Copter-4.7.0-beta8 released for beta testing!

ArduCopter Copter 4.7
1

Copter-4.7.0-beta8 has been released for beta testing and can be downloaded using Mission Planner, QGC or directly downloaded from firmware.ardupilot.org.

As with earlier, versions, if you’re using QGC, please use the daily build which has been updated for the parameter changes in 4.7.

The changes vs 4.7.0-beta7 are in the ReleaseNotes and copied below:

  1. Board specific changes
  • BCubeF745v2 board added (@petrosaccone, PR:32753)
  • CORVON743V2 board added (@holydust, PR:33307)
  • Navigator board supports lsm6dsv IMU (@Williangalvani, PR:33219)
  • SkystarsH7HDv3 onboard baro changed to SPL06 (@andyp1per, PR:33333)
  • TBS LUCID H7 OEM board added (@andyp1per, PR:33337)
  • TBS LUCID H7 V3 board added (@andyp1per, PR:33337)
  1. Driver changes
  1. Library changes
  • Compass: COMPASS_DISBLMSK bug on internal compasses fixed (@Georacer, PR:33553)
  • Custom Build Server dependency fix for DroneCAN and Generator (@peterbarker, PR:33429)
  • EKF3: Fix rejected GPS yaw when the measurement is older than the fusion horizon (@lthall, PR:33643)
  • Follow: Small fixes to maths and logic (@lthall, PR:33652)
  • GCS_MAVLink: Serial port blocking write bug fixed (@tridge, PR:33437)
  • MAVLinkCAN: CAN_FORWARD rejects negative CAN bus indices (@CSmith1539, PR:33376)
  • Mount: POI_LOCK does not need terrain to build (@peterbarker, PR:33396)
  • Mount: POI_LOCK function enabled by default in all >2MB boards (@rmackay9, PR:33372)
  • Scripting: New vehicle:is_crashed() Lua binding (@yuri-rage, PR:33258)
  1. Copter specific changes
  • CIRCLE_OPTIONS descriptions improved (@rmackay9, PR:33669)
  • EKF3 prevented from fusing probably-bad airspeed estimate (@peterbarker, PR:33607)
  • Guided mode set-target-angle-and-climbrate scaling used by scripting fixed (@rmackay9, PR:33692)
  • PosHold “jerky” response fixed (@zebulon-86, PR:33590)
  • WPNav: Fixed LOITER breaking, broken by the turn coordinator (@IamPete1, PR:33631)
  1. TradHeli specific changes
  • Fixed run up complete flag not posting in manual throttle modes when governor doesn’t engage (@bgnsgeyer, PR:33693)
  1. Rover specific changes
  • AHRS does not fall back to DCM when AHRS_OPTIONS=3 (@deepak31296, PR:33392)

This is very likely the final beta before 4.7.0 becomes the stable version so any final testing before release is greatly appreciated!

3

I just had a autotune crash on beta8. TBS lucid h7 board, tekko f4 am32 esc’s. I have run autotune several times in the past on this rig, first time crash and just upgraded to beta 8. Any help is apperciated.

4

This file is not a *.bin log, it is a *.log log, plot.ardupilot.log do not parse *.log logs, and right now I don’t have anything else to analyse logs. I would suggest you check whether the extension is correct before uploading and giving hope.

5

I don’t have any issue looking at that file in mission planner.

6

If you open it in a text editor, you will see it’s not a binary, it’s a CSV file. The extension is misleading. I would imagine that if one wants to support both formats, this text-based and the true binary format, it’s totally possible to ignore the extension whatsoever. But web tools chose not to support the text-based format. (And for numerous reasons I will not use Mission Planner anyway)

7

Board: Pixhawk1

Vehicle: Copter 4.7.0

Git SHA: 1511f27194f1dcc3728270883047bdf022b3fd53

Hi everyone,

I found a compilation bug in the Custom Firmware Builder for Copter 4.7.0 on Pixhawk1.

When AP_COMPASS_IST8310 is disabled/deselected from the feature list, the build fails in AP_Compass.cpp because _probe_external_i2c_compasses() still references AP_COMPASS_IST8310_DEFAULT_ROTATION, which is not defined when the driver is omitted.

Error output:

Plaintext

../build_src/libraries/AP_Compass/AP_Compass.cpp: In member function 'void Compass::_probe_external_i2c_compasses()':
../build_src/libraries/AP_Compass/AP_Compass.cpp:1264:42: error: 'AP_COMPASS_IST8310_DEFAULT_ROTATION' was not declared in this scope
 1264 |         enum Rotation default_rotation = AP_COMPASS_IST8310_DEFAULT_ROTATION;
      |                                          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.[cite: 1]

Workaround: Re-enabling AP_COMPASS_IST8310 allows the compilation to succeed without errors[cite: 1].

I attached the full build.log file[cite: 1]. Looks like a missing #ifdef AP_COMPASS_IST8310_ENABLED guard in AP_Compass.cpp[cite: 1].

Hope this helps!

build.log (66.9 KB)

8

Hi @nomar,

Txs very much for the report! I’ve added it to the 4.7 issues list so hopefully we can get a fix and backport it. If you’re up for creating a PR that’s also very welcome but no pressure, thanks!

EDIT: we’ve got this PR that should resolve the issue so we will include this in 4.7.1

9

Thanks a lot for the quick update and fix, Randy! It’s great to talk to you again after a while. Really appreciate all your hard work as always. Cheers!