Copter-4.6.0-beta5 has been released for beta testing and can be installed using MP or QGC’s beta firmwares links. Alternatively it can be manually downloaded from firmware.ardupilot.org
The changes vs -beta4 are in the Release Notes and copied below:
Changes from 4.6.0-beta4
Board specfic changes
MFT-SEMA100 compass orientation fix
SpeedyBee F405 AIO support
Driver bug fixes and enhancements
Bdshot locking issue fix for slow boards that could cause the flight controller to crash
BMP280 barometer error handling during init improved
CADDX gimbal RC update rate fixed
Hexsoon 77G and 24G radar support
IE FuelCell generator data rate increased
IIS2MDC compass support
LD19/LD06 proximity sensor data length sanity check fix
RC output cork/push fix to avoid potential motor knocking
SBF MosaicX5 packets with invalid length ignored
SPL06 barometer accuracy improvements
Ublox M10 configuration fix
Plane specific fixes and enhancements
Tiltrotor motor check fixed used in throttle control handover from VTOL to forward flight
Improved QAssist and VTOL mode recovery from bad attitudes
Fixed rudder output in VTOL modes
Added fix for indecision in the roll controller close to inverted
Ensure tiltrotors use consistent fixed wing and VTOL rates
Clear inverted control flag on Q-mode entry
Auto-deploy landing gear on all fixed wing landings when enabled
Prevent learning bad ARSP_RATIO values when not flying
Rover specific fixes and enhancements
Lua bindings for Follow mode
WATER_DEPTH mavlink message rate fix
Parameter description improvements
ADSB_LIST_ALT param desc improved
Alphabetised type params for CAN, Mount, OptFlow, Proximity, Rangefinder, Serial Manager
Copter’s battery failsafe action gets “Brake or Land”
LOG_FILE_BUFSIZE units fixed
MOT_THST_HOVER range fixed
SERIALx_BAUD value added for PPP networking
Bug Fixes and minor enhancements
Arming check for EKF3 velocity innovations
Copter’s LOG_BITMASK includes PIDs by default
DO_SET_ROI_LOCATION mission command support
MCU min/max voltage logging fix
MIS_OPTION parameter handling fixed
There will be one more beta but we’re getting close so all testing and feedback is greatly appreciated!
Hexa frame number 2 of five. Good flash via QGC, Compass calibration seemed to take a long ish time in Mission Planner so I getting a new GPS one on the way from mRo. Dshot driver installed fine. Motor test ok. More to come.
Installed a newish GPS and although I only had one green bar the calibration did take a little longer than normal I am getting 15 sats and the ground speed numbers look tight. Flight test went well and Dshot had a crisp feel.
I am testing on SpeedyBee F405 AIO, and very often I get “Param storage failed” message.
04.04.2025 23:56:29 : No ap_message for mavlink id (271)
04.04.2025 23:56:22 : PreArm: Param storage failed
04.04.2025 23:56:22 : PreArm: Rangefinder 1: No Data
04.04.2025 23:56:22 : PreArm: Logging failed
04.04.2025 23:56:22 : PreArm: Compass not calibrated
04.04.2025 23:56:22 : PreArm: 3D Accel calibration needed
04.04.2025 23:56:22 : PreArm: RC not found
04.04.2025 23:55:52 : PreArm: Param storage failed
04.04.2025 23:55:52 : PreArm: Rangefinder 1: No Data
04.04.2025 23:55:52 : PreArm: Logging failed
04.04.2025 23:55:52 : PreArm: Compass not calibrated
04.04.2025 23:55:52 : PreArm: 3D Accel calibration needed
04.04.2025 23:55:52 : PreArm: RC not found
04.04.2025 23:55:51 : No ap_message for mavlink id (271)
04.04.2025 23:55:43 : finished motor test
04.04.2025 23:55:33 : starting motor test
04.04.2025 23:55:31 : AP_Logger: IO thread died
04.04.2025 23:55:27 : finished motor test
04.04.2025 23:55:16 : starting motor test
COA: Perform motor test for example 3% throtthe for 10s, then try to set min arm spin. That results in error, and Param storage failed
Did you do all the calibrations and now they are lost? Otherwise you should do all the accel and compass calibrations before further tests.
There’s 8 megabytes for logging, which is not much so dont set any crazy logging options.
surprisingly no parameters were lost. I just started setting this up, that is why accelerometer is not calibrated. Logging settings are default basically at the moment.
Not sure if that was a root cause, perhaps some leftovers after betaflight. I just uploaded firmware again using STM32 programmer, and now issue is no longer there (at least for now).
Second day of testing. Loitor flight mode. GPS does give me a error " no GPS" at times but yea I have GPS installed. the GPS is tending to drift a little. I going over some hardware checks to see it I can get a 1 m drift out. Ground effects working well. GPS break working well. GPS is mounted with 3M tape that could be a little to spongy.
GPS seems to be failing, Yesterday used Loiter without issue. today I added a Gorpro 9 and could not get Loiter working unless it was not in the air. I will poke around. anyone seeing issues?
Note: I did a new Compass cal with the Pro attached and got two green bars.
Hi Brandon - can you send me a .bin log, via personal message if you like. I’m interested to take a look and see what’s going on. Maybe I can help / maybe I cant
Just got the no GPS error today but it did go away after letting the new Hexa sit on the ground after a stabilize flight.
Noteworthy was I was not able to arm in Loiter Mode until it sat on the ground. I have a new GPS coming soon. Video of the flight today first is Stabilize then Loiter flight 360 tests.
Hi again. Today I attempted to fly first time F405AIO based drone, and It didn’t arm. The message was that logger failed to start, and again Storage Failed, so no flight at all. It was failing to arm because of mentioned errors.
Settinga are more or less default.
Beta5 build with removed unused hw support and added optical flow.
Params: Bee35_F405AIO.param (20.1 KB)
LOG settings are default I think, so should not be any excessive logging.
There’s nothing obviously wrong with the hwdef - the flash chip has its own DMA channel. I’ll try your settings on my board and see if I can reproduce.
