mirror of https://github.com/ArduPilot/ardupilot
Plane: added release notes for 4.2.0beta1
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Release 4.2.0beta1 2nd March 2022
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---------------------------------
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This is a major release with a lot of changes. We expect at least 4
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weeks of beta testing and several beta updates before 4.2.0 final is
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released.
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Changes include:
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- EKF startup messages reduced
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- LORD Microstrain CX5/GX5 external AHRS support
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- Auto mode supports up to 100 DO_JUMP commands on high memory boards
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- Auto support for NAV_SCRIPT_TIME commands (Lua within Auto)
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- aerobatic scripting from any mode via RC switches
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- new boards AirLink, BeastF7v2, BeastH7v2, JHEMCU GSF405A, KakuteH7, KakuteH7Mini, MambaF405US-I2C, MatekF405-TE, ModalAI fc-v1, PixC4-Jetson, Pixhawk5X, QioTekZealotH743, RPI-Zero2W, SPRacingH7 Extreme, Swan-K1
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- Parachute option to leave servo in open position (see CHUTE_OPTIONS parameter)
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- Parachute released arming check added
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- Pre-arm check of IMU heater temp
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- Pre-arm check of rangefinder health
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- Pre-arm check of throttle position skipped if PILOT_THR_BHV is "Feedback from mid stick"
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- ADIS16470, ADIS16507 and BMI270 IMU support
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- AK09918 compass support
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- Battery monitor supports voltage offset (see BATTx_VLT_OFFSET)
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- Benewake TFMiniPlus I2C address defaults correctly
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- Buzzer can be connected to any PWM on any board
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- Compass calibration (in-flight) uses GSF for better accuracy
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- CRSFv3 support, CSRF telemetry link reports link quality in RSSI
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- Cybot D1 Lidar support
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- DroneCan (aka UAVCAN) battery monitors support scaling (see BATTx_CURR_MULT)
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- DroneCan (aka UAVCAN) GPS-for-yaw support
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- Electronic Fuel Injection support incl Lutan EFI
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- FETtecOneWire resyncs if EMI causes lost bytes
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- IMU heater params renamed to BRD_HEAT_xxx
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- Landing gear enable parameter added (see LGR_ENABLE)
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- Lightware SF40C ver 0.9 support removed (ver 1.0 and higher still supported)
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- Maxbotix serial sonar driver support RNGFNDx_SCALING parameter to support for varieties of sensor
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- MPPT solar charge controller support
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- MTK GPS driver removed
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- Optical flow in-flight calibration
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- Ping200x ADSB support
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- Proximity sensor min and max range (see PRX_MIN, PRX_MAX)
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- QSPI external flash support
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- uLanding (aka USD1) radar provides average of last few samples
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- Unicore NMEA GPS support for yaw and 3D velocity
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- Board ID sent in AUTOPILOT_VERSION mavlink message
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- DO_SET_CAM_TRIG_DIST supports instantly triggering camera
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- DJI FPV OSD multi screen and stats support
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- GPIO pins configured by setting SERVOx_FUNCTION to -1 (also see SERVO_GPIO_MASK. BRD_PWM_COUNT removed)
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- GPIO pin support on main outputs on boards with IOMCU
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- GyroFlow logging (see LOG_BITMASK's "VideoStabilization" option)
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- Firmware version logged in VER message
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- SD card format via MAVLink
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- Serial port option to disable changes to stream rate (see SERIALx_OPTIONS)
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- VIBE logging units to m/s/s
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- BLHeli passthrough reliability improvements
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- Compass learning (inflight) fixed to ignore unused compasses (e.g. those with COMPASS_USE = 0)
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- EKF optical flow terrain alt reset fixed (large changes in rangefinder alt might never be fused)
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- EKF resets due to bad IMU data occur at most once per second
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- GPIO pin fix on CubeOrange, F4BY, mRoControlZeroF7, R9Pilot
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- MAVlink2 serial ports always send MAVLink2 messages (previously waited until other side sent MAVLink2)
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- Omnibusf4pro bi-directional dshot fix
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- Real-Time-Clock (RTC) oldest possible date updated to Jan-2022
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Happy flying!
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Release 4.1.7 12th February 2022
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Release 4.1.7 12th February 2022
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--------------------------------
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--------------------------------
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