Rover-4.1.0-beta5 has been released for beta testing and is available for download from the ground stations using the “beta firmwares” link.
Changes from -beta4 are in the release notes and also copied below:
Changes from 4.1.0-beta4
a) Arming check of distance from EKF origin increased to 250km horizontally (was 50km), 50km vertically (was 500m)
b) Pre-arm check of FLTMODE_CH and RCx_OPTION conflict
c) QioTekZealotH743 autopilot support
d) Scripting support for set home and get EKF origin
e) Water depth and temperature sent to GCS using WATER_DEPTH mavlink message
- Bug fixes
a) EKF alt estimate more robust when using GPS-for-yaw
b) EKF origin altitudes consistent across cores even if user takes off with no GPS lock
c) Logging start does not affect EKF (EKF could become unhealthy due to timing delays)
d) Longitude wrap fixed (allows flying across international date line)
e) Position jump fixed during GPS glitch and GPS/Non-GPS transitions
Thanks very much to those of you who have been helping us with beta testing and reporting issues. We are definitely moving towards a stable release although I think we still have at least one more beta and a couple of release candidates before we’re done. Thanks!