Rover-4.0.0-rc1 has been released and can be downloaded using the ground station’s “beta firmwares” link. The changes vs 3.5.2 are in the ReleaseNotes and also copied below.
- Path Planning for Object Avoidance replaces “Dodge” avoidance (please set OA_TYPE = 1 for BendyRuler, “2” for Dijkstra and restart the flight controller)
- Complex Fence support (aka stay-out zones). Only the latest QGC provides a method to upload these fences but MP support is coming soon.
- Flight mode changes:
a) LOIT_SPEED_GAIN provides tuning of loiter mode aggressiveness
b) NAV_DELAY command support for clock-based start of mission commands
c) Simple mode (was present in 5.1 but was undocumented and untested)
d) SPEED_MIN parameter allows setting minimum speed during missions (reducing slow down at corners)
- Sailboat improvements:
a) Motor support
b) Tacking improvements
c) NMEA windvanes
- New flight controllers:
a) Hex Cube Orange
b) Holybro Durandal
- Sensor and peripheral related changes
a) Fuel flow battery support
b) IBUS R/C input support
c) “Inflight” compass calibration
d) NTF_BUZZ_VOLUME allows controlling buzzer volume
e) OSD support
f) UAVCAN improvements including dynamic node allocation
g) WS2812 LEDs
h) Yaw from some GPSs
i) UBlox F9 support
- Safety Improvements:
a) Improved watchdog logging allows distinguishing between brown-outs from software failures
- Lua scripting
It’s been several months since our last major release so there are actually many improvements not listed above. If people notice items that I should have mentioned please feel free to write them below and I’ll update the list.
Apologies in advance that we haven’t updated the wiki yet but we will get to this over the next few weeks.
Thanks for any help you can provide with testing, please leave comments (positive or negative) below and we will try to resolve them!