Rover 4.3.0-beta5 available for beta testing!

Rover-4.3.0-beta5 has been released for beta testing and can be installed using MP or QGC’s beta firmwares link or downloaded manually from

The changes vs -beta4 are in the release notes and copied below.

  1. Autopilot specific enhancements
    a) ARKV6X support
    b) MatekH743 supports 8 bi-directional dshot channels
    c) Pixhawk boards support MS5607 baros
    d) SpeedbyBee F405v3 support
  2. Balancebot pitch control improvements and pitch limiting
  3. DroneCAN Airspeed sensor support including hygrometer (aka water vapour) readings
  4. EFI support (electronic fuel injection engines)
  5. Harmonic Notch support (Rover only)
  6. Pre-arm warning if multiple UARTs with SERIALx_PROTOCOL = RCIN
  7. Siyi gimbal support
  8. Bug fixes
    a) AtomRCF405NAVI bootloader file name fixed
    b) BRD_SAFETY_MASK fixed on boards with both FMU safety switch and IOMCU
    c) Compass calibration continues even if a single compass’s cal fails
    d) Gremsy gimbal driver sends autopilot info at lower rate to save bandwidth
    e) Invensense 42605 and 42609 IMUs use anti-aliasing filter and notch filter
    f) OSD stats screen fix
    g) RC input on serial port uses first UART with SERIALx_PROTOCOL = 23 (was using last)
    h) RunCam caching fix with enablement and setup on 3-pos switch
    i) RTK CAN GPS fix when GPSs conneted to separate CAN ports on autopilot

Re getting 4.3.0 released as stable, the balance bot changes resolve one blocker. The reminaing blocker is questions over S-Curve’s straight line tracking. I hope to put effort into resolving this over the coming couple of weeks.

All feedback is greatly appreciated!