 On/Off
RELAY1_DEFAULT,0
RELAY1_FUNCTION,1 # Relay, save and refresh
RELAY1_PIN,107 # MainOut7
SERVO1_FUNCTION,0  #MainOut1, power pin connected to 5V
SERVO9_FUNCTION,33 # M1
SERVO10_FUNCTION,34 # M2
SERVO11_FUNCTION,35 # M3
SERVO12_FUNCTION,36 # M4
SERVO7_FUNCTION,-1 # setting a PWM/SERVO/MOTOR output to be a GPIO function