Copter-4.6.2 released!

ArduCopter Copter 4.6
1

Copter-4.6.2 has been released as the stable/official version for multicopters and traditional helicopter and should be available for download from MP and QGC within a few hours of this post. Alternatively it can be downloaded directly from firmware.ardupilot.org.

The changes vs 4.6.1 can be found in the ReleaseNotes and copied below:

  1. Board specific changes
  • AEDROX H7 support
  • FoxeerF405v2, GEPRCF745BTHD now use SPA06 barometer
  • GEPRC autopilots support QMC5883P compass
  • JFB110 SD card speed increased (resolves startup failure)
  • MicoAir743-AIO OSD type fixed
  • Sequre-H743/H743v2 autopilot support
  • Skystars H7HDv2 support
  • SPEDIX F405, H743 support

  1. Copter/VTOL position control PSC_VELXY_D param default reduced from 0.5 to 0.25

  2. Plane specific changes

  • DO_RETURN_PATH_START mission command support
  • LOITER_TURNS command with zero turns fixed (was skipping waypoint)
  • System ID feature implemented in Quadplane and enabled through an AUX switch
  • VTOLs get reduce speed scaler in assisted flight at low airspeed
  • 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
  • ChibiOS tools fix to include bootloaders in hex files (no user impact)
  • Copter/VTOL AutoTune fix to restore gains when tuning aborts
  • 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

Thanks to the devs and beta testers who contributed to this release!

8 Likes
3

Somehow I still do not see it in MP. Only 4.6.1 and 4.6.2beta2

1 Like
4

Because it’s still not in the Repository. I don’t use MP to detect the board, just download the .apj file and flash it. But, Stable still shows as 4.6.1

1 Like
5

I did try to download, but when I open link in first post and look into it there is also only 4.6.1 available. No 4.6.2 to download.

Also custom firmware builder seems to have issue with 4.6.2 as default feature set is almost empty, and identical for all boards.

obraz
obraz2317Ă—766 23.4 KB

@rmackay9 Seems something went wrong a bit with this release.

1 Like
6

…

That was my point.

1 Like
7

Hi @Adam_Borowski, @dkemxr,

Sorry, the release hasn’t shown up for some reason. Hopefully we can figure it out shortly

8

4.6.2 releases appeared and installs working OK

2 Likes
9

It got a little hung up in the final build/release process. All is well now.

1 Like
10

I getting a odd Failsafe in Realflight could any new change make an internal error 0x00000?

Failsafe
Failsafe598Ă—452 89.8 KB

Never mind I had EK3 turned off sorting another issue.

11

At last! Thanks a lot: no more annoying messages.

28/07/2025 19:09:20 : Frame: QUAD/BF_X
28/07/2025 19:09:20 : RCOut: DS600:1-4 NeoP:9
28/07/2025 19:09:20 : KakuteH7Mini-Nand 003F001D 35325119 38383730
28/07/2025 19:09:20 : ChibiOS: c6d0293e
28/07/2025 19:09:20 : ArduCopter V4.6.2 (1ebd4d99)
1 Like
12

I just downloaded 4.6.2 and Yaapu stopped displaying data.
Re installed 4.5.7 and Yaapu displays again. I am using an R9mm receiver.

13

Yaapu is an important tool. I hope this gets a looked at.

14

@yaapu, any insight on this? I’ve had no issues with ExpressLRS and the Yaapu script from 4.2 all the way through current 4.7 master branch. But perhaps something has changed with FrSky support?

1 Like
15

My transmitter is Taranis QX7 and the Yaapu version is X7 1.8.0

16

TX16S Max/EdgeTX, RFD900 and TXMOD with Yaapu 20.0 is fine, no issue.
I’ll see if I can dig out something with FrSky

EDIT:
Yep, works Ok with FrSky receiver and Yaapu - no changes required, just updated AC firmware.
R-XSR ACCST , not an R9M.

2 Likes
17

good! was that sport or fport? can you test fport as well?

18

I’ve got a couple of little R-XSR’s that just do S-Port
I’ll hunt around for something that can do F-Port

1 Like
19

My Rover has an Fport connected R9MM Rx and it’s working well.

2 Likes
20

I downloaded 4.6.2 to a Matek H743lite yesterday, works fine with Yaapu telemetry on a Frsky X20 Tx running Ethos with a Frsky RS Plus 2.4G receiver using Fport. I’ll try 4.6.2 on my R9 setup using a old MRO X2.1F777 FC next.