Plane-4.7.0-beta5 is available for beta testing!

ArduPlane Plane 4.7
1

Plane-4.7.0-beta5 has been released for beta testing and can be downloaded using Mission Planner, QGC or directly downloaded from firmware.ardupilot.org.

If you’re using QGC, the daily build has been updated to better handle the parameter changes in 4.7 and will soon be available.

The list of changes vs 4.7.0-beta4 are in the ReleaseNotes and copied below.

  1. Board specific changes
  1. Library changes
  • AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
  • AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
  • AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
  • AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
  • AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)
  • HAL_ChibiOS: Oneshot pulse corruption upon safety-enable fixed (@tridge, PR:32979)
  1. Copter specific changes
  • Increment data added for several parameters (@ES-Alexander, PR:32949)
  • Weathervaning bugfix to properly stop weathervaning (@IamPete1, PR:33019)
  • Land and Payload place waypoints fixed to use correct altitude and spline waypoints (@lthall, PR:32634)
  1. Helicopter specific changes
  • PID scaling support fixed (@lthall, PR:32725)
  1. Sub specific changes
  • Increment data added for several parameters (@ES-Alexander, PR:32949)

We are getting reasonably close to the official release but there will be a beta6 to resolve some outstanding issues.

All testing and feedback is greatly appreciated!

3 Likes
3

Hello, I have been testing this version and I have encountered multiple problems trying to configure a STorM32 gimbal with a camera. I’m using a Matek H743-Wing V3, STorM32 v1.32 board with the version v2.74 (lastest compatible with the board) and a IP camera connected to STorM32 commanded via MavlinkV2 camera protocol.

I had a working setup in version 4.5.3 . Unfortunately, I lost the configuration (SSD disk died). I have a partial functioning configuration in 4.6.0 version where all the camera commands work but I can’t get the RC_Targeting of the gimbal. The camera commands I used where zoom and focus (absolute and relative control) and setting autofocus. The first thing I noticed after switching to the 4.7.0-beta5 is that the RC channel conected to the auxiliary function to control the zoom doesn’t work anymore with identical configuration. I haven’t tested the other commands but my suspicion is that all the commands are broken for STorM32 after the changes to that part.

About the gimbal control, I haven’t been able to control it since 4.5.3 . I have tried configuring it but I dont know if changes in Ardupilot or STorM32 or my missconfiguration is the source of the problem but I wanted to ask with what version of STorM32 do you test the builds?

Anyways, Im here to test things. If you need more information don’t hesitate to send a message.

4

After more testing I can see the Zoom command working. I had the SRx_ parameters changet with the MAVx_ parameters and for some reason they went to default overloading the communication bus with STorM32 board. Now im trying to configure the RC_Targeting.