Copter-4.5.7 released!

ArduCopter Copter 4.5
1

Copter-4.5.7 has been released as the stable/official firmware for multicopters and traditional helicopters and will be available for installation using MP or QGC within the next few hours. Alternatively the .apj file can be directly downloaded from firmware.ardupilot.org.

The changes compared with 4.5.6 are in the ReleaseNotes and copied below.

  1. Bug fixes and minor enhancements
  • VUAV-V7pro support
  • CUAV-7-Nano correction for LEDs and battery volt and current scaling
  • DroneCAN deadlock and saturation of CAN bus fixed
  • DroneCAN DNA server init fix (caused logging issues and spam on bus)
  • F4 boards with inverter support correctly uninvert RX/TX
  • Nanoradar M72 radar driver fix for object avoidance path planning
  • RC support for latest version of GHST
  • TradHeli DDVP tail rotor pitch actuator fixed
  1. ROS2/DDS and other developer focused enhancements
  • AP quaternions normalised for ROS2 to avoid warnings
  • Dependencies fixed for easier installation
  • ROS2 SITL launch file enhancements including displaying console and map
  • ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2
  • Python 3.12 support

Please note that the beta included the change below but it is not included in this stable release after some issues were reported that need more investigation

  • Septentrio GPS sat count correctly drops to zero when 255 received ← removed

Thanks as always to our beta testers for their feedback!

6 Likes
3

any insight what the cause for this Lua API call in the Simulator?
gps:gps_yaw_deg(instance)
function periph:get_yaw_earth() end

no complaint for other API call, like status = gps:status(instance),

2024-10-19 15:56:16 : Frame: QUAD/PLUS
2024-10-19 15:56:16 : ASUS-computer
2024-10-19 15:56:16 : ArduCopter V4.5.7 (2a3dc4b7)
2024-10-19 15:56:15 : AHRS: EKF3 active
2024-10-19 15:56:15 : EKF3 IMU1 initialised
2024-10-19 15:56:15 : EKF3 IMU0 initialised
2024-10-19 15:56:13 : RC7: SaveWaypoint LOW
2024-10-19 15:56:13 : tempt to call a nil value (method 'gps_yaw_deg')
2024-10-19 15:56:13 : Lua: ./scripts/copter_pingpong_cage_yaw.lua:22: at
4

Is there a list of supported electronics such as:
FCs
Receivers
GPS
and others?
Thank you

5

Check out the Ardupilot wiki.

https://ardupilot.org/copter/docs/common-autopilots.html

6

Hi @rmackay9
Was exploring functionality of DO_LAND_START on ArduCoptor.
Was using 4.7.0 Latest dev on MP. SITL
Scenario.
After DO_LAND_START(WP7) & after next WP8, if GCS failsafe engages at WP10 aircraft continues to WP 11 stating condition in messages " landing sequence active "

Screenshot 2024-12-19 132542
Screenshot 2024-12-19 132542949×1003 171 KB

When checking with the latest stable release 4.5.7
After DO_LAND_START(WP7) & after next WP8, if GCS failsafe engages at WP10 the aircraft restarts the Landing sequence again, aircraft continues to WP 8.

Screenshot 2024-12-19 133327
Screenshot 2024-12-19 133327972×1104 168 KB

I suspect this is due to firmware difference, if not please let me know if I am missing anything related to DO_LAND START function on stable 4.5.7

It would be great if this improvement can be implemented in the next latest stable release- 4.5.8 etc.

SITL Logs(4.7.0)-2024-12-02 Log47 Failsafe after Do_LAnd start WP.BIN - Google Drive

SITL Log (4.5.7)-00000063.BIN - Google Drive

Pardon me if this is the wrong place to post this.
Thanks in advance.

1 Like
7

Hi @Ashish_Abraham_Mathe,

TBH, I’ve almost never used the DO_LAND_START mission command so I might defer to @IAMMATT and @iampete.

8

This change came in as part of the support for the new DO_RETURN_PATH_START waypoint. We won’t be backporting to 4.5, but it is supported on 4.6.

Were still working on the documentation for that feature, but it sounds like it might be a better fit for you than DO_LAND_START. This is the demo I did when we were developing the functionality. Note that I refer to the waypoint as DO_LAND_REJOIN, before it was merged we changed the name to DO_RETURN_PATH_START, the functionality is the same.

1 Like