Copter-4.6.0-beta6 released for beta testing!

ArduCopter Copter 4.6
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Copter-4.6.0-beta6 has been released for beta testing and can be downloaded and installed using the GCS’s beta firmwares links. Alternatively it can be manually downloaded from firmware.ardupilot.org

The changes vs -beta5 are in the Release Notes and copied below:

  1. Board specific changes
  • ARK FPV, LumenierLuxF765, MicroAir743, StellarF4v2, X-MAV-AP-H743v2 OSD Type defaults fixed
  • BETAFPV-F405-I2C UART6 fix
  • BrotherHobby F405v3 and H743 support
  • FlywooF405HD VTX power pin fixed
  • NarinFC-H7 support
  • TBS Lucid H7 Wing support
  • TBS Lucid H7 support for both I2C ports
  1. Driver bug fixes and enhancements
  • DroneCAN semaphore bug fixed which affected MPPT battery and Serial-over-CAN
  • GPS logs altitude above ellipsoid instead of undulation
  • GSOF GPS protects against port misconfiguration
  • UBlox GPS configuration sped up
  • Lua script battery monitor failures that could cause hardfaults fixed
  • Nova GPS undulation fix
  • Proximity backends increased to 5
  • SCHA63T IMU temperature reporting bug fixed
  1. Plane specific fixes and enhancements
  • Circle mode terrain alt handling fixed
  • Fence re-enable after fence breach fixed
  • Prevent rotation pitch calculations from running post-rotation
  • Takeoff leveloff timeout check added
  • Terrain guided target intermediate alt handling fixed

  1. Copter SCurve navigation fix to avoid excessive vertical speed when passing through waypoints

  2. Rover circle mode and QuickTune support smaller vehicles

  3. Bug Fixes and minor enhancements

  • AHRS initial orientation fixed when autopilot mounted in non-default orientation
  • AIRSPEED mavlink message health flags fixed
  • CAMERA_FOV_STATUS message always sent (once requested), attitude is earth-frame and FOV can be decimal numbers
  • DDS / ROS2 fix to provide clock_gettime only on ChibiOS boards
  • Lightware I2C and HC SR04 fixed timestamp for last reading (should only affect AP_Periph devices)
  • “No ap_message for mavlink id” warning removed
  • Power brick2 valid flag fixed on some boards
  • Pre-arm check that gyro read rate is at least the main loop rate

There will still likely be one more release (e.g. -beta7) to resolve an issue with the LD19 proximity sensor but besides that, this beta6 release is likely very very close to what will be in the official release so all testing is greatly appreciated!

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Not sure if this is localized to me or others may have this as a problem. I getting ready to go and try the beta 6 to see if the problem is still there.

This is the error I recieved after updating.

I didn’t have time to check anything if I wanted to have time to fly so I flashed it back to 4.5.7 and away she went.

image
image482×226 5.08 KB

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4.6.0-ß6 is running on my CUAV 7-Nano.

Everything look fine before flight.

Capture d'écran 2025-05-03 084217
Capture d'écran 2025-05-03 084217678×965 269 KB

1 Like
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Those look mostly informational to me, or a warning that your high loop rate is likely to cause other issues.
The standard loop rate is SCHED_LOOP_RATE,400
I updated my Cube Orange to beta6 and set loop rate 800, even though it’s out of bounds, and I dont get those warnings.

Can you provide a .bin log?
Set LOG_DISARMED,1 to gather that log.

EDIT: tried a CUAV X7 too, same result → no warnings or errors.
I dont have BDSHOT set up in either case though.

Any special reason for using loop rate 800?

2 Likes