Copter-4.6.2-beta1 released for beta testing

ArduCopter Copter 4.6
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Copter-4.6.2-beta1 has just been released for beta testing and should appear in the groundstations (MP, QGC) within a few hours. Once that’s complete please click on the ground stations’s BetaFirmwares link and you should see the firmware name change to 4.6.2-beta1 and then you can install as per normal. Alternatively you may directly download the .apj file from firmware.ardupilot.org.

The changes for 4.6.1 are in the ReleaseNotes and copied below

  1. Board specific changes
  • GEPRC autopilots support QMC5883P compass
  • JFB110 SD card speed increased (resolves startup failure)
  • MicoAir743-AIO OSD type fixed
  • Sequre-H743/H743v2 autopilot support
  1. Plane specific changes
  • LOITER_TURNS command with zero turns fixed (was skipping waypoint)
  • VTOL transitions lose unnecessary bad descent protection
  1. Bug Fixes and minor enhancements
  • BLHeli passthrough fixes
  • CAN race condition fixed on Linux and SITL
  • ChibiOS serial driver initialisation respects options to disable TX/RX DMA
  • CRSF bootstrap completes when not using passthrough
  • CRSF ground speed fixed (was about 20% off)
  • DroneCAN GPS ellipsoid alt only trusted if different from AMSL (avoids false impression of zero undulation)
  • DroneCAN Servos/ESCs fix when commanding output PWM of zero (previously could go to min or full reverse for bidir ESCs)
  • Fence and Rally point upload using older MISSION_ITEM messages fixed
  • Flash ECC check fixed on H7 boards
  • LD06/LD19 lidar get mode filter to reduce sensitivity to sunlight
  • Linux serial driver initial baud rate fixed
  • MPPT power module nullptr check added to prevent potential hardfault
  • Networking PPP made much more robust
  • “No ap_message for mavlink id” message removed on all boards except SITL
  • Parameter writes via FTP correctly obey parameter’s read-only setting
  • Scripting fix for null pointer dereferences when passing incorrect types to certain functions expecting strings
  • Sensor health reporting made threadsafe (previously could incorrectly report unhealthy)
  • Set-message-interval mavlink messages rejected if intervals below -1
  • Siyi ZT6 gets warning if using old camera firmware (should use 0.1.9 or higher)
  • SLCAN potential hardfault on arming fixed
  • SPLO6 baro initialisation fix
  • UBlox F9P driver fix for GPSs configured to never send MSG_STATUS
  • VTX hang when setting LowRace band fixed

As you can see there are quite a few changes, largely due to the feedback from beta testers so thanks very much!

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