I’ve just released ArduPilot Plane 4.2.0beta4. Several important fixes are included since the previous beta, plus some new features.
- added BATT_OPTIONS option to send resting voltage (corrected for internal resistance) to the ground station
- fixed a bug when a blended GPS is lost, where the wrong GPS could be used for a short time
- prevent rapid RTL/AUTO switching with DO_LAND_START and fence breach
- added RTL_AUTOLAND=3 to prevent arming check about DO_LAND_START with no RTL_AUTOLAND
- fixed yaw in AUTO mode on the ground on quadplanes when using rudder to disarm
- fixed failover between IOMCU RC input and a secondary RC input on a uart
- display source of RC input with protocol
- fixed DShot reversal bugs with IOMCU based boards
- fixed battery remaining percentage with sum battery backend
- added KakuteH7-bdshot
- added terrain reference adjustment and TERRAIN_OFS_MAX parameter
- fixed param conversion bug (impacts airspeed enable)
- changed MatekH743 to use a 32 bit timer
Happy flying!