Copter-4.5.5-beta2 has been released for beta testing and can be installed using MP or QGC’s beta firmwares link. Alternatively the firmware can be directly downloaded from firmware.ardupilot.org.
The changes vs -beta1 are in the ReleaseNotes and copied below
This fix should make uploading firmware to the CubeRed easier
Hi @rmackay9 , hi all.
Can I ask you fix few points?
OSD message “Battery Lost” looks scary 
Change please to “Battery Low”
Also ELRS Link Quality in Db not work well as in Betafly. This is very important parameter.
Please, change draw_callsign in OSD: now we need write it to SD-card, why not use just an Config parameter string for that?
Is it possible to make GCS_Message_Type or just change “INFO” which will be shown in QGC on display for 5 sec f.e.?
I tryed use all types- INFO, SEREVINITY, ALARM… I have voice message only or yellow alarm which need tap to remove and red triangle with active error which also need to tap twice.
VTX.cpp :
If we use Trump (IRC, not Donald), we have 6 pos switch and 5 fixed power levels. So problem is no work 0 or 5 pos- if we have at 0 SW Pos 25 mW, at 5 Pos we have 25 or 0, not 600. If we have 5 Pos 600 and switch to 0 Pos- we still have 600, not 25.
So what I did- I add into line 508 change_power() :
if (is_provider_enabled(AP_VideoTX::VTXType::Tramp)) {
if (position == 0){
power = 25;
}else if (position == 1){
power = 100;
}else if (position == 2){
power = 200;
}else if (position == 3){
power = 400;
}else if (position > 3){
power = 600;
}
So now from 25 to 600 Trump work well.
Also I can’t understand- why we need whole channels/band tables if we can’t configure them in Mission Planner?
All manufacturers use own frequences and lot of bands. Every day new moddels arrive.
We can’t work normally in this situation. BetaFly give possibility to enter frequency table manually . But 6 bands only.
I think better and universal will be entering band and channel, without reverse frequency check (we can’t input it directly anyway).
So user have a VTX table of transmitter and enter band/channel only.
Additionally user need set actual power levels in Config for SmartAudio.
That’s all. Maybe I missed some and my vision is wrong, but please make attention.
Lot of peoples not used AP because can’t use modern VTX’s.
-EKF3 on FC with more 1 IMU: more serious question.
After we have GPS or Compass glitch or any Variance we have EKF Lane switch.
After that IMU0 changed to IMU1 f.e., and all EKF data transfered to new EKF Lane.
Drone send lot of error messages, lot of moovements, Yaw reset, wrong compass heading… Looks like something very dangerous.
But in fact we have GPS bad only. And when GPS glitch cleared- we have all process again in reverse side.
So why we make EKF Lane swithch and change IMU if IMU is ok?
In my opinion we should change IMU in case of big vibrations of curent IMU or IMU is dead.
ALSO if booth IMU are in same chip (as Matek H-743)- vibration on IMU’s will be same so there is no reason to switch IMU0-> IMU1.
If compass is brocken we need change compass, not IMU.
If bad GPS we make EKF Failsafe only.
So now untill I have no time to fix it myself, I just swithoff 2-d IMU and use IMU0 only.
And all works ok. GPS Glitch → EKF Error-> Alt_hold-> GPS glitch cleared-> can change to Loiter.
Thanks.
PS I know guys you make an huge job. But don’t forget to update WIKI after new changes arrive.