Rover-4.6.0-beta5 available for beta testing!

ArduRover Rover 4.6
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Rover-4.6.0-beta5 has been released for beta testing and can be installed using MP or QGC’s beta firmwares links. Alternatively it can be manually downloaded from firmware.ardupilot.org

The changes vs -beta4 are in the Release Notes and copied below:

Changes from 4.6.0-beta4

  1. Board specfic changes
  • MFT-SEMA100 compass orientation fix
  • SpeedyBee F405 AIO support
  1. Driver bug fixes and enhancements
  • Bdshot locking issue fix for slow boards that could cause the flight controller to crash
  • BMP280 barometer error handling during init improved
  • CADDX gimbal RC update rate fixed
  • Hexsoon 77G and 24G radar support
  • IE FuelCell generator data rate increased
  • IIS2MDC compass support
  • LD19/LD06 proximity sensor data length sanity check fix
  • RC output cork/push fix to avoid potential motor knocking
  • SBF MosaicX5 packets with invalid length ignored
  • SPL06 barometer accuracy improvements
  • Ublox M10 configuration fix
  1. Plane specific fixes and enhancements
  • Tiltrotor motor check fixed used in throttle control handover from VTOL to forward flight
  • Improved QAssist and VTOL mode recovery from bad attitudes
  • Fixed rudder output in VTOL modes
  • Added fix for indecision in the roll controller close to inverted
  • Ensure tiltrotors use consistent fixed wing and VTOL rates
  • Clear inverted control flag on Q-mode entry
  • Auto-deploy landing gear on all fixed wing landings when enabled
  • Prevent learning bad ARSP_RATIO values when not flying
  1. Rover specific fixes and enhancements
  • Lua bindings for Follow mode
  • WATER_DEPTH mavlink message rate fix
  1. Parameter description improvements
  • ADSB_LIST_ALT param desc improved
  • Alphabetised type params for CAN, Mount, OptFlow, Proximity, Rangefinder, Serial Manager
  • Copter’s battery failsafe action gets “Brake or Land”
  • LOG_FILE_BUFSIZE units fixed
  • MOT_THST_HOVER range fixed
  • SERIALx_BAUD value added for PPP networking
  1. Bug Fixes and minor enhancements
  • Arming check for EKF3 velocity innovations
  • Copter’s LOG_BITMASK includes PIDs by default
  • DO_SET_ROI_LOCATION mission command support
  • MCU min/max voltage logging fix
  • MIS_OPTION parameter handling fixed

There will be one more beta but we’re getting close so all testing and feedback is greatly appreciated!

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I don’t think I’m using any of the recent bug-fix items, but I just swapped my mower over to a CUAV Pixhawk v6X and loaded beta5. A couple hours of runtime has been successful, including MAVLink2 over Ethernet.

I do still wonder if we can either improve pivot turn navigation (or eliminate it without fuss, as discussed before). I avoid pivots in all recent firmware using the PSC nav controller.

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Hi @Yuri_Rage,

Thanks for testing and reporting back!

Leonard, Rishabh and I are looking into adding support for arc mission commands in Copter and Rover so this might be a solution.

I’m happy to disable pivot turns by default if everyone agrees.

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I’ve been looking at improving the pivot turn controller, but no success yet. In looking at the logs, there does seen to be a bit of a discontinuity in the commanded yaw rates when the rover switches from the pivot controller to S-curve navigation.

Agree with this

Keen to be involved in this :slight_smile:

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Ran for 2 hours yesterday - had some weirdness in several acute turns to a waypoint. I was, however, messing with waypoint size - went from 1 to 3 meters.

Will revert back to 1 meter and repeat this week.

I see no difference from the beta4 other than what I’ve likely complicated.

Thanks for the hard work on improving this awesome kit!

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Hi @marblecreek,

Thanks very much for the testing and feedback!