From 2cd31c66fee0dd7a887028adbb2dffea25d76957 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 11 May 2020 18:11:29 +1000
Subject: [PATCH] Copter: sync release notes for plane4.0

---
 ArduCopter/ReleaseNotes.txt | 27 +++++++++++++++++++++++++++
 ArduCopter/inertia.cpp      | 13 ++++++-------
 ArduCopter/version.h        |  8 ++++----
 3 files changed, 37 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 0eb7eb5053..727cea534e 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,32 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.0.3 28-Feb-2020 / 4.0.3-rc1 20-Feb-2020
+Changes from 4.0.2
+1) Bug Fixes:
+    a) "RCInput: decoding" message watchdog reset when using MAVLink signing (Critical Fix)
+    b) HeliQuad yaw control fix
+    c) Do-Set-Servo commands can affect sprayer, gripper outputs
+    d) BLHeli passthrough fix for H7 boards (CubeOrange, Holybro Durandal)
+2) USB IDs updated for "composite" devices (fixes GCS<->autopilot connection issues for boards which present 2 USB ports)
+3) RCOut banner helps confirm correct setup for pwm, oneshot, dshot 
+4) ZigZag mode supports arming, takeoff and landing
+------------------------------------------------------------------
+Copter 4.0.2 11-Feb-2020
+Changes from 4.0.2-rc4
+1) MAVFTP stack size increased to 3k (fixes reboot when using MAVFTP)
+------------------------------------------------------------------
+Copter 4.0.2 11-Feb-2020 / 4.0.2-rc4 05-Feb-2020
+Changes from 4.0.2-rc3
+1) Bug Fixes:
+    a) Spektrum receivers decoding fix for Pixracer
+    b) Current Alt frame always relative to home (RTL could return at wrong alt)
+    c) Circle mode pitch control direction fixed
+    d) EKF only uses world magnetic tables if COMPASS_SCALE is set
+    e) Logging reliability improvements especially for FRAM logs
+    f) RangeFinders using PWM interface use RNGFNDx_OFFSET param (attempt2)
+    g) SpeedyBeeF5 probes all I2C ports for external baro
+2) Rangefinder fallback support (both must have same _ORIENT) 
+------------------------------------------------------------------
 Copter 4.0.2-rc3 01-Feb-2020
 Changes from 4.0.2-rc2
 1) Bug Fixes:
diff --git a/ArduCopter/inertia.cpp b/ArduCopter/inertia.cpp
index ac9fc94eb4..89ba4abc25 100644
--- a/ArduCopter/inertia.cpp
+++ b/ArduCopter/inertia.cpp
@@ -17,12 +17,11 @@ void Copter::read_inertia()
         return;
     }
 
-    if (ahrs.home_is_set()) {
-        current_loc.set_alt_cm(inertial_nav.get_altitude(),
-                               Location::AltFrame::ABOVE_HOME);
-    } else {
-        // without home use alt above the EKF origin
-        current_loc.set_alt_cm(inertial_nav.get_altitude(),
-                               Location::AltFrame::ABOVE_ORIGIN);
+    // current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin
+    const int32_t alt_above_origin_cm = inertial_nav.get_altitude();
+    current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN);
+    if (!ahrs.home_is_set() || !current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
+        // if home has not been set yet we treat alt-above-origin as alt-above-home
+        current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME);
     }
 }
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 0c41867782..caa0f38fd3 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,12 +6,12 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.0.2-rc3"
+#define THISFIRMWARE "ArduCopter V4.0.3"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,2,FIRMWARE_VERSION_TYPE_RC
+#define FIRMWARE_VERSION 4,0,3,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
-#define FW_PATCH 2
-#define FW_TYPE FIRMWARE_VERSION_TYPE_RC
+#define FW_PATCH 3
+#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL