I’ve just released plane stable 4.1.6. This is a minor release with some important bug fixes:
- disable the STLink debug pins after boot by default to prevent ESD from triggering CPU changes or a reset
- support ICM-20608-D, IIM-42652 and ICM-40605 sensors
- fixed missing covarience reset row in EKF3
- fixed failure to detect inverted RC input on uarts when transmitter is on at boot
- fixed QAUTOTUNE to obey maximum attitude rate limits
- fixed a bug in smartaudio support that increased CPU usage
- added lowpass filter to speed scaling to prevent sudden surface movement on VTOL arming
- fixed hang when BATT_MONITOR is set to 14
- fixed gaps in EKF3 logging of variances and timing
Happy flying!