Copter-4.7.1 has been released as the stable/official version for multicopters and traditional helicopters and can be downloaded using Mission Planner, QGC or directly downloaded from firmware.ardupilot.org.
The list of changes vs 4.7.0 are in the ReleaseNotes and copied below.
Today I tried to do a magfit flight same way I usually do - COMPASS_USE to 0, and YAW source set to GSF, takeoff in althold and fly a bit until heading is figured out, then switching to loiter and do some circles and 8 figures.
However… this seems to be not possible anymore with 4.7.1 (did not test with 4.7.0) and in MP pos_horiz_abs was constantly red and everytime I tried to arm in althold I got message “PreArm: Need Position Estimate” despite good gps fix (ublox DAN-F10N based GPS, 18+ sats, HDOP ~0.7m with SBAS), and “HOME” on OSD not blinking.
Is that a feature or a bug?
Once I allowed to use compass and set yaw source to compass, everything was fine again.
@**rmackay9**Hello, after flashing Copter 4.7.1, I found that I can no longer adjust certain parameters on the extended parameters page—such as throttle acceleration, throttle rate, and altitude hold. What is the reason for this?
Thank you very much for your reply. I tried selecting “Help” > “Check for Updates,” but MP did not indicate that an update was available. My MP version is 1.3.83, which should be the latest version.
micoair recommends SERIALn_OPTIONS 1024 for their MTF-02P Optical Flow&Range Sensor, after migration, it was SERIALn_OPTIONS, 0. I am using serial 4 in MicoAir743v2-AIO-45A. How should I migrate to MAVn_OPTIONS? I set it to MAV4_OPTIONS Bit 1; am I correct?
No, but do the beta update for the latest minor version.
Then connect your 4.7.1 flight controller and press Control F and select “Param gen” from the extensive list.
I haven’t investigated but I suspect it is because there aren’t that many serial ports setup to use mavlink.
One thing that is tricky about the MAVx parameters (and it was the same for the SERx params) is that it is not a 1-to-1 mapping with the SERIALx parameters. The reason is that the MAVx parameters only apply to the serial ports which are using MAVlink.
In 4.8 we’ve added a MAVx_DEVID parameter to make it easier to figure out which serial port the MAVx parameters apply to.
Yes, I think you’ll need to set MAVx_OPTIONS = 2 (“Don’t forwared mavlink to/from”). This will stop the mavlink messages from the sensor from being sent to the GCS which would just consume bandwidth and the GCS doesn’t use the data.
I’m seeing some strange behaviour with the coordinated turns in loiter mode. If I go from directly from a turn (yaw and pitch inputs only) to neutral sticks the quad seems to hold in an excessive counter roll angle for some time.
It was repeatable, go directly from a yaw turn to a stop and the roll would hold for several seconds. It’s as if the braking action was holding on for too long. Long enough to cover some ground after centering the sticks.
If I released the yaw and continued with a pitch input then everything acted as expected, no issues.
