Plane: release notes for 4.3.6-beta1

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Andrew Tridgell 2023-05-23 20:44:25 +10:00 committed by Randy Mackay
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Release 4.3.7-beta1 23rd May 2023
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This beta release is for the 4.3.x stable series and is being done
because of a serious bug that has been found with RC input on boards
that use an IOMCU for RC input (boards with a separate set of 8 "main"
outputs from "aux" outputs).
The bug was that when RC input is lost and the receiver is one that
uses "no pulses" for loss of RC input then there is a chance that when
the RC link is regained that ArduPilot will not regain RC control and
will continue in RC failsafe.
The bug is an old one, first introduced in the 4.0.6 release in
September 2020. The bug does not occur often which is why it has been
such a long time before it was noticed. We would like to thank CUAV
for noticing and reporting the bug!
This release also has some other changes, some of which are to sync
with the Copter 4.3.6 release (which will go to 4.3.7 with this RC
input bug fix) and some are other bugs found since the 4.3.5 plane
release.
This release skips the 4.3.6 number to sync with copter.
The full list of changes is:
- fixed a fault in the INS batch sampler code if you change the INS_LOG_BAT_CNT parameter without rebooting
- fixed the RC input on IOMCU bug explained above
- fixed a bug in ICE engine control if you do a "delay engine start" mission command while flying
- added MCU voltage monitoring for the H757 microcontroller (eg. CubeOrangePlus)
- servo gimbal mount yaw handling fix (only affects 3-axis servo gimbals)
- PiccoloCAN fix for ESC voltage and current scaling
- Gremsy gimbal fix when attached to autopilot's serial3 (or higher)
- added CubeOrangePlus-bdshot build
- fixed a bug in handling bad UART data in the megasquirt serial EFI driver
- added -g option for configuring with debug symbols without full debug (helped with RCIN bug diagnosis)
- fixed airmode switch for QACRO and QSTABILIZE modes
- fixed a rare memory corruption bug in the STM32H757
- fixed an EKF3 bug in accel bias calculations
- adjust EKF3 accel bias process noise for greater robustness
- cope with compassmot impacting GSF yaw numerical stability
Please test and report any issues!
Release 4.3.5 26th March 2023
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