I’ve just released plane 4.0.4beta1. This release includes a significant number of changes from 4.0.3. Key changes are:
- re-sync the 4.0 release with Copter-4.0, bringing them in line so as to maximise cross-vehicle testing
- fixed a timing issue in IOMCU that could lead to loss of RC input frames and increased latency of output to ESCs on the IOMCU
- fixed a bug in restoring gains in QAUTOTUNE that could cause the aircraft to be unstable on leaving QAUTOTUNE mode
The Copter-4.0 re-sync brings in quite a few structural changes. The main user visible changes are:
- UAVCAN DNA server no longer needs a microSD card to operate
- added logging of UAVCAN servos and ESC feedback messages
- reduced QTUN logging rate to 25Hz
- reduced memory usage in EKF with multiple lanes
- Minor OSD improvements
- added a lot more scripting bindings
- fixed UAVCAN GPS status when not connected
- added EK3_MAG_EF_LIM limit for earth frame mag errors
- added MAVLink FTP support
- added support for WS2812 LEDs
Due to the significant number of changes with the re-sync I would particularly appreciate as much flight testing as we can get on this release.
Happy flying!