Copter: 4.6.0-beta1 release notes

Co-authored-by: Bill Geyer <bnsgeyer@users.noreply.github.com>
Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com>
Co-authored-by: Thomas Watson <twatson52@mac.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,429 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Release 4.6.0-beta 13 Nov 2024
+
+Changes from 4.5.7
+
+1) Board specific changes
+
+- AnyLeaf H7 supports compass and onboard logging
+- Blitz743Pro supports CAN
+- BlueRobotics Navigator supports BMP390 baro
+- Bootloader ECC failure check fixed on boards with >128k bootloader space (e.g CubeRed)
+- CB Unmanned Stamp H743 support
+- ClearSky CSKY405 support
+- CUAV-7-Nano default batt monitor fixed
+- CubeRed bootloader fixes including disabling 2nd core by default
+- CubeRed supports PPP networking between primary and secondary MCU
+- CubeRedPrimary supports external compasses
+- ESP32 main loop rate improvements
+- ESP32 RC input fixes and wifi connection reliability improved
+- ESP32 safety switch and GPIO pin support
+- FlyingMoon no longer support MAX7456
+- Flywoo F405HD-AIOv2 ELRS RX pin pulled high during boot
+- Flywoo H743 Pro support
+- Flywoo/Goku F405 HD 1-2S ELRS AIO v2
+- FlywooF745 supports DPS310 baro
+- FPV boards lose SMBus battery support (to save flash)
+- GEPRC F745BTHD support
+- GEPRCF745BTHD loses parachute support, non-BMP280 baros (to save flash)
+- Here4FC bootloader fix for mismatch between RAM0 and periph that could prevent firmware updates
+- Holybro Kakute F4 Wing support
+- iFlight 2RAW H743 supports onboard logging
+- JFB110 supports measuring servo rail voltage
+- JFB110 supports safety switch LED
+- JHEM-JHEF405 bootloader supports firmware updates via serial
+- JHEMCU GF30H743 HD support
+- JHEMCU-GF16-F405 autopilot support
+- JHEMCU-GSF405A becomes FPV board (to save flash)
+- KakuteF7 only supports BMP280 baro (to save flash)
+- KakuteH7Mini supports ICM42688 IMU
+- Linux auto detection of GPS baud rate fixed
+- Linux board scheduler jitter reduced
+- Linux board shutdown fixes
+- MakeFlyEasy PixPilot-V6Pro support
+- MatekF405, Pixhawk1-1M-bdshot, revo-mini loses blended GPS (to save flash)
+- MatekH7A3 support Bi-directional DShot
+- MicoAir405v2 and MicoAir405Mini support optical flow and OSD
+- MicoAir743 internal compass orientation fixed
+- MicroAir405Mini, MicroAir743, NxtPX4v2 support
+- MicroAir405v2 Bi-directional DShot and LED DMA fixes
+- MicroAir405v2 defined as FPV board with reduced features (to save flash)
+- ModalAI VOXL2 support including Starling 2 and Starling 2 max
+- mRo Control Zero Classic supports servo rail analog input
+- mRo KitCAN revC fixed
+- Mugin MUPilot support
+- OmnibusF7v2 loses quadplane support (to save flash)
+- Pixhack-v3 board added (same as fmuv3)
+- Pixhawk6C bootloader supports flashing firmware from SD card
+- RadiolinkPIX6 imu orientation fixed
+- RadiolinkPIX6 supports SPA06 baro
+- ReaperF745 V4 FC supports MPU6000 IMU
+- RPI5 support
+- SDModelH7v2 SERIAL3/7/9_PROTOCOL param defaults changed
+- Solo serial ports default to MAVLink1
+- SpeedyBeeF405Wing gets Bi-directional DShot
+- SpeedyBeeF405WING loses landing gear support, some camera gimbals (to save flash)
+- Spektreworks boom board support
+- TrueNavPro-G4 SPI does not share DMA
+- X-MAV AP-H743v2 support
+
+2) AHRS/EKF enhancements and fixes
+
+- AHRS_OPTION to disable fallback to DCM (affects Plane and Rover, Copter never falls back)
+- AHRS_OPTION to disable innovation check for airspeed sensor
+- Airspeed sensor health check fixed when using multiple sensors and AHRS affinity
+- DCM support for MAV_CMD_EXTERNAL_WIND_ESTIMATE (Plane only)
+- EK2 supports disabling external nav (see EK2_OPTIONS)
+- EK3 External Nav position jump after switch from Optical flow removed (see EK3_SRC_OPTION=1)
+- EK3 uses filtered velocity corrections for IMU position
+- EKF2, EKF3, ExternalAHRS all use common origin
+- EKF3 accepts set origin even when using GPS
+- EKF3 allows earth-frame fields to be estimated with an origin but no GPS
+- EKF3 copes better with GPS jamming
+- EKF3 logs mag fusion selection to XKFS
+- EKF3 wind estimation when using GPS-for-yaw fixed
+- External AHRS improvements including handling variances, pre-arm origin check
+- Inertial Labs External AHRS fixes
+- VectorNav driver fix for handling of error from sensor
+- VectorNav External AHRS enhancements including validation of config commands and logging improvements
+- VectorNav support for sensors outside VN-100 and VN-300
+
+3) Driver enhancements and bug fixes
+
+- ADSB fix to display last character in status text sent to GCS
+- Ainstein LR-D1 radar support
+- Airspeed ASP5033 whoami check fixed when autopilot rebooted independently of the sensor
+- AIRSPEED message sent to GCS
+- Analog temperature sensor extended to 5th order polynomial (see TEMP_A5)
+- ARSPD_OPTIONS to report calibration offset to GCS
+- Baro EAS2TAS conversions continuously calculated reducing shocks to TECS (Plane only)
+- Baro provides improved atmospheric model for high altitude flight
+- BARO_ALT_OFFSET slew slowed to keep EKF happy
+- BATTx_ESC_MASK param supports flexible mapping of ESCs to batteries
+- BATTx_OPTION to not send battery voltage, current, etc to GCS
+- Benewake RDS02U radar support
+- Bi-directional DShot on IOMCU supports reversible mask
+- Bi-directional DShot telemetry support on F103 8Mhz IOMCUs
+- BMM350 compass support
+- CAN rangefinders and proximity sensors may share a CAN bus (allows NRA24 and MR72 on a single CAN bus)
+- Compass calibration world magnetic model checks can use any position source (e.g. not just GPS)
+- CRSF baro and vertical speeed fixed
+- CRSF RX bind command support
+- DroneCAN battery monitor check to avoid memory corruption when type changed
+- DroneCAN DNA server fixes including removing use of invalid node IDs, faster ID allocation, elimination of rare inability to save info
+- DroneCAN EFI health check fix
+- DroneCAN ESC battery monitors calculate consumed mah
+- DroneCAN ESCs forced to zero when disarmed
+- DroneCAN RPM message support
+- DroneCAN timeout fix for auxiliary frames
+- DroneCAN to serial tunneling params accepts short-hand baud rates (e.g. '57' for '57600')
+- F9P, F10-N and Zed-F9P support for GPSx_GNSS_MODE to turn on/off SBAS, Galileo, Beidou and Glonass
+- FuelLevel battery monitor fix to report capacity
+- GPS_xxx params renamed to GPS1_xxx, GPS_xxx2 renamed to GPS2_xxx
+- Hirth EFI logging includes modified throttle
+- Hirth ICEngine supports reversed crank direction (see ICE_OPTIONS parameter)
+- Hott and LTM telemetry deprecated (still available through custom build server)
+- i-BUS telemetry support
+- ICE_PWM_IGN_ON, ICE_PWM_IGN_OFF, ICE_PWM_STRT_ON, ICE_PWM_STRT_OFF replaced with SERVOx_MIN/MAX/REVERSED (Plane only)
+- ICE_START_CHAN replaced with RC aux function (Plane only)
+- ICEngine retry max added (see ICE_STRT_MX_RTRY)
+- IE 2400 generator error message severity to GCS improved
+- INA2xx battery monitor support (reads temp, gets MAX_AMPS and SHUNT params)
+- MCP9600 temperature sensor I2C address fixed
+- MLX90614 temperature sensor support
+- MSP GPS ground course scaling fixed
+- MSP RC uses scaled RC inputs (fixes issue with RCx_REVERSED having no effect)
+- Networking supports reconnection to TCP server or client
+- OSD params for adjusting horizontal spacing and vertical extension (see OSD_SB_H_OFS, OSD_SB_V_EXT)
+- Relay inverted output support (see RELAYx_INVERTED parameter)
+- ROMFS efficiency improvements
+- RS-485 driver enable RTS flow control
+- Sagetech MXS ADSP altitude fix (now uses abs alt instead of terrain alt)
+- Septentrio GPS sat count correctly drops to zero when 255 received
+- Septentrio supports selecting constellations (see GPS_GNSS_MODE)
+- Single LED for user notification supported
+- SPA06 baro supported
+- Sum battery monitor optionally reports minimum voltage instead of average
+- Sum battery monitor reports average temp
+- Torqeedo dual motor support (see TRQ1, TRQ2 params)
+- Ublox GPS driver uses 64 bit time for PPS interrupt (avoids possible dropout at 1hour and 12 minutes)
+- UBlox GPS time ignored until at least 2D fix
+- VideoTX supports additional freq bands (RushFPV 3.3Ghz)
+- Volz logs desired and actual position, voltage, current, motor and PCB temp
+- Volz server feedback and logging fixed
+- Volz servo output in its own thread resulting in smoother movements
+- W25N02KV flash support
+
+4) Networking enhancements and fixes
+
+- Allow multiple UDP clients to connect/disconnect/reconnect
+- Ethernet supports faster log downloading (raised SDMMC clock limit on H7)
+
+5) Camera and gimbal enhancements
+
+- Alexmos precision improved slightly
+- CAMERA_CAPTURE_STATUS mavlink msg sent to GCS (reports when images taken or video recorded, used by QGC)
+- CAMERA_FOV_STATUS mavlink reports lat,lon of what camera is pointing at
+- DO_MOUNT_CONTROL yaw angle interpreted as body-frame (was incorrectly being interpreted as earth-frame)
+- Dual serial camera gimbal mounts fixed
+- Lua script bindings to send CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION messages to GCS
+- Retract Mount2 aux function added (see RCx_OPTION = 113)
+- Servo gimbal reported angles respect roll, pitch and yaw limits
+- Siyi driver sends autopilot location and speed (recorded in images via EXIF)
+- Siyi picture and video download scripts
+- Siyi ZT6 and ZT30 support sending min, max temperature (see CAMERA_THERMAL_RANGE msg)
+- Siyi ZT6 and ZT30 thermal palette can be changed using camera-change-setting.lua script
+- Siyi ZT6 hardware id and set-lens fixed
+- Topotek gimbal support
+- Trigger distance ignores GPS status and only uses EKF reported location
+
+6) Harmonic notch enhancements
+
+- Harmonic notch is active in forward flight on quadplanes
+- Harmonic notch filter freq clamping and disabling reworked
+- Harmonic notch handles negative ESC RPMs
+- Harmonic notch supports per-motor throttle-based harmonic notch
+
+7) Copter specific enhancements and bug fixes
+
+- Attitude control fix to dt update order (reduces rate controller noise)
+- Auto mode fix to avoid prematurely advancing to next waypoint if given enough time
+- Auto mode small target position jump when takeoff completes removed
+- Auto mode yaw drift when passing WP removed if CONDITION_YAW command used and WP_YAW_BEHAVIOR = 0/None
+- Auto, Guided flight mode pause RC aux switch (see RCx_OPTION = 178)
+- AutoRTL (e.g. DO_LAND_START) uses copter stopping point to decide nearest mission command
+- AutoRTL mode supports DO_RETURN_PATH_START (Copter, Heli only)
+- AutoTune fix to prevent spool up after landing
+- AutoTune performance and safety enhancements (less chance of ESC desync, fails when vehicle likely can't be tuned well)
+- Autotune test gains RC aux switch function allows testing gains in any mode (see RCx_OPTION = 180)
+- Config error avoided if auto mode is paused very soon after poweron
+- FLIGHT_OPTIONS bit added to require position estimate before arming
+- Follow mode slowdown calcs fixed when target is moving
+- Ground oscillation suppressed by reducing gains (see ATC_LAND_R/P/Y_MULT)
+- Guided mode internal error fix when taking off using SET_ATTITUDE_CONTROL message
+- Guided mode internal error resolved when switching between thrust or climb rate based altitude control
+- Guided mode yaw fixed when WP_YAW_BEHAVIOR = 0/None and CONDITION_YAW command received containing relative angle
+- Landing detector fixed when in stabilize mode at full throttle but aircraft is upside down
+- Landing detector logging added to ease support (see LDET message)
+- Loiter unlimited command accepts NaNs (QGC sends these)
+- Mavlink SYSTEM_STATUS set to BOOT during initialisation
+- MOT_PWM_TYPE of 9 (PWMAngle) respects SERVOx_MIN/MAX/TRIM/REVERSED param values
+- Payload place bug fix when aborted because gripper is already released
+- RC based tuning (aka CH6 tuning) can use any RC aux function channel (see RCx_OPTION = 219)
+- RTL_ALT minimum reduced to 30cm
+- SystemID position controller support (Copter and Heli)
+- TriCopter motor test and slew-up fixed
+- WPNAV_SPEED min reduced to 10 cm/s (Copter only)
+- Loiter mode zeros desired accel when re-entering from Auto during RC failsafe
+
+8) TradHeli specific enhancements
+
+- Autorotation yaw behaviour fix
+- Autotune improvements including using low frequency dwell for feedforward gain tuning and conducting sweep in attitude instead of rate
+- Blade pitch angle logging added (see SWSH log message)
+- Constrain cyclic roll for intermeshing
+- ICE / turbine cool down fix
+- Inverted flight extended to non manual throttle modes
+- Inverted flight transitions smoothed and restricted to only Stabilize mode
+- SWSH logging fix for reversed collectives
+
+9) Plane specific enhancements and bug fixes
+
+- AIRSPEED_STALL holds vehicle stall speed and is used for minimum speed scaling
+- Allow for different orientations of landing rangefinder
+- Assistance requirements evaluted on mode change
+- FBWB/CRUISE climb/sink rate limited by TECS limits
+- FLIGHT_OPTION to immediately climb in AUTO mode (not doing glide slope)
+- Glider pullup support (available only through custom build server)
+- Loiter breakout improved to better handle destinations inside loiter circle
+- Manual mode throttle made consistent with other modes (e.g battery comp and watt limit is done if enabled)
+- Mavlink GUIDED_CHANGE_ALTITUDE supports terrain altitudes
+- Minimum throttle not applied during SLT VTOL airbrake (reduces increase in airspeed and alt during back transition)
+- Q_APPROACH_DIST set minimum distance to use the fixed wing approach logic
+- Quadplane assistance check enhancements
+- Quadplane Deca frame support
+- Quadplane gets smoother takeoff by input shaping target accel and velocity
+- Servo wiggles in altitude wait staged to be one after another
+- Set_position_target_global_int accepts MAV_FRAME_GLOBAL_RELATIVE_ALT and MAV_FRAME_GLOBAL_TERRAIN_ALT frames
+- Takeoff airspeed control improved (see TKOFF_MODE, TKOFF_THR_MIN)
+- Takeoff fixes for fence autoenable
+- Takeoff improvements including less overshoot of TKOFF_ALT
+- TECS reset along with other controllers (important if plane dropped from balloon)
+- Tilt quadplane ramp of motors on back transition fixed
+- Tiltrotor tilt angles logged
+- TKOFF_THR_MIN applied to SLT transitions
+- Twin motor planes with DroneCAN ESCs fix to avoid max throttle at arming due to misconfiguration
+- VTOLs switch to QLAND if a LONG_FAILSAFE is triggered during takeoff
+
+10) Rover specific enhancements and bug fixes
+
+- Auto mode reversed state maintained if momentarily switched to Hold mode
+- Circle mode tracks better and avoids getting stuck at circle edge
+- Flight time stats fixed
+- MAV_CMD_NAV_SET_YAW_SPEED deprecated
+- Omni3Mecanum frame support
+- Stopping point uses max deceleration (was incorrectly using acceleration)
+- Wheel rate controller slew rate fix
+
+11) Antenna Tracker specific enhancements and bug fixes
+
+- Never track lat,lon of 0,0
+
+12) Scripting enhancements
+
+- advance-wp.lua applet supports advancing Auto mode WP via RC switch
+- AHRS_switch.lua supports switching between EKF2 and EKF3 via RC switch
+- battery_internal_resistance_check.lua monitors battery resistance
+- CAN:get_device returns nil for unconfigured CAN device
+- copter_terrain_brake.lua script added to prevent impact with terrain in Loiter mode (Copter only)
+- Copter:get_target_location, update_target_location support
+- crosstrack_restore.lua example allows returning to previous track in Auto (Plane only)
+- Display text on OLED display supported
+- Docs improved for many bindings
+- EFI get_last_update_ms binding
+- EFI_SkyPower.lua driver accepts 2nd supply voltage
+- ESC_slew_rate.lua example script supports testing ESCs
+- Filesystem CRC32 check to allow scripts to check module versions
+- forced arming support
+- GPIO get/set mode bindings (see gpio:set_mode, get_mode)
+- GPS-for-yaw angle binding (see gps:gps_yaw_deg)
+- Halo6000 EFI driver can log all CAN packets for easier debugging
+- handle_external_position_estimate binding allows sending position estimate from lua to EKF
+- I2C:transfer support
+- IMU gyros_consistent and accels_consistent bindings added
+- INF_Inject.lua driver more robust to serial errors, improved logging, throttle and ignition control
+- INS bindings for is calibrating, gyro and accel sensor values
+- IPV4 address bindings (see SocketAPM_ipv4_addr_to_string) to allow UDP server that responds to individual clients
+- Logging of booleans supported
+- Lua language checks improved (finds more errors)
+- MAVLink commands can be called from scripting
+- MCU voltage binding (see analog:mcu_voltage)
+- NMEA 2000 EFI driver (see EFI_NMEA2k.lua)
+- "open directory failed" false warning when scripts in ROMFS fixed
+- Param_Controller.lua supports quickly switching between 3 parameter sets via RC switch
+- Pass by reference values are always initialized
+- pelco_d_antennatracker.lua applet supports sending Pelco-D via RS-485 to PTZ cameras
+- plane_aerobatics.lua minor enhancements
+- REPL applet (read-evaluate-print-loop, see repl.lua) for interactive testing and experimentation
+- "require" function failures in rare circumstances fixed
+- "require" function works for modules in ROMFS (e.g. not on SD card)
+- revert_param.lua supports more params (e.g ATC_RATE_R/P/Y, PTCH2SRV_TCONST, RLL2SRV_TCONST, TECS_)
+- Scripts may receive mavlink messages which fail CRC (e.g messages which FC does not understand)
+- SD card formatting supported
+- Serial device simulation support (allows Lua to feed data to any supported serial protocol for e.g. sensor simulation)
+- set_target_throttle_rate_rpy allows rate control from scripts (new for Copter)
+- sitl_standby_sim.lua example shows how to switch between redundant flight controllers using an RC switch
+- Slung payload oscillation suppression applet added (see copter-slung-payload.lua)
+- Temperature sensor bindings added
+- uint64 support
+- Various performance and memory usage optimizations
+- VTOL-quicktune.lua minor enhancements including increasing YAW_FLTE_MAX to 8
+- x-quad-cg-allocation.lua applet corrects for the CoM discrepancy in a quad-X frame
+
+13) GCS / mavlink related changes and fixes
+
+- BATTERY2 message deprecated (replaced by BATTERY_STATUS)
+- CMD_MISSION_START/STOP rejected if first-item/last-item args provided
+- Deny attempts to upload two missions simultaneously
+- Fence and Rally points may be uploaded using FTP
+- GPS_INPUT and HIL_GPS handles multiple GPSs
+- HIGHRES_IMU mavlink message support (used by companion computers to receive IMU data from FC)
+- MAV_CMD_COMPONENT_ARM_DISARM accepts force arm magic value of 21196
+- MAV_CMD_DO_SET_SAFETY_SWITCH_STATE support
+- MAV_CMD_SET_HAGL support (Plane only)
+- MAVFTP respects TX buffer flow control to improve FTP on low bandwidth links
+- MAVLink receiver support (RADIO_RC_CHANNELS mavlink message)
+- Message interval supports TERRAIN_REPORT msg
+- Mission upload may be cancelled using MISSION_CLEAR_ALL
+- MOUNT_CONFIGURE, MOUNT_CONTROL messages deprecated
+- RC_CHANNELS_RAW deprecated
+- Serial passthrough supports parity allowing STM32CubeProgrammer to be used to program FrSky R9 receivers
+- SET_ATTITUDE_TARGET angular rate input frame fixed (Copter only)
+- TIMESYNC and NAMED_VALUE_FLOAT messages not sent on high latency MAVLink ports
+
+14) Logging enhancements and fixes
+
+- AC_PID resets and I-term sets logged
+- ANG provides attitude at high rate (equivalent to ATT)
+- ATT logs angles as floats (better resolution than ints)
+- CAND message gets driver index
+- DCM log message includes roll/pitch and yaw error
+- EDT2 log msg includes stress and status received via extended DShot Telemetry v2
+- EFI ECYL cylinder head and exhaust temp logs in degC (was Kelvin)
+- ESCX log msg includes DroneCAN ESCs status, temp, duty cycle and power pct
+- FMT messages written as required instead of all at beginning
+- Logging restarted after download completes when LOG_DISARMED = 1
+- MISE msg logs active mission command (CMD logged when commands are uploaded)
+- ORGN message logging fixed when set using SET_GPS_GLOBAL_ORIGIN
+- RPM sensor logging gets instance field, quality and health fields
+- Short filename support removed (e.g log1.BIN instead of 00000001.BIN)
+- Temperature sensor logging option for only sensors with no source (see TEMP_LOG)
+- UART data rates logged at 1hz (see UART message)
+
+15) ROS2 / DDS support
+
+- Airspeed published
+- Battery topic reports all available batteries
+- Compile-time configurable rates for each publisher
+- DDS_TIMEOUT_MS and DDS_MAX_RETRY set timeout and num retries when client pings XRCE agent
+- GPS global origin published at 1 Hz
+- High frequency raw imu data transmission
+- Joystick support
+- Support sending waypoints to Copter and Rover
+- Remove the XML refs file in favor of binary entity creation
+
+16) Safety related enhancements and fixes
+
+- Accel/Gyro inconsistent message fixed for using with only single IMU
+- Battery monitor failure reported to GCS, triggers battery failsafe but does not take action
+- Far from EKF origin pre-arm check removed (Copter only)
+- Fence breach warning message slightly improved
+- Fence enhancements incluiding alt min fence (Copter only, see FENCE_AUTOENABLE, FENCE_OPTIONS)
+- Fences can be stored to SD Card (see BRD_SD_FENCE param)
+- ICEngine stopped when in E-Stop or safety engaged (Plane only)
+- LEDs flash green lights based on EKF location not GPS
+- Parachute option to skip disarm before parachute release (see CHUTE_OPTIONS)
+- Plane FENCE_AUTOENABLE of 1 or 2 deprecation warning added
+- Pre-arm check if OpenDroneID is compiled in but disabled
+- Pre-arm check of duplicate RC aux functions fixed (was skipping recently added aux functions)
+- Pre-arm checks alert user more quickly on failure
+- Prearm check for misconfigured EAHRS_SENSORS and GPS_TYPE
+- Proximity sensor based avoidance keeps working even if one proximity sensor fails (Copter, Rover)
+- RC aux functions for Arm, Disarm, E-Stop and Parachute ignored when RC is first turned on
+- Warning of duplicate SERIALx_PROTOCOL = RCIN
+
+17) Other bug fixes and minor enhancements
+
+- Accel cal fixed for auxiliary IMUs (e.g. IMU4 and higher)
+- Bootloader fix to reduce unnecessary mass erasing of flash when using STLink or Jlink tools
+- Bootloader rejects allocation of broadcast node ID
+- CAN forward registering/de-registering fix (affected Mission Planner DroneCAN UI)
+- Dijkstras fix to correct use of uninitialised variable
+- DShot rates are not limited by NeoPixel rates
+- Ethernet and CAN bootloader fix to prevent getting stuck in bootloader mode
+- Filesystem does not show entries for empty @ files
+- Filesystem efficiency improvements when reading files
+- Flight statistics only reset if user sets STAT_RESET to zero (avoids accidental reset)
+- Flight time statistics updated on disarm (avoids issue if vehicle powered-down soon after disarm)
+- Internal error thrown if we lose parameters due to saving queue being too small
+- MAVLink via DroneCAN baud rate fix
+- SPI pins may also be used as GPIOs
+- Terrain cache size configurable (see TERRAIN_CACHE_SZ)
+
+18) Developer focused fixes and enhancements
+
+- AP_Camera gets example python code showing how to use GStreamer with UDP and RTSP video streams
+- Cygwin build fix for non-SITL builds
+- Cygwin build fixed with malloc wrap
+- DroneCAN and scripting support FlexDebug messages (see CAN_Dn_UC_OPTION, FlexDebug.lua)
+- EKF3 code generator documentation and cleanup
+- GPS jamming simulator added
+- MacOS compiler warnings reduced
+- SFML joystick support
+- SITL support for OpenBSD
+- Text warning if older Fence or Rally point protocols are used
+------------------------------------------------------------------
 Release 4.5.7 08 Oct 2024
 
 Changes from 4.5.7-beta1