a) BATT_OPTIONS supports sending resting voltage (corrected for internal resistance) to the ground station
b) KakuteH7-bdshot support
c) MatekH743 uses a 32 bit timer to resolve occasional 68ms timing glitch
d) RC input protocol text message sent to GCS (helps pilot awareness during RC handover)
a) Balance bot stands in acro mode even with no GPS
b) Battery remaining percentage fixed when using Sum battery
c) DShot reversal bug with IOMCU based boards (see SERVO_BLH_RVMASK)
d) DShot commands fixed (could cause random motor movements)
e) GPS blending fix that could have resulted in the wrong GPS being used for a short time
f) Param conversion bug (impacted airspeed enable)
g) RC handover between IOMCU RC input and a secondary RC input on a serial port fixed
h) QioTek Zealot H743 SLCAN port and relays fixed
Although we are only at -beta3, 4.2.0 is already looking quite stable and the next release will probably be a “release candidate”.
with beta3 after a while I get an internal error 0x800.
It is a new rover using Matek H743-Mini and MatekH743-bdshot
I thought I try this beta3 to check, if BLHeli BDSHOT telemetry is working in the meantime… but no luck
I confirm that the balance bot doesn’t stand in any mode with v4.2beta3 dated 20220330 (in adition message "Relay1 pin 50 invalid appears in MP hud and is heard), but the situation is different for previous v4.2betas.
I keep the .apj file for a v4.2beta dated 20220312. For it (test at home, no GPS lock (test on a different balance bot lower and with smaller wheels just in case (no change))):
in Acro wheels don’t obey to manual tilting, just as stables v4.1.x;
in Manual wheels movement obeys to hand manual tilting, but doesn’t stand at all, just as v4.2beta3;
message “Relay1 pin 50 invalid” appears in MP hud when arming and is heard.
In stable versions v4.1.x, Manual&Hold modes work, but in Acro wheels don’t obey to hand manual tilting, and left on ground it falls immediately.
Motors are DC with encoders. This is the controller (Pololu based on MAX14870, meant for Arduino (there is a similar one meant for Raspberry Pi)) and cabling (Pixhawk 6 AUXs, 2 MAINs):
Controller red/black thick (2): supply from 3S battery.
Controller yellow/green thick (2+2): to motors.
Controller white thin from AUXs (2, pins 50 and 51): M1DIR M2DIR.
Controller blue thin from MAIN’s (2): M1PWM M2PWM.
Pixhawk yellow/green on AUXs (4, pins 52 to 55): from encoders.
On all v4.1.x it worked on Manual and Hold, and on Acro wheels didn’t obey to hand manual tilting and it fell immediately when left on ground. No message “Relay1 pin 50 invalid”.
Perhaps the cause for message "Relay1 pin 50 invalid (appearing on v4.2betas, it seems to be coincident with apparently correct wheels movement with hand manual tilting in Manual or Acro, but falling immediately when left on ground) should be found and tested first. Parameters and configuration above have worked for years in v4.00 and previous.
On a simple encoders test at home, I cannot see WENC messages at all on a .bin file.
Examining what happened in v4.00 this is obtained from a .bin file one day before (balance bot going back and forth in Auto):