Copter-4.5.4 released!

ArduCopter Copter 4.5
1

Copter-4.5.4 has been released as the official/stable version for multicopters and traditional helicopters and can be installed using MP, QGC or the firmware can be directly downloaded from firmware.ardupilot.org.

The single change vs 4.5.3 is listed in the ReleaseNotes and copied below

  • Disable highres IMU sampling on ICM42670 fixing an issue on some versions of Pixhawk6X

If you’re using a Pixhawk6X we strongly recommend updating but for other users this release will have no impact.

By the way, some may notice that we released this version without going through the regular beta testing procedure. We decided that this change was small enough that developer level testing was sufficient.

Thanks!

3 Likes
3

In my code only
send_ned_velocity(1,0,0)
send_ned_velocity(0,0,1)
send_ned_velocity(1,0,-1)
and yaw are working correctly.
But -Vx and roll commands are not working correctly.
its showing circular movement at a point or say -Vx with yawing.

Code:
from dronekit import connect, VehicleMode
from pymavlink import mavutil

def send_local_ned_velocity(x, y, z):
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0, 0, 0,
mavutil.mavlink.MAV_FRAME_BODY_OFFSET_NED,
0b0000111111000111,
0, 0, 0,
x, y, z,
0, 0, 0,
0, 0)
vehicle.send_mavlink(msg)
#vehicle.flush()

def condition_yaw(heading):
msg = vehicle.message_factory.command_long_encode(
0, 0, # target_system, target_component
mavutil.mavlink.MAV_CMD_CONDITION_YAW, #command
0, #confirmation
1, # param 1, yaw in degrees
0, # param 2, yaw speed deg/s
heading, # param 3, direction -1 ccw, 1 cw
1, # param 4, relative offset 1, absolute angle 0
0, 0, 0) # param 5 ~ 7 not used
vehicle.send_mavlink(msg)
vehicle.flush()

vehicle = connect(‘udp:127.0.0.1:14550’, wait_ready=True)

while True:
send_local_ned_velocity(-1, 0, 0)
#condition_yaw(-1)

4

What is the question?

How does that question relates to the 4.5.4 release?

5

@rmackay9 , do you have default lua scripting support for this version ?

6

Hi @Iqua,

Lua scripting is included in 4.5.4 (and earlier versions) but to work the autopilot really needs to have an H7 processor. It is possible to get it working on an F7 but some features may need to be turned off.

Does that answer the question?

1 Like
7

Hey Mackay ! Well, quite informative !
Works only on H7 HITL ? I am on SITL. I couldn’t find it working there.

8

I find it confusing as the documentation says, it is workable on SITL also. Please enlighten me on this.

9

Hi @Iqua,

Our Lua documentation is here on the wiki and I’m pretty sure it talks about SITL as well.

1 Like
10

Yeah. Does. Thanks @rmackay9 !

1 Like
11

Using CubeBlue. What platform and then firmware should be chosen for this upgrade? Not finding a CubeBlue option.

12

CubeBlack.

…

13

Hi @VanillaRice,

To add to @Oli1’s reply, if the its a “CubeBlue H7” then it is equivalent to a CubeOrange

1 Like
14

@rmackay9
It is a CubeBlue H7. Thanks for the help.

15

I selected CubeOrange and then the only option for firmware in the dropdown. I got ERROR: Firmware not suitable for this board fw: 140 - board: 10140.

image
image1908×477 133 KB

What am I doing wrong?

16

Contact the manufacturer of your drone, it has Open Drone ID enabled, so only a custom ODID enabled firmware can be uploaded.

17

Will do. Thanks. @Eosbandi