Copter-4.6.0-beta2 is available for beta testing

[rmackay9]

Copter-4.6.0-beta2 has been released and should be available for download using MP and QGC within a few hours using the “Beta firmwares” link. Alternatively it can be downloaded directly from firmware.ardupilot.org

The changes vs -beta1 are in the ReleaseNotes and copied below

1. Board specfic changes

• FoxeerF405v2 supports BMP280 baro
• KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
• MUPilot support
• SkySakura H743 support
• TBS Lucid H7 support
• VUAV-V7pro README documentation fixed
• X-MAV AP-H743v2 CAN pin definition fixed

2. Copter specific enhancements and bug fixes

• AutoTune fix for calc of maximum angular acceleration
• Advanced Failsafe customer build server option

3. Plane related enhancements and bug fixes

• QuadPlane fix for QLand getting stuck in pilot repositioning
• QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
• Takeoff direction fixed when no yaw source
• TECS correctly handles home altitude changes

4. Bug Fixes and minor enhancements

• AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
• CAN frame logging added to ease support
• CRSF reconnection after failsafe fixed
• EKF3 position and velocity resets default to user defined source
• Ethernet IP address default 192.168.144.x
• Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
• Fence pre-arm check that vehicle is within polygon fence
• Fence handling of more than 256 items fixed
• FFT protection against divide-by-zero in Jain estimator
• Frsky telemetry apparent wind speed fixed
• Inertial sensors stop sensor converging if motors arm
• Inertial sensors check for changes to notch filters fixed
• Real Time Clock allowed to shift forward when disarmed
• ROS2/DDS get/set parameter service added
• Scripting gets memory handling improvements
• Scripting promote video-stream-information to applet
• Topotek gimbal driver uses GIA message to retrieve current angle
• Tramp VTX OSD power indicator fixed

As you can see from the list we’ve fixed quite a few issues but a few more still remain so there will certainly be a -beta3.

We very much appreciate any help we can get with beta testing because this is an important stage that helps us ensure a good smooth official release so thanks!

[andyp1per]

I have updated my fast rate tags to beta2:

[bnsgeyer (Bill Geyer)]

Tested this today on a T-Rex 700 Helicopter with QioTek Zealot H743. Tested the following modes
Stabilize
AltHold
Loiter
Auto (used Takeoff, Waypoints and Land commands)

No issues encountered during my flight.

[xfacta (Shawn)]

I did some test flights with 4.6 Beta 2 Copter, Octaquad (X8), Cube Orange, DSHOT via IOMCU

• Loiter
• AltHold
• Stabilise
• RTL
• SRTL
• Autotune
• Ascents, descents, plenty of maneuvers

Autotune did the best result on Yaw that I’ve seen. Everything else was good.

The only slight issue I found is the SERVO_BLH_RVMASK bitmask mapping to motors - it works for reversing a motor but it’s anyones guess how the bitmask maps to motor/servo channels. At least it’s consistent and never changes. Randy is aware.

[tpwrules (Thomas)]

Did some basic flight testing on Copter with mRo Pixracer Pro. ELRS and Yaapu telemetry, Remote ID, CAN bus, scripting, all fun protocol stuff. Didn’t encounter any issues!

Also did an autotune and some other modes and small missions.

[rmackay9]

@tpwrules @xfacta @bnsgeyer,

Thanks so much for the testing and feedback!!

[Goran_F450 (Goran Lukic)]

I just try Autotune Yaw on Tricopter and its working fine. I will try when weather get better for Roll and Pitch also to see how compare to to 4.5.

[andyp1per]

FWIW I have three copters flying on this without issue.

[rmackay9]

Hi @Goran_F450, thanks very much for the feedback!

[Prof_Leandro (Leandro de Medeiros Sebastiao)]

Hi,
I’m having some issues with iBus Telemetry for FS-i6 RC.
I have strictly followed the steps as shown on i-Bus telemetry page, but my radio can’t read any sensor.
My setup (mounted on my desk, just for testing):

• Pixhawk 6C FC
• FS-iA6B RC air unit
• FS-iA6 RC hand unit

More information:

Firmware 4.6.0.beta2
Serial 2 (telem 2 port) configured as aforementioned
I have noted that the “49” option is not available on MP’s menu, but I have setted it anyway.

Wiring correctly connected (checked many times)

RC Channels signals ok! (iBus out from RC)

RC firmware correct running

On FlySky’s menu System/RX Setup/Sensors List page 1, only the default sensors are shown.

Sensors List page 2

Please can someone replicate these steps to evaluate if I am doing something wrong?
Thanks for help!

[rmackay9]

Hi @Prof_Leandro,

Thanks for the report. Here’s the PR that added support and I’ve put a request at the bottom to see if the original author or devs who reviewed the PR could chime in.

[NicoleAshley]

Hello,

Everything appears to be correct except you don’t need the SENS ground wire. I don’t expect this to be causing an issue though.

My troubleshooting steps would be:

• Try a different port
• Try a different receiver (I’ve had a couple of duds)

I’m assuming you’ve verified the wiring using a multimeter?

[Adam_Borowski]

Hello,

I see there is a Caddx gimbals support on master branch, and it seems to be working (at least with some basic tests I did). Is there any chance this will be included into 4.6 release, or just as stated in docs I would need to wait for 4.7?

[rmackay9]

Hi @Adam_Borowski,

Yes, I hope we can include the CADDX gimbal in 4.6 but I can’t yet promise 100% because there were some structural changes in master that could make backporting difficult.

[Prof_Leandro (Leandro de Medeiros Sebastiao)]

Hi @NicoleAshley
Thanks for the feedback.
I will do some more tests as suggested and will respond here when I have the results.

[Prof_Leandro (Leandro de Medeiros Sebastiao)]

Hi @NicoleAshley

I have done some new tests as suggested, described as follows:

• Ports TELEM1 and TELEM3 of pixhawk 6C;
• Ports TELEM1 and TELEM2 of pixhawk 2.4.8;
  It does not work in all of theses cases

I also tried to use the original FlySky module (to evaluate if it can be some malfunction of my radio controller), and it appears to work fine.

I will be grateful if you give me new suggestions.

[poruchik111]

Hi all. On my drones nice works even 4.7.0 Dev
I have some whishes. They be usefull for lot of people.

• Add new Relay option: 3 POS switch can be used to “ON” Relay 1 when “High”, and “ON” Relay 2 when “Low”, at “Middle” both Relay “OFF”, Usefull to control different DC linear servos with Voltage polarity movement controll. F.e. submarine periscope Up/Dwn.
  I realised that but without possibility to configurate Relay’s numbers. Because It custom SW.

• possibility to make own VTX table in MP at least for 6 channels and switch between them using 6 pos switch.
  Can I ask @peterbarker or somebody- what I need sent to VTX (Trump or SmartAudio) to change frequency? Channel, Band, Frequency, Power Level all together as one sequense?
  Or just frequency? I can’t find explanation of IRC/ SA protocols.
  Thanks.
  PS, is it ok? After I added some new Params a described in Wiki, I need each time reload full parameter list in MP, MP said “Params number was changed, need refresh all params”

[poruchik111]

By the way- after Land Detector was changed in 4.5.+ lot of times we have trouble- drone won’t disarm after land, continued spin motors at iddle (throttle down), few secs later begin spin up itself, takeoff and crash in roll direction.
EKF Z source = Baro.

[xfacta (Shawn)]

That can be vibrations obscuring the landing, and poor tuning. The poor tuning could be a result of the vibrations too.
If seen poor GPS connections cause that too - the copter thinks it’s still moving.