Rover-4.0.0-rc2 (the 2nd beta) has been released and will appear in the Ground Stations’ (MP, QGC, etc) “beta firmware” link in the next few hours. The changes vs -rc1 are in the ReleaseNotes and also copied below:
- Vehicle stays in Auto mode after completing missions using RTL-within-Auto, Hold-within-Auto
- Sailboat gets dedicated parameters SAIL_LOIT_RADIUS and SAIL_XTRACK_MAX
- RTL/SmartRTL fixes:
a) Boats loiter instead of circling at end of RTL/SmartRTL
b) Warning sent to GCS when SmartRTL buffer is nearly full
- OSD improvements including total distance fix for slow vehicles
- Bug Fixes and minor enhancements
a) Wheel encoder fix to use both wheel encoders (if present)
b) EKF failsafe and pre-arm checks when only wheel encoders used for non-GPS navigation
c) Follow mode offsets reset to zero when vehicle leaves follow mode
d) FS_OPTIONS parameter allows enabling failsafes to trigger while in Hold mode
This version has been “rebased on master” which means that it is a new snapshot of our latest development firmware and thus includes many other smaller changes as well.
We’ve fixed the wheel-encoder issues that were blocking the 4.0.0 release so I think we are getting close to a final version. Please provide any feedback (positive or negative) below or in a new thread. Thanks for testing!