Copter-4.7.0-beta5 is available for beta testing!

ArduCopter Copter 4.7
1

Copter-4.7.0-beta5 has been released for beta testing and can be downloaded using Mission Planner, QGC or directly downloaded from firmware.ardupilot.org.

If you’re using QGC, please try the daily build which has been updated to better handle the parameter changes in 4.7.

The list of changes vs 4.7.0-beta4 are in the ReleaseNotes and copied below.

  1. Board specific changes
  1. Library changes
  • AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
  • AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
  • AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
  • AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
  • AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)
  • HAL_ChibiOS: Oneshot pulse corruption upon safety-enable fixed (@tridge, PR:32979)
  1. Copter specific changes
  • Increment data added for several parameters (@ES-Alexander, PR:32949)
  • Weathervaning bugfix to properly stop weathervaning (@IamPete1, PR:33019)
  • Land and Payload place waypoints fixed to use correct altitude and spline waypoints (@lthall, PR:32634)
  1. Helicopter specific changes
  • PID scaling support fixed (@lthall, PR:32725)
  1. Sub specific changes
  • Increment data added for several parameters (@ES-Alexander, PR:32949)

We are getting reasonably close to the official release but there will be a beta6 to resolve some outstanding issues.

All testing and feedback is greatly appreciated!

5 Likes
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Just returned from flying. Mostly in loiter mode, and I have to say it is very smooth. Breaking seems slower than 4.6.3. About 30 minutes in air and zero issues, no unexpected events. Tested a bit caddx gimbal GM2 with POI lock and that also works nice (still would like to have auto yaw to keep POI in camera view when rolling left/right).

Battery safety with RTL works as expected - I’ve been flying till bat low voltage.

In general I am very happy with this one.

2 Likes
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Hi @Adam_Borowski,

thanks very much for the testing and reporting back! Re loiter breaking speed, I think we believe that it all comes down to the ATC_INPUT_TC value.

Txs again!

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I already decreased ATC_INPUT_TC to 0.1, but I might try even lower. In general loiter seems to be… smooth in terms of accelerating/breaking and that is a bit oposite for coordinated turns, which feels more dynamic than flying straight. However… when I got used to that I am starting to like it.

1 Like