Rover 4.1.0-beta6 has just been released for beta testing and should appear in the ground stations within the next few hours. Changes vs the previous beta are in the release notes and also listed below.
Changes from 4.1.0-beta5
a) GPS-for-yaw enhancements including using position and yaw from different GPSs
b) Long distance travel supported (thousands of km) including double precision EKF and moving origin
- Bug Fixes
a) BendyRuler avoidance fixed (was slow and jerky)
b) BLHeli fix that could cause failure to boot
c) CRSF message spamming and firmware string length fixed
d) Display re-enabled on 1MB boards
e) DShot always sends 0 when disarmed (protects against motors spin while disarmed due to misconfiguration)
f) DShot fix that could cause main loop jitter
g) DShot buzzer tone disabled during motor test to remove bad interation
h) Longitude wrap fix (allows autonomous flights as longitude wraps between -180 and 180 deg)
i) Log created on forced arm
j) MatekF405-bdshot NeoPixel LEDs re-enabled on PWM5
k) Serial port performance improvements using FIFO on H7 boards
We hope that the GPS-for-yaw improvements will make the setup and use easier and more reliable.
Thanks for your help testing!