mirror of https://github.com/ArduPilot/ardupilot
Plane: release notes for 4.2.1
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Release 4.2.1 23rd May 2022
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---------------------------
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This is a minor release on top of the 4.2 firmware. It has a number of
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bug fixes and safety improvements. The changes are:
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- fixed a bug in handling wrap in log download when 500 logs are on the microSD card
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- added FlyingMoonF407 and FlyingMoonF427 support
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- fixed RSSI input on the RCIN pin on CubeBlack and CubeOrange
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- fixed update of gyro FFT throttle tracking
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- removed unhealthy reporting on airspeed sensors with negative pressure as this commonly happens on VTOL takeoff
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- improved handling of large LOITER_TURNS mission items, expanding maximum to 2.5km
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- added fuel usage integration on Lutan EFI
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- refuse arming in AUTO when in a landing sequence due to a failsafe
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- account for sprung throttle (from RC_OPTIONS) in throttle suppression code
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- improved safety of in-flight compass learning
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- fixed automatic airspeed ratio calibration for 2nd airspeed sensor
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- increase safety of GUIDED -> AUTO takeoff sequence used by QGC
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- added CAN_Dx_UC_ESC_OF parameter for ESC offset for bandwidth efficiency
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- fixed handling of safety state on boards with no safety switch
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- fixed bug where a false positive could trigger landing disarm while land repositioning is active
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The most important fixes are related to how QGC (which is often used
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on modern GCS style transmitters) does automatic takeoff with the
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"swipe right for takeoff" system. QGC does a sequence of a change to
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GUIDED mode, then arming, then change to AUTO mode. That sequence is
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dangerous if the current waypoint is not properly reset to a VTOL
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takeoff. To fix this a number of changes were made to ensure that
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takeoff is done with a valid VTOL takeoff. The changes include
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handling of failsafe events (such as GCS or RC failsafe) part way
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through this takeoff sequence. If QRTL or RTL is engaged during this
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sequence then the vehicle will switch to QLAND.
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Happy flying!
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Release 4.2.1beta1 19th May 2022
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Release 4.2.1beta1 19th May 2022
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--------------------------------
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--------------------------------
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