Copter-4.6.0 released!

Webillo · June 18, 2025, 10:27am

Although I had never observed problems related to this, I downloaded the sources, did my changes, flashed with ST Cube Programmer (arducopter_with_bl.hex, DFU), and nothing changed:

18/06/2025 12:16:10 : No ap_message for mavlink id (271)
18/06/2025 12:16:05 : RC10: Relay1 HIGH
18/06/2025 12:16:05 : Using EKF Source Set 1
18/06/2025 12:16:05 : RCInput: decoding FPORT(3)
18/06/2025 12:16:01 : PreArm: RC not found
18/06/2025 12:15:32 : No ap_message for mavlink id (271)
18/06/2025 12:15:30 : PreArm: RC not found
18/06/2025 12:14:59 : PreArm: RC not found
18/06/2025 12:14:57 : Frame: QUAD/BF_X
18/06/2025 12:14:57 : RCOut: DS600:1-4 NeoP:9
18/06/2025 12:14:57 : KakuteH7Mini-Nand 003F001D 35325119 38383730
18/06/2025 12:14:57 : ChibiOS: c6d0293e
18/06/2025 12:14:57 : ArduCopter V4.6.1-beta1 (bad444a1)
18/06/2025 12:14:57 : Frame: QUAD/BF_X
18/06/2025 12:14:57 : RCOut: DS600:1-4 NeoP:9
18/06/2025 12:14:57 : KakuteH7Mini-Nand 003F001D 35325119 38383730
18/06/2025 12:14:57 : ChibiOS: c6d0293e
18/06/2025 12:14:57 : ArduCopter V4.6.1-beta1 (bad444a1)
18/06/2025 12:14:57 : Frame: QUAD/BF_X
18/06/2025 12:14:57 : RCOut: DS600:1-4 NeoP:9
18/06/2025 12:14:57 : KakuteH7Mini-Nand 003F001D 35325119 38383730
18/06/2025 12:14:57 : ChibiOS: c6d0293e
18/06/2025 12:14:57 : ArduCopter V4.6.1-beta1 (bad444a1)

Vavooon · July 7, 2025, 10:28am

What’s ARK FPV support status in 4.6? I can see it’s mentioned in the changelog (however only about fixed default) but it’s only present in 4.7

rmackay9 · July 7, 2025, 10:58am

Hi @Vavooon,

Thanks for the report. It looks like we’ve made a mistake in the release notes because the ARK FPV board missed the cut-off for the 4.6 release.

I’ve marked it for backporting though so it will likely be included in 4.6.3 if all goes smoothly.

Txs again

Squirrel5 · July 24, 2025, 7:52pm

Harmonic notch supports per-motor throttle-based harmonic notch

Is the multi source? Im using throttle and esc telemtry notches. The logs seem to be showing it working. I get a error when looking at rhe FilterReview website sayung bo tracking data.

andyp1per · July 24, 2025, 8:08pm

Yes, multi-source for throttle-based notch

Squirrel5 · July 25, 2025, 1:32pm

What needs to be enabled for multi source to work with throttle based notches? Does it need esc rpm telemetry?

andyp1per · July 25, 2025, 1:33pm

Just set the multi-source option bit in INS_HNTCH_OPTS, if you are using the throttle-based notch then multi-source will be used based on throttle.

Squirrel5 · July 25, 2025, 1:53pm

K. The website filter tool always give me a error. Saying no tracking data. I thought i missed a patsmter.

Adam_Borowski · July 27, 2025, 8:09am

Were there any significant changes in altitude controll?

I noticed that after switching from 4.5.7 to 4.6 (not sure which one exactly 4.6.x) I have some slow vertical oscillations that were not present with 4.5.7. (data from 4.6.2).

rmackay9 · July 28, 2025, 12:07am

Hi @Adam_Borowski,

Thanks for the report.

I’m not aware of any changes in the altitude controller. I guess I’d recommend trying two things:

try turning off surface tracking (SURFTRAK_MODE = 0)
to back-to-back tests with 4.5.7 and 4.6.2 to confirm the issue really is software related and not environmental

Asim · July 31, 2025, 12:09am

Hi @rmackay9

Yes. I would be very interested in trying Beta 4.6.1. Especially in my current scenario.

I have this MicoAir743v2-AIO-45A board with stock Ardupilot 4.6 running that the board came with. When I connect the battery to the FC, there is no ESC beep. Motor test fails for all motors. I am able to read ESC configs using the Ardupilot passthrough, screenshot here. When I click on Motor Test, I see the flashing lights as here, but no response from the motors. Here is the param file.

In light of this should I still go ahead and try the beta version or should I wait for your further guidance.

Asim · July 31, 2025, 3:14am

Hi @Adam_Borowski. I know have the same FC as yours flashed with AP 4.6.0. No startup sounds are heard upon connecting FC to the battery. Motor test fails. I can read ESCs by launching AM32 configurator. Do your ESC make the start up noise?

Adam_Borowski · July 31, 2025, 4:09am

It does make startup sounds. But that is from ESC, not FC. I think it should make the sounds even without firmware loaded, as ESC start anyway.

Asim · July 31, 2025, 9:43am

So you think it is a faulty board?

staroul · September 26, 2025, 10:55am

Really useful,my copter usually shaking when landing,i’ll try it

Jai.GAY · February 27, 2026, 4:02am

It is unfortunate that MicroAir 743 does not have the bdshot firmware supported. Or the user has to custom build themselves and sacrifice some functions?

rmackay9 · February 27, 2026, 4:38am

Hi @Jai.GAY,

I might leave it to @andyp1per to respond on the availability of bdshot firmwares and how to build them. I must admit that I never use BDShot.

Adam_Borowski · February 27, 2026, 9:02am

Does it require separate firmware? I just flashed my micoair FC and it works fine with bdshot.

Jai.GAY · February 27, 2026, 9:10am

Adam_Borowski · February 27, 2026, 9:11am

Not sure what cube orange has to do with micoair. As I said - I use H743v2 and 45A AIO and on both bdshot works just fine.