Copter-4.5.6 released!

ArduCopter Copter 4.5
1

Copter-4.5.6 has been released as the stable/official build for multicopters and traditional helicopters. It should appear in the ground stations within a couple of hours of this posting. Alternatively you may directly download the binary (aka “.apj” file) from firmware.ardupilot.org.

Changes vs 4.5.5 are in the release notes and also copied below

  1. Board specific enhancements and bug fixes
  • 3DR Control Zero H7 Rev G support
  • CUAV-7-Nano support
  • FoxeerF405v2 servo outputs increased from 9 to 11
  • Holybro Pixhawk6C hi-power peripheral overcurrent reporting fixed
  • iFlight 2RAW H7 support
  • MFT-SEMA100 support
  • TMotorH743 support BMI270 baro
  • ZeroOneX6 support
  1. Minor enhancements and bug fixes
  • Cameras using MAVLink report vendor and model name correctly
  • DroneCAN fix to remove occasional NodeID registration error
  • GPS NMEA and GSoF driver ground course corrected (now always 0 ~ 360 deg)
  • ICP101XX barometer slowed to avoid I2C communication errors
  • IMU temp cal param (INSn_ACCSCAL_Z) stored correctly when bootloader is flashed
  • IMU gyro/accel duplicate id registration fixed to avoid possible pre-arm failure
  • Logging to flash timestamp fix
  • OSD displays ESC temp instead of motor temp
  • PID controller error calculation bug fix (was using target from prev iteration)
  • Relay on MAIN pins fixed
  1. Copter specific fixes
  • Payload place bug fix (climb rate after releasing payload was unreliable)

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

P.S. we hope to begin beta testing of 4.6.0-beta1 in 2 to 3 weeks

5 Likes
3

Hi. Not sure how beta testing works but let me know if you need anything specific. I’m currently running 4.5.5 on a quadcopter.

4

Hi - I just updated a copter from 4.4.0 to 4.5.6, and it seems that it’s not initializing my motors/escs properly - I never get the last “dun-dun” from my motor/escs on boot, and they don’t spin during motor tests or arming the aircraft. I flashed back to 4.4.0 and have no issues there, but once updated to 4.5.6 again, no motor movement. I’ve made no other changes to and parameters, only updated the firmware. Any thoughts on why this might be happening? Thanks in advance!

I can’t help be but reminded of this issue a little while ago that I was also involved in - Motor not running Plane 4.5.2 BLHeli_S DSHOT300 MatekF405 - #19 by Carancho

I’m using BlHeli_S ESCs, flashed with BlueJay firmware. Here is my param file -
AC4.5.6 No ESC_Motors.param (15.5 KB)

5

You need to set SERVO_DSHOT_ESC = 2

6

Thanks @andyp1per . It’s interesting - I had downgraded to 4.4.0 and things were working when I saw your post. I did in fact have that parameter set incorrectly when I checked (though I’m next to certain I didn’t have it set that way before going back and forth between firmware versions).
The strange part is that after setting SERVO_DSHOT_ESC = 2 in 4.4.0 and then performing a firmware upgrade to 4.5.6, the SERVO_DSHOT_ESC was =1 again. After setting it to 2, all seems to be working - thank you!

Does this mean the parameter conversion during firmware update is not working correctly, or is it just expected that normally a user wouldn’t make such a big jump 4.4.0 → 4.5.6?

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There is no parameter conversion on that parameter as far as I know. Not sure how this would have happened.

8

Oh, okay. Thanks @andyp1per !