From 4f406f31f28fb4a02749c380f0801f048ee71040 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Nov 2024 13:09:19 +0900 Subject: [PATCH] Plane: 4.6.0-beta1 release notes Co-authored-by: Bill Geyer Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Thomas Watson Co-authored-by: Andrew Tridgell --- ArduPlane/ReleaseNotes.txt | 424 +++++++++++++++++++++++++++++++++++++ 1 file changed, 424 insertions(+) diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt index e8699fa5c9..ed28f55e6d 100644 --- a/ArduPlane/ReleaseNotes.txt +++ b/ArduPlane/ReleaseNotes.txt @@ -1,5 +1,429 @@ ArduPilot Plane Release Notes: ------------------------------------------------------------------ +Release 4.6.0-beta 13 Nov 2024 + +Changes from 4.5.7 + +1) Board specific changes + +- AnyLeaf H7 supports compass and onboard logging +- Blitz743Pro supports CAN +- BlueRobotics Navigator supports BMP390 baro +- Bootloader ECC failure check fixed on boards with >128k bootloader space (e.g CubeRed) +- CB Unmanned Stamp H743 support +- ClearSky CSKY405 support +- CUAV-7-Nano default batt monitor fixed +- CubeRed bootloader fixes including disabling 2nd core by default +- CubeRed supports PPP networking between primary and secondary MCU +- CubeRedPrimary supports external compasses +- ESP32 main loop rate improvements +- ESP32 RC input fixes and wifi connection reliability improved +- ESP32 safety switch and GPIO pin support +- FlyingMoon no longer support MAX7456 +- Flywoo F405HD-AIOv2 ELRS RX pin pulled high during boot +- Flywoo H743 Pro support +- Flywoo/Goku F405 HD 1-2S ELRS AIO v2 +- FlywooF745 supports DPS310 baro +- FPV boards lose SMBus battery support (to save flash) +- GEPRC F745BTHD support +- GEPRCF745BTHD loses parachute support, non-BMP280 baros (to save flash) +- Here4FC bootloader fix for mismatch between RAM0 and periph that could prevent firmware updates +- Holybro Kakute F4 Wing support +- iFlight 2RAW H743 supports onboard logging +- JFB110 supports measuring servo rail voltage +- JFB110 supports safety switch LED +- JHEM-JHEF405 bootloader supports firmware updates via serial +- JHEMCU GF30H743 HD support +- JHEMCU-GF16-F405 autopilot support +- JHEMCU-GSF405A becomes FPV board (to save flash) +- KakuteF7 only supports BMP280 baro (to save flash) +- KakuteH7Mini supports ICM42688 IMU +- Linux auto detection of GPS baud rate fixed +- Linux board scheduler jitter reduced +- Linux board shutdown fixes +- MakeFlyEasy PixPilot-V6Pro support +- MatekF405, Pixhawk1-1M-bdshot, revo-mini loses blended GPS (to save flash) +- MatekH7A3 support Bi-directional DShot +- MicoAir405v2 and MicoAir405Mini support optical flow and OSD +- MicoAir743 internal compass orientation fixed +- MicroAir405Mini, MicroAir743, NxtPX4v2 support +- MicroAir405v2 Bi-directional DShot and LED DMA fixes +- MicroAir405v2 defined as FPV board with reduced features (to save flash) +- ModalAI VOXL2 support including Starling 2 and Starling 2 max +- mRo Control Zero Classic supports servo rail analog input +- mRo KitCAN revC fixed +- Mugin MUPilot support +- OmnibusF7v2 loses quadplane support (to save flash) +- Pixhack-v3 board added (same as fmuv3) +- Pixhawk6C bootloader supports flashing firmware from SD card +- RadiolinkPIX6 imu orientation fixed +- RadiolinkPIX6 supports SPA06 baro +- ReaperF745 V4 FC supports MPU6000 IMU +- RPI5 support +- SDModelH7v2 SERIAL3/7/9_PROTOCOL param defaults changed +- Solo serial ports default to MAVLink1 +- SpeedyBeeF405Wing gets Bi-directional DShot +- SpeedyBeeF405WING loses landing gear support, some camera gimbals (to save flash) +- Spektreworks boom board support +- TrueNavPro-G4 SPI does not share DMA +- X-MAV AP-H743v2 support + +2) AHRS/EKF enhancements and fixes + +- AHRS_OPTION to disable fallback to DCM (affects Plane and Rover, Copter never falls back) +- AHRS_OPTION to disable innovation check for airspeed sensor +- Airspeed sensor health check fixed when using multiple sensors and AHRS affinity +- DCM support for MAV_CMD_EXTERNAL_WIND_ESTIMATE (Plane only) +- EK2 supports disabling external nav (see EK2_OPTIONS) +- EK3 External Nav position jump after switch from Optical flow removed (see EK3_SRC_OPTION=1) +- EK3 uses filtered velocity corrections for IMU position +- EKF2, EKF3, ExternalAHRS all use common origin +- EKF3 accepts set origin even when using GPS +- EKF3 allows earth-frame fields to be estimated with an origin but no GPS +- EKF3 copes better with GPS jamming +- EKF3 logs mag fusion selection to XKFS +- EKF3 wind estimation when using GPS-for-yaw fixed +- External AHRS improvements including handling variances, pre-arm origin check +- Inertial Labs External AHRS fixes +- VectorNav driver fix for handling of error from sensor +- VectorNav External AHRS enhancements including validation of config commands and logging improvements +- VectorNav support for sensors outside VN-100 and VN-300 + +3) Driver enhancements and bug fixes + +- ADSB fix to display last character in status text sent to GCS +- Ainstein LR-D1 radar support +- Airspeed ASP5033 whoami check fixed when autopilot rebooted independently of the sensor +- AIRSPEED message sent to GCS +- Analog temperature sensor extended to 5th order polynomial (see TEMP_A5) +- ARSPD_OPTIONS to report calibration offset to GCS +- Baro EAS2TAS conversions continuously calculated reducing shocks to TECS (Plane only) +- Baro provides improved atmospheric model for high altitude flight +- BARO_ALT_OFFSET slew slowed to keep EKF happy +- BATTx_ESC_MASK param supports flexible mapping of ESCs to batteries +- BATTx_OPTION to not send battery voltage, current, etc to GCS +- Benewake RDS02U radar support +- Bi-directional DShot on IOMCU supports reversible mask +- Bi-directional DShot telemetry support on F103 8Mhz IOMCUs +- BMM350 compass support +- CAN rangefinders and proximity sensors may share a CAN bus (allows NRA24 and MR72 on a single CAN bus) +- Compass calibration world magnetic model checks can use any position source (e.g. not just GPS) +- CRSF baro and vertical speeed fixed +- CRSF RX bind command support +- DroneCAN battery monitor check to avoid memory corruption when type changed +- DroneCAN DNA server fixes including removing use of invalid node IDs, faster ID allocation, elimination of rare inability to save info +- DroneCAN EFI health check fix +- DroneCAN ESC battery monitors calculate consumed mah +- DroneCAN ESCs forced to zero when disarmed +- DroneCAN RPM message support +- DroneCAN timeout fix for auxiliary frames +- DroneCAN to serial tunneling params accepts short-hand baud rates (e.g. '57' for '57600') +- F9P, F10-N and Zed-F9P support for GPSx_GNSS_MODE to turn on/off SBAS, Galileo, Beidou and Glonass +- FuelLevel battery monitor fix to report capacity +- GPS_xxx params renamed to GPS1_xxx, GPS_xxx2 renamed to GPS2_xxx +- Hirth EFI logging includes modified throttle +- Hirth ICEngine supports reversed crank direction (see ICE_OPTIONS parameter) +- Hott and LTM telemetry deprecated (still available through custom build server) +- i-BUS telemetry support +- ICE_PWM_IGN_ON, ICE_PWM_IGN_OFF, ICE_PWM_STRT_ON, ICE_PWM_STRT_OFF replaced with SERVOx_MIN/MAX/REVERSED (Plane only) +- ICE_START_CHAN replaced with RC aux function (Plane only) +- ICEngine retry max added (see ICE_STRT_MX_RTRY) +- IE 2400 generator error message severity to GCS improved +- INA2xx battery monitor support (reads temp, gets MAX_AMPS and SHUNT params) +- MCP9600 temperature sensor I2C address fixed +- MLX90614 temperature sensor support +- MSP GPS ground course scaling fixed +- MSP RC uses scaled RC inputs (fixes issue with RCx_REVERSED having no effect) +- Networking supports reconnection to TCP server or client +- OSD params for adjusting horizontal spacing and vertical extension (see OSD_SB_H_OFS, OSD_SB_V_EXT) +- Relay inverted output support (see RELAYx_INVERTED parameter) +- ROMFS efficiency improvements +- RS-485 driver enable RTS flow control +- Sagetech MXS ADSP altitude fix (now uses abs alt instead of terrain alt) +- Septentrio GPS sat count correctly drops to zero when 255 received +- Septentrio supports selecting constellations (see GPS_GNSS_MODE) +- Single LED for user notification supported +- SPA06 baro supported +- Sum battery monitor optionally reports minimum voltage instead of average +- Sum battery monitor reports average temp +- Torqeedo dual motor support (see TRQ1, TRQ2 params) +- Ublox GPS driver uses 64 bit time for PPS interrupt (avoids possible dropout at 1hour and 12 minutes) +- UBlox GPS time ignored until at least 2D fix +- VideoTX supports additional freq bands (RushFPV 3.3Ghz) +- Volz logs desired and actual position, voltage, current, motor and PCB temp +- Volz server feedback and logging fixed +- Volz servo output in its own thread resulting in smoother movements +- W25N02KV flash support + +4) Networking enhancements and fixes + +- Allow multiple UDP clients to connect/disconnect/reconnect +- Ethernet supports faster log downloading (raised SDMMC clock limit on H7) + +5) Camera and gimbal enhancements + +- Alexmos precision improved slightly +- CAMERA_CAPTURE_STATUS mavlink msg sent to GCS (reports when images taken or video recorded, used by QGC) +- CAMERA_FOV_STATUS mavlink reports lat,lon of what camera is pointing at +- DO_MOUNT_CONTROL yaw angle interpreted as body-frame (was incorrectly being interpreted as earth-frame) +- Dual serial camera gimbal mounts fixed +- Lua script bindings to send CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION messages to GCS +- Retract Mount2 aux function added (see RCx_OPTION = 113) +- Servo gimbal reported angles respect roll, pitch and yaw limits +- Siyi driver sends autopilot location and speed (recorded in images via EXIF) +- Siyi picture and video download scripts +- Siyi ZT6 and ZT30 support sending min, max temperature (see CAMERA_THERMAL_RANGE msg) +- Siyi ZT6 and ZT30 thermal palette can be changed using camera-change-setting.lua script +- Siyi ZT6 hardware id and set-lens fixed +- Topotek gimbal support +- Trigger distance ignores GPS status and only uses EKF reported location + +6) Harmonic notch enhancements + +- Harmonic notch is active in forward flight on quadplanes +- Harmonic notch filter freq clamping and disabling reworked +- Harmonic notch handles negative ESC RPMs +- Harmonic notch supports per-motor throttle-based harmonic notch + +7) Copter specific enhancements and bug fixes + +- Attitude control fix to dt update order (reduces rate controller noise) +- Auto mode fix to avoid prematurely advancing to next waypoint if given enough time +- Auto mode small target position jump when takeoff completes removed +- Auto mode yaw drift when passing WP removed if CONDITION_YAW command used and WP_YAW_BEHAVIOR = 0/None +- Auto, Guided flight mode pause RC aux switch (see RCx_OPTION = 178) +- AutoRTL (e.g. DO_LAND_START) uses copter stopping point to decide nearest mission command +- AutoRTL mode supports DO_RETURN_PATH_START (Copter, Heli only) +- AutoTune fix to prevent spool up after landing +- AutoTune performance and safety enhancements (less chance of ESC desync, fails when vehicle likely can't be tuned well) +- Autotune test gains RC aux switch function allows testing gains in any mode (see RCx_OPTION = 180) +- Config error avoided if auto mode is paused very soon after poweron +- FLIGHT_OPTIONS bit added to require position estimate before arming +- Follow mode slowdown calcs fixed when target is moving +- Ground oscillation suppressed by reducing gains (see ATC_LAND_R/P/Y_MULT) +- Guided mode internal error fix when taking off using SET_ATTITUDE_CONTROL message +- Guided mode internal error resolved when switching between thrust or climb rate based altitude control +- Guided mode yaw fixed when WP_YAW_BEHAVIOR = 0/None and CONDITION_YAW command received containing relative angle +- Landing detector fixed when in stabilize mode at full throttle but aircraft is upside down +- Landing detector logging added to ease support (see LDET message) +- Loiter unlimited command accepts NaNs (QGC sends these) +- Mavlink SYSTEM_STATUS set to BOOT during initialisation +- MOT_PWM_TYPE of 9 (PWMAngle) respects SERVOx_MIN/MAX/TRIM/REVERSED param values +- Payload place bug fix when aborted because gripper is already released +- RC based tuning (aka CH6 tuning) can use any RC aux function channel (see RCx_OPTION = 219) +- RTL_ALT minimum reduced to 30cm +- SystemID position controller support (Copter and Heli) +- TriCopter motor test and slew-up fixed +- WPNAV_SPEED min reduced to 10 cm/s (Copter only) +- Loiter mode zeros desired accel when re-entering from Auto during RC failsafe + +8) TradHeli specific enhancements + +- Autorotation yaw behaviour fix +- Autotune improvements including using low frequency dwell for feedforward gain tuning and conducting sweep in attitude instead of rate +- Blade pitch angle logging added (see SWSH log message) +- Constrain cyclic roll for intermeshing +- ICE / turbine cool down fix +- Inverted flight extended to non manual throttle modes +- Inverted flight transitions smoothed and restricted to only Stabilize mode +- SWSH logging fix for reversed collectives + +9) Plane specific enhancements and bug fixes + +- AIRSPEED_STALL holds vehicle stall speed and is used for minimum speed scaling +- Allow for different orientations of landing rangefinder +- Assistance requirements evaluted on mode change +- FBWB/CRUISE climb/sink rate limited by TECS limits +- FLIGHT_OPTION to immediately climb in AUTO mode (not doing glide slope) +- Glider pullup support (available only through custom build server) +- Loiter breakout improved to better handle destinations inside loiter circle +- Manual mode throttle made consistent with other modes (e.g battery comp and watt limit is done if enabled) +- Mavlink GUIDED_CHANGE_ALTITUDE supports terrain altitudes +- Minimum throttle not applied during SLT VTOL airbrake (reduces increase in airspeed and alt during back transition) +- Q_APPROACH_DIST set minimum distance to use the fixed wing approach logic +- Quadplane assistance check enhancements +- Quadplane Deca frame support +- Quadplane gets smoother takeoff by input shaping target accel and velocity +- Servo wiggles in altitude wait staged to be one after another +- Set_position_target_global_int accepts MAV_FRAME_GLOBAL_RELATIVE_ALT and MAV_FRAME_GLOBAL_TERRAIN_ALT frames +- Takeoff airspeed control improved (see TKOFF_MODE, TKOFF_THR_MIN) +- Takeoff fixes for fence autoenable +- Takeoff improvements including less overshoot of TKOFF_ALT +- TECS reset along with other controllers (important if plane dropped from balloon) +- Tilt quadplane ramp of motors on back transition fixed +- Tiltrotor tilt angles logged +- TKOFF_THR_MIN applied to SLT transitions +- Twin motor planes with DroneCAN ESCs fix to avoid max throttle at arming due to misconfiguration +- VTOLs switch to QLAND if a LONG_FAILSAFE is triggered during takeoff + +10) Rover specific enhancements and bug fixes + +- Auto mode reversed state maintained if momentarily switched to Hold mode +- Circle mode tracks better and avoids getting stuck at circle edge +- Flight time stats fixed +- MAV_CMD_NAV_SET_YAW_SPEED deprecated +- Omni3Mecanum frame support +- Stopping point uses max deceleration (was incorrectly using acceleration) +- Wheel rate controller slew rate fix + +11) Antenna Tracker specific enhancements and bug fixes + +- Never track lat,lon of 0,0 + +12) Scripting enhancements + +- advance-wp.lua applet supports advancing Auto mode WP via RC switch +- AHRS_switch.lua supports switching between EKF2 and EKF3 via RC switch +- battery_internal_resistance_check.lua monitors battery resistance +- CAN:get_device returns nil for unconfigured CAN device +- copter_terrain_brake.lua script added to prevent impact with terrain in Loiter mode (Copter only) +- Copter:get_target_location, update_target_location support +- crosstrack_restore.lua example allows returning to previous track in Auto (Plane only) +- Display text on OLED display supported +- Docs improved for many bindings +- EFI get_last_update_ms binding +- EFI_SkyPower.lua driver accepts 2nd supply voltage +- ESC_slew_rate.lua example script supports testing ESCs +- Filesystem CRC32 check to allow scripts to check module versions +- forced arming support +- GPIO get/set mode bindings (see gpio:set_mode, get_mode) +- GPS-for-yaw angle binding (see gps:gps_yaw_deg) +- Halo6000 EFI driver can log all CAN packets for easier debugging +- handle_external_position_estimate binding allows sending position estimate from lua to EKF +- I2C:transfer support +- IMU gyros_consistent and accels_consistent bindings added +- INF_Inject.lua driver more robust to serial errors, improved logging, throttle and ignition control +- INS bindings for is calibrating, gyro and accel sensor values +- IPV4 address bindings (see SocketAPM_ipv4_addr_to_string) to allow UDP server that responds to individual clients +- Logging of booleans supported +- Lua language checks improved (finds more errors) +- MAVLink commands can be called from scripting +- MCU voltage binding (see analog:mcu_voltage) +- NMEA 2000 EFI driver (see EFI_NMEA2k.lua) +- "open directory failed" false warning when scripts in ROMFS fixed +- Param_Controller.lua supports quickly switching between 3 parameter sets via RC switch +- Pass by reference values are always initialized +- pelco_d_antennatracker.lua applet supports sending Pelco-D via RS-485 to PTZ cameras +- plane_aerobatics.lua minor enhancements +- REPL applet (read-evaluate-print-loop, see repl.lua) for interactive testing and experimentation +- "require" function failures in rare circumstances fixed +- "require" function works for modules in ROMFS (e.g. not on SD card) +- revert_param.lua supports more params (e.g ATC_RATE_R/P/Y, PTCH2SRV_TCONST, RLL2SRV_TCONST, TECS_) +- Scripts may receive mavlink messages which fail CRC (e.g messages which FC does not understand) +- SD card formatting supported +- Serial device simulation support (allows Lua to feed data to any supported serial protocol for e.g. sensor simulation) +- set_target_throttle_rate_rpy allows rate control from scripts (new for Copter) +- sitl_standby_sim.lua example shows how to switch between redundant flight controllers using an RC switch +- Slung payload oscillation suppression applet added (see copter-slung-payload.lua) +- Temperature sensor bindings added +- uint64 support +- Various performance and memory usage optimizations +- VTOL-quicktune.lua minor enhancements including increasing YAW_FLTE_MAX to 8 +- x-quad-cg-allocation.lua applet corrects for the CoM discrepancy in a quad-X frame + +13) GCS / mavlink related changes and fixes + +- BATTERY2 message deprecated (replaced by BATTERY_STATUS) +- CMD_MISSION_START/STOP rejected if first-item/last-item args provided +- Deny attempts to upload two missions simultaneously +- Fence and Rally points may be uploaded using FTP +- GPS_INPUT and HIL_GPS handles multiple GPSs +- HIGHRES_IMU mavlink message support (used by companion computers to receive IMU data from FC) +- MAV_CMD_COMPONENT_ARM_DISARM accepts force arm magic value of 21196 +- MAV_CMD_DO_SET_SAFETY_SWITCH_STATE support +- MAV_CMD_SET_HAGL support (Plane only) +- MAVFTP respects TX buffer flow control to improve FTP on low bandwidth links +- MAVLink receiver support (RADIO_RC_CHANNELS mavlink message) +- Message interval supports TERRAIN_REPORT msg +- Mission upload may be cancelled using MISSION_CLEAR_ALL +- MOUNT_CONFIGURE, MOUNT_CONTROL messages deprecated +- RC_CHANNELS_RAW deprecated +- Serial passthrough supports parity allowing STM32CubeProgrammer to be used to program FrSky R9 receivers +- SET_ATTITUDE_TARGET angular rate input frame fixed (Copter only) +- TIMESYNC and NAMED_VALUE_FLOAT messages not sent on high latency MAVLink ports + +14) Logging enhancements and fixes + +- AC_PID resets and I-term sets logged +- ANG provides attitude at high rate (equivalent to ATT) +- ATT logs angles as floats (better resolution than ints) +- CAND message gets driver index +- DCM log message includes roll/pitch and yaw error +- EDT2 log msg includes stress and status received via extended DShot Telemetry v2 +- EFI ECYL cylinder head and exhaust temp logs in degC (was Kelvin) +- ESCX log msg includes DroneCAN ESCs status, temp, duty cycle and power pct +- FMT messages written as required instead of all at beginning +- Logging restarted after download completes when LOG_DISARMED = 1 +- MISE msg logs active mission command (CMD logged when commands are uploaded) +- ORGN message logging fixed when set using SET_GPS_GLOBAL_ORIGIN +- RPM sensor logging gets instance field, quality and health fields +- Short filename support removed (e.g log1.BIN instead of 00000001.BIN) +- Temperature sensor logging option for only sensors with no source (see TEMP_LOG) +- UART data rates logged at 1hz (see UART message) + +15) ROS2 / DDS support + +- Airspeed published +- Battery topic reports all available batteries +- Compile-time configurable rates for each publisher +- DDS_TIMEOUT_MS and DDS_MAX_RETRY set timeout and num retries when client pings XRCE agent +- GPS global origin published at 1 Hz +- High frequency raw imu data transmission +- Joystick support +- Support sending waypoints to Copter and Rover +- Remove the XML refs file in favor of binary entity creation + +16) Safety related enhancements and fixes + +- Accel/Gyro inconsistent message fixed for using with only single IMU +- Battery monitor failure reported to GCS, triggers battery failsafe but does not take action +- Far from EKF origin pre-arm check removed (Copter only) +- Fence breach warning message slightly improved +- Fence enhancements incluiding alt min fence (Copter only, see FENCE_AUTOENABLE, FENCE_OPTIONS) +- Fences can be stored to SD Card (see BRD_SD_FENCE param) +- ICEngine stopped when in E-Stop or safety engaged (Plane only) +- LEDs flash green lights based on EKF location not GPS +- Parachute option to skip disarm before parachute release (see CHUTE_OPTIONS) +- Plane FENCE_AUTOENABLE of 1 or 2 deprecation warning added +- Pre-arm check if OpenDroneID is compiled in but disabled +- Pre-arm check of duplicate RC aux functions fixed (was skipping recently added aux functions) +- Pre-arm checks alert user more quickly on failure +- Prearm check for misconfigured EAHRS_SENSORS and GPS_TYPE +- Proximity sensor based avoidance keeps working even if one proximity sensor fails (Copter, Rover) +- RC aux functions for Arm, Disarm, E-Stop and Parachute ignored when RC is first turned on +- Warning of duplicate SERIALx_PROTOCOL = RCIN + +17) Other bug fixes and minor enhancements + +- Accel cal fixed for auxiliary IMUs (e.g. IMU4 and higher) +- Bootloader fix to reduce unnecessary mass erasing of flash when using STLink or Jlink tools +- Bootloader rejects allocation of broadcast node ID +- CAN forward registering/de-registering fix (affected Mission Planner DroneCAN UI) +- Dijkstras fix to correct use of uninitialised variable +- DShot rates are not limited by NeoPixel rates +- Ethernet and CAN bootloader fix to prevent getting stuck in bootloader mode +- Filesystem does not show entries for empty @ files +- Filesystem efficiency improvements when reading files +- Flight statistics only reset if user sets STAT_RESET to zero (avoids accidental reset) +- Flight time statistics updated on disarm (avoids issue if vehicle powered-down soon after disarm) +- Internal error thrown if we lose parameters due to saving queue being too small +- MAVLink via DroneCAN baud rate fix +- SPI pins may also be used as GPIOs +- Terrain cache size configurable (see TERRAIN_CACHE_SZ) + +18) Developer focused fixes and enhancements + +- AP_Camera gets example python code showing how to use GStreamer with UDP and RTSP video streams +- Cygwin build fix for non-SITL builds +- Cygwin build fixed with malloc wrap +- DroneCAN and scripting support FlexDebug messages (see CAN_Dn_UC_OPTION, FlexDebug.lua) +- EKF3 code generator documentation and cleanup +- GPS jamming simulator added +- MacOS compiler warnings reduced +- SFML joystick support +- SITL support for OpenBSD +- Text warning if older Fence or Rally point protocols are used +------------------------------------------------------------------ Release 4.5.7 08 Oct 2024 Changes from 4.5.7-beta1