Plane 4.5 release

Thank you @tridge for your quick response… I have updated the Mission Planner to latest version… Now no more r boot message… All seems normal , but still on ground… I am still currious, is it ok in my case, that I did “JUMP” upgrade from Fw 4.3.7 directly to 4.5.3, bypassing 4.3.8 to 4.5.2 ??

Any advice is highly appreciated.
Thank you

yes, I think we still have all the update code in place for 4.3.x still

Plane-4.5.4 has been released as the official/stable version and can be installed using MP, QGC or the firmware can be directly downloaded from

The single change vs 4.5.3 is listed in the ReleaseNotes and copied below

  • Disable highres IMU sampling on ICM42670 fixing an issue on some versions of Pixhawk6X

If you’re using a Pixhawk6X we strongly recommend updating but for other users this release will have no impact.

By the way, some may notice that we released this version without going through the regular beta testing procedure. We decided that this change was small enough that developer level testing was sufficient.


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più voli fatti ieri con 2 aeri diversi, tutto ok;

non si può perfezionare la flare, visto che il cambio pitch è secco, brusco? Grazie.

In my code only
and yaw are working correctly.
But -Vx and roll commands are not working correctly.
its showing circular movement at a point or say -Vx with yawing.

from dronekit import connect, VehicleMode
from pymavlink import mavutil

def send_local_ned_velocity(x, y, z):
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0, 0, 0,
0, 0, 0,
x, y, z,
0, 0, 0,
0, 0)

def condition_yaw(heading):
msg = vehicle.message_factory.command_long_encode(
0, 0, # target_system, target_component
mavutil.mavlink.MAV_CMD_CONDITION_YAW, #command
0, #confirmation
1, # param 1, yaw in degrees
0, # param 2, yaw speed deg/s
heading, # param 3, direction -1 ccw, 1 cw
1, # param 4, relative offset 1, absolute angle 0
0, 0, 0) # param 5 ~ 7 not used

vehicle = connect(‘udp:’, wait_ready=True)

while True:
send_local_ned_velocity(-1, 0, 0)

Plane 4.5.5-beta1 has been released for beta testing. This is a minor update from 4.5.4.

The changes vs 4.5.4 are in the ReleaseNotes and also listed below

  1. Board specific enhancements and bug fixes
  • fixed IOMCU transmission errors when using bdshot
  • update relay parameter names on various boards
  • add ASP5033 airspeed in minimal builds
  • added RadiolinkPIX6
  • fix Aocoda-RC H743Dual motor issue
  • use ICM45686 as an ICM20649 alternative in CubeRedPrimary
  1. System level minor enhancements and bug fixes
  • correct use-after-free in script statistics
  • added arming check for eeprom full
  • fixed a block logging issue which caused log messages to be dropped
  • enable Socket SO_REUSEADDR on LwIP
  • removed IST8310 overrun message
  • added Siyi ZT6 support
  • added BTFL sidebar symbols to the OSD
  • added CRSF extended link stats to the OSD
  • use the ESC with the highest RPM in the OSD when only one can be displayed
  • support all Tramp power levels on high power VTXs
  • emit jump count in missions even if no limit
  • improve the bitmask indicating persistent parameters on bootloader flash
  • fix duplicate error condition in the MicroStrain7
  1. AHRS / EKF fixes
  • fix infinite climb bug when using EK3_OGN_HGT_MASK
  1. Plane specific changes
  • fix rangefinder correction when terrain following is off
  • correct description of MIN_GROUNDSPEED parameter
  • correct Q_TRIM_PITCH description
  • ensure the dshot type gets set at startup
  1. Other minor enhancements and bug fixes
  • specify pymonocypher version in more places
  • added DroneCAN dependencies to custom builds

Thank you to everyone who helps with testing!

Today I flew 4.5.5-beta-1 firmware without problems in gusty winds with 3 small aircraft <1000 g (a TriTilt, QUAD-X-VTOl and fixed wing) Take off, FBWA, Q-Modes and VTOL Autoland.
I was impressed by how precisely the automatic deceleration, descent and engagement of the lidar slowed down the descent despite the relatively strong wind for this size of aircraft:

Thanks to all the developers who have contributed



thanks @Rolf , much appreciated!

I flew 4.5.5 beta 1 on my A-Tail RQ-7 Fixed wing yesterday. I was literally at the field setting up while the dev-call was wrapping up.

PixPilot V3 and Express LRS with HD-Zero. 3 nice flights started with an autotune because I’d re-done the linkages on the A-Tail surfaces to give more throw. As always the autotune takes an ugly tune and delivers a nice flying feel.

This is the autotune flight.

These are two more very uneventful flights I did the same evening.

This last flight is the log for the flight I did a livestream for with my HD-Zero goggles running ArduPilot OSD. I’d really like to be able to get VTX power somehow. Otherwise great.


thanks Tim! nice flying site

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I’m happy to see the extended link stats for CRSF in this release, as well as the problems I’ve had with Dshot also fixed. I have a couple of flights with it now with no issues to report!


Thanks for all the hard work putting into this.
Please allow me a question. I have SpeedybeeF405Mini wing FC and when I load 4.5 via MP or DFU I don’t have Terrain_Enable available. I did a custom build and same. Then I did custom build for 4.6dev and was available. But would prefer to use 4.5 stable. What do I need to do to have Terrain_enable available? Manufacture website offers 4.3.7 and has it. But when I want to run update it says board version is xxxx my board is yyyy and is not supported. FC purchased last month. Please point me into the right direction how to get a custom build for 4.5 done with terrain_enable . Thanks a lot