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Copter: 4.1.0-rc1 release notes

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Randy Mackay 2021-09-10 11:13:25 +09:00
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ArduCopter/ReleaseNotes.txt
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ArduPilot Copter Release Notes:
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Copter 4.1.0-rc1 10-Sep-2021
Changes from 4.1.0-beta8
1) Enhancements
a) Log download speeds improved on F765 and F777 based boards (USB buffers increased)
b) Serial port DMA contention heuristics improved (reduces chance of delays writing to serial devices)
c) WPNAV_SPEED param changes take immediate effect in Auto
2) Bug Fixes
a) Airmode fix if throttle held at zero for long time
b) Auto mode SCurve jerk time calculation fix (prevents jerk from being set too high)
c) Declination automatic lookup rounding fix (caused inaccurate declination in some parts of world)
d) DShot (bi-directional) support on Pixhawk4, CUAVv5, CUAVv5-Nano
e) IMU semaphore fix to avoid occasional corruption
f) QioTek Zealot F427 GPIO pin fix
g) Replay/DAL RMGH log message format fix
h) Rangefinder initial buffer size and baudrate fix (affected Aintein US-D1 radar)
i) Surface tracking fix to reduce lag and overshoot
j) WPNAV_SPEED change with ch6 tuning knob feature gets divide-by-zero protection
k) WPNAV_SPEED_DN handles negative values
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Copter 4.1.0-beta8 28-Aug-2021
Changes from 4.1.0-beta7
1) Enhancements