Plane 4.3 stable release

ArduPlane Plane 4.3
1

ArduPilotPlanePorter
ArduPilotPlanePorter750×316 48 KB

I’m delighted to announce the ArduPilot plane 4.3.0 stable release! This is a major release and is the first major release on our new 6 month release cycle.
If you have been following the 4.3.0beta releases then you will know there have been a lot of changes from the last 4.2 release. Since 4.3.0beta3 there have been only 2 changes:

  • added 1M and 2M flash warning checks for for fmuv2, fmuv3 and Pixhawk1-1M firmwares
  • added support for multi-byte i2c reads in scripting

Since 4.2.x there are a huge number of changes, but these are the key ones:

  • fixed BRD_SAFETY_MASK for enabling outputs when safety on
  • fixed persistence of mapping of CAN airspeed sensors to instances
  • fixed precision of NMEA serial output function
  • added report of “Engine Running” when using ICE
  • fixed handling of defaults.parm files with lines over 100 chars
  • fixed handling of defaults.parm files with no newline on last line
  • fixed possible divide by zero when changing to GUIDED on quadplanes
  • fixes for VideoTX, fixing buffer overrun and tramp handling
  • fixed spurious error about sending RPM when RPM disabled
  • fixed an EKF3 lane switch issue that can cause incorrect height with dual GPS
  • fixed mission cmd to mission int initialisation error
  • fixed mission jump tracking init on startup
  • fixed OSD view roll/pitch error for tailsitters
  • added SkystarsH7HD-bdshot
  • fixed SkystarsH7HD VTX control
  • reduced memory usage on MatekF405-CAN board
  • disable SLCAN when armed to reduce CPU load
  • enable CAN battery mon on CUAV V6X by default
  • added arming check for Q_M_SPIN_MIN value too high
  • fixed reporting of RPM from harmonic notch
  • improved handling of airspeed errors and airspeed auto disable
  • fixed SERVO_AUTO_TRIM for multiple outputs of same type
  • fixed auto baud rate detection on SBF/GSOF/NOVA GPS
  • increased max board name length for mavlink statustext to 23
  • fixed incorrect disable of notches for non-throttle notch
  • added notch filter slew limit to reduce notch errors
  • added ARMING_OPTIONS to control display of pre-arm errors
  • several OSD fixes for params, font and resolution
  • support PWM type transmission for CAN PWM output
  • support Currawong ECU as EFI backend
  • support lua scripts for EFI backends
  • implement SkyPower and HFE CAN EFI lua scripts
  • improved speed of log download with dataflash block backends
  • disabled all GPS drivers except uBlox and NMEA on Pixhawk1-1M to save flash
  • disabled all GPS drivers except uBlox on MatekF405-bdshot and omnibusf4pro-bdshot
  • fixed FFT indexing bug
  • added USART2 for AIRLink
  • allow reset to default airspeed using mission item DO_CHANGE_SPEED
  • added new boards AtomRCF405, KakuteH7Mini-Nand, SkystarsH7HD
  • added bi-directional dshot for several new boards
  • EK3_GPS_VACC_MAX threshold to control when GPS altitude is used as alt source
  • EKF ring buffer fix for slow sensor updates
  • EKF3 source set change captured in replay logs
  • numerous gimbal support improvements
  • improved RemoteId support
  • SecureBoot support with remote update of secure boot public keys
  • crash_dump.bin file saved to SD Card on startup (includes details re cause of software failures)
  • several new pre-arm checks (AHRS type, scripts, terrain)
  • numerous scripting improvements
  • fixed scripting restart leaking memory
  • Benewake H30 radar support
  • BMI270 IMU performance improvements
  • Logging pause with auxiliary switch
  • TeraRanger Neo rangefinder support
  • support for both AMSL and ellipsoid height in most GPS drivers
  • Custom controller support
  • parameter defaults sent with param FTP and onboard logs
  • Sim on Hardware allows simulator to run on autopilot
  • added Q_LAND_ALTCHG parameter
  • added climb before QRTL for safer QRTL from low altitudes
  • added support for logging pre and post filtered FFT data
  • support triple-notch harmonic notch filter
  • support up to 32 actuators (with SERVO_32_ENABLE parameter)
  • support EFI input over DroneCAN
  • by default only run notch filter on first IMU
  • added ESC_TLM_MAV_OFS parameter for mapping ESCs to MAVLink ESC telemetry
  • added Q_NAVALT_MIN for quadplane takeoff
  • added ICE redline governor
  • added in-flight FFT notch tuning option
  • added Sagetech ADSB support
  • added INS_HNTCH_FM_RAT parameter for handling under-hover throttle
  • improvements to filtering on ICM42xxx IMUs
  • added option parameters to NAV_VTOL_LAND mission item for fixed wing approach

A huge thank you to everyone who contributed to the 4.3.0 release! We have had a lot of testers and a lot of input from ArduPilot partner companies, both in terms of testing and suggestions for new features.
A big thank you also to everyone who has contributed to the documentation which has involved a lot of work. Special thanks to @hwurzburg for his tireless work on the wiki!
There are a couple of things in the pipeline for later 4.3.x releases which we are still testing, but we are very happy with how 4.3.0 has turned out.
Happy flying!

27 Likes
2

This is great. I look forward to testing this on the MFE fighter.

2 Likes
3

To Tridge and the Devs, many thanks for your work you do.
Regards,
Nick in the UK.

1 Like
4

how did improve speed of log download with dataflash block backends in c++ code. Where should I look at in code?

5

When the synthetic airspeed is used, the data flash log does not record the airspeed. I hope that in the next version, the synthetic airspeed can be recorded in the data flash log, because the synthetic airspeed is now very accurate, and I do not need the airspeed sensor for a long time.

7

Isn’t the mentioned speed the speed of downloading data from dataflash?

8

in the CTUN As，some one have tell me that

9

Hi, just installed 4.3.0 on Pixhawk v2 and I received “AHRS not configured for AHRS type”? Went back to 4.2.0 and it went away.
I understand its hardly a proper test but just thought I’d mention it. Further investigation will follow.
Regards,
Nick.

1 Like
10

yes ı hve same error " AHRS not configured for AHRS type”? my fc is cuav v5+ please help us??

11

@NickHall @sametaytim for both of you we need a log. Set LOG_DISARMED=1 and get a log file showing the issue. The tlog from the GCS will help too

12

thanks for reply, for now ı use 4.2.3 fw, but ı try 4.3 and ı will send logs for solution

13

Hello.
Can somebody share Skystars H7 HD board mapping?
Regards.

14

Does this mean tramp vtx will be supported.？ I have tried but didn’t work still. I guess I missed something. Can you tell what is keypoint to set up? @tridge
Thank you so much.

1 Like
15

yes, but I’ll defer to @andyp1per on how to set it up, I don’t use it myself

1 Like
16

Yes it works fine - at least on the two tramp VTX’s I have here. Setup should be a matter of setting up the serial port (SERIALn_PROTOCOL=44) and enabling VTX support (VTX_ENABLE=1)

17

@andyp1per thanks for your reply.

I have tried as following setting by 2 vtx transmitter. the OSD of vtx power was flashing(I guess it is not flashing when it is working)
Matek F405wing with ardupilot 4.3 stable flashed
|SERIAL4_BAUD|4| either |115|
|SERIAL4_OPTIONS|4| either |0|
|SERIAL4_PROTOCOL|44| (37 is smart_audio, 44 is IRC tramp)

|VTX_MAX_POWER|800|
|VTX_OPTIONS|8|either |0|
|VTX_POWER|25|

I used potentiometer switch and the power does change numbers on the OSD while it is nothing change on the VTX transmitter.

18

Is VTX_ENABLE=1 set? Is the VTX connected to the TX pin of the UART? You need SERIAL4_OPTIONS=4

1 Like
19

@andyp1per yes VTX_ENABLE=1. The other vtx setting won’t show otherwise. plus SERIAL4_OPTIONS=4 and 0 and 68 none of them working. any other possible setting still missing?

20

I can send you a debug build if you would like that prints out tramp info.

21

@andyp1per Thanks for that, But I don’t know how to proceed. Please tell me how to do so.