From b208c0b6d4ae95fbb44c20801214931f5a2d3951 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 23 Jul 2021 10:13:59 +0900 Subject: [PATCH] Copter: 4.1.0-beta6 release notes --- ArduCopter/ReleaseNotes.txt | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 1d0d30f5e1..80acaf9faf 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,31 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Copter 4.1.0-beta6 23-Jul-2021 +Changes from 4.1.0-beta5 +1) Enhancements + a) ACRO_Y_EXPO supports negative numbers (-0.5 to +1) + b) GPS-for-yaw enhancements including using position and yaw from different GPSs + c) Guided mode acceleration control + d) Long distance travel supported (thousands of km) including double precision EKF and moving origin +2) Bug Fixes + a) Auto and Guided mode terrain following fixed (could impact terrain if terrain was very steep. see WPNAV_TER_MARGIN) + b) BendyRuler avoidance fixed (was slow and jerky) + c) BLHeli fix that could cause failure to boot + d) Crosstrack reporting fixed + e) CRSF message spamming and firmware string length fixed + f) Display re-enabled on 1MB boards + g) DShot always sends 0 when disarmed (protects against motors spin while disarmed due to misconfiguration) + h) DShot fix that could cause main loop jitter + i) DShot buzzer tone disabled during motor test to remove bad interation + j) Guided mode accepts position targets at high rate + k) Longitude wrap fix (allows autonomous flights as longitude wraps between -180 and 180 deg) + l) Log created on forced arm + m) MatekF405-bdshot NeoPixel LEDs re-enabled on PWM5 + n) Precision landing init fix (if pilot took control, subsequent landings might not trying to land on target) + o) Serial port performance improvements using FIFO on H7 boards + p) TradHeli ground check of yaw fixed (yaw servo was not moving when landed) + q) Throw mode waits for throttle up to improve reliability +------------------------------------------------------------------ Copter 4.1.0-beta5 30-Jun-2021 Changes from 4.1.0-beta4 1) Enhancements