Hi everyone,
I’m running ArduPlane 4.4.3 on a CUAV V5+ VTOL QuadPlane. The setup is stable and flight-tested, but I have several custom modifications:
Custom descent rate limiting logic (C++ mod in quadplane.cpp)
GPS-denied navigation via GPS_INPUT from an external system
Custom GCS application (Qt6/MAVSDK)
I’m considering upgrading to 4.6.x stable but want to understand:
Are there significant VTOL/QuadPlane improvements between 4.4.3 and 4.6.x that would justify the migration effort?
Any breaking changes in the QuadPlane code path I should be aware of?
Has EKF3 GPS_INPUT handling changed in meaningful ways?
My concern is that everything works reliably now, and I don’t want to introduce regressions by upgrading. But I also don’t want to stay on an old version if there are important safety or performance fixes.
Thanks for any insights.