Copter: 4.1.4-rc1 release notes

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Randy Mackay 2022-01-27 14:29:43 +09:00
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ArduPilot Copter Release Notes: ArduPilot Copter Release Notes:
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Copter 4.1.4-rc1 27-Jan-2022
Changes from 4.1.3
1) Benewake CAN Lidar support
2) CAN GPS default lag dropped to 0.1 seconds (was 0.22 seconds)
3) Bug fixes
a) Compass custom orientation is never overwritten during calibration
b) EKF logging gaps fixed (some messages were occasionally being skipped)
c) Guided mode cornering improvements
d) IMU logging fix for IREG message (records IMU register changes)
e) LOITER_TO_ALT mission command's climb rate fixed (could climb or descend too quickly)
f) Position controller init fix to avoid twitch on vehicles with high vibrations
g) Position controller init fix to better handle high speed entry to flight mode
h) Position controller priortises reducing cross track error
i) Position controller relax fix
j) SBUS RC frame gap increased to better handle some new receivers
k) SERVOx_FUNCTION protection to avoid memory overwrite if set too high
l) SD card init triggering watchdog fixed
m) Spline path max lateral acceleration reduced (vehicle stays on path better but may be slower)
n) Takeoff bug fix if taking off below home or frame specified as MSL
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Copter 4.1.3 31-Dec-2021 / 4.1.3-rc2 21-Dec-2021 Copter 4.1.3 31-Dec-2021 / 4.1.3-rc2 21-Dec-2021
Changes from 4.1.3-rc1 Changes from 4.1.3-rc1
1) Suport for IIM-42652, ICM-40605 and ICM-20608-D IMUs 1) Suport for IIM-42652, ICM-40605 and ICM-20608-D IMUs