Rover-4.1.2-rc1 has been released for beta testing and can be downloaded from the various ground stations (e.g. Mission Planner, QGC) or downloaded directly from firmware.ardupilot.org.
The changes vs Rover-4.1.1 are in the release notes and copied below.
Changes from 4.1.1
- CAN_Dn_UC_OPTION param added to help resolve DroneCAN DNA conflicts
- Durandal with alternative ICM-20602 IMU
- OBAL autopilot support (Open Board Architecture for Linux)
- FETtec One ESC protocol support
- Bug Fixes
a) APM/LOGS directory creation fixed on some boards
b) EKF3 fix to switch to non-zero primary core when disarmed
This release is in sync with the Copter-4.1.2-rc1 beta release so in general we can rely on the Copter beta testers to test this release but in any case, all feedback is very much appreciated.