Plane: update release notes for 4.0.6beta1

ArduPlane/release-notes.txt

@@ -1,5 +1,95 @@
-Release 4.0.5beta1, 23rd February 2020
---------------------------------------
+Release 4.0.6beta1, 23rd May 2020
+---------------------------------
+
+This is a major release with a significant number of new features and
+bug fixes. You should read the list of changes and the information
+below carefully.
+
+ - changed LED scripting API to allow more than 32 LEDs on a pin
+ - added support for ProfiLED LEDs
+ - added u-blox GPS moving baseline u-blox auto-configuration
+ - fixed handling of GPS antenna positions on EKF GPS switch
+ - changed default USB IDs to new ArduPilot specific IDs
+ - fixed bug in handling trim for RC control of camera mounts
+ - added LGR_OPTIONS bits to control landing gear behaviour on takeoff/landing
+ - improved mavlink streaming output control to better allocate time to each channel
+ - fixed send of mavlink PARAM_VALUE on set of a readonly parameter
+ - fixed mag variance reporting in EKF_STATUS_REPORT mavlink message
+ - fixed time wrap bug in BMP085 barometer driver
+ - fixed buffer overflow in ST24 RC input driver
+ - fixed EKF usage of WMM tables when user has specified a specific declination
+ - fixed bug in AP_Terrain on-disk format
+ - added script for offline generation of terrain data
+ - severel improvements to smbus battery drivers
+ - fixed a race condition in parameter storage on ChibiOS
+ - fixed use of zero GNSS timestamp in UAVCAN GPS driver
+ - improved GCS messages during bootloader flash
+ - fixed CS pin in bootloader that could corrupt FRAM on some boards
+ - added GPS yaw to MAVLink GPS_RAW_INT message
+ - added Hott telemetry support
+ - added FRSky FPort support
+ - fixed bug in CAN clock and queue handling on H7 based boards
+ - added support for BRD_ALT_CONFIG for alternative hardware configs on several boards
+ - added new boards CUAV-Nora, CUAV-X7, MatekH743, R9Pilot, mRoNexus
+ - improved reporting of internal errors to GCS
+ - fixed recursion bug in tonealarm player
+ - fixed flaperon SERVO_AUTO_TRIM behaviour
+ - added option to compensate forward throttle for battery voltage
+ - added compensation in VTOL gains for pressure altitude
+ - switched to new more flexible compass ordering system
+ - fixed forcing of safety off on IOMCU reset
+ - increased maximum compass scale factor to 1.4
+ - added RTL_CLIMB_MIN parameter for initial climb in RTL
+
+The key changes to existing behaviour to watch out for in this update
+are:
+
+USB IDs
+-------
+
+ArduPilot has now switched to it's own USB IDs for all boards. For
+most users this won't cause any change, except they may notice the
+drop down list of devices in MissionPlanner will have the ArduPilot
+flight controllers labelled more usefully as "ArduPilot" instead of
+just "STM32". If you hit issues on windows please try reinstalling the
+device drivers from this URL:
+https://firmware.ardupilot.org/Tools/MissionPlanner/driver.msi
+
+Terrain
+-------
+
+A bug fix in the format ArduPilot uses to store terrain data means
+that your flight controller will need to re-download the terrain data
+onto the sdcard via your GCS. If you fly without a GCS and you use
+terrain data then please re-download the terrain data you need by
+setting up a mission when you have internet access and allowing your
+flight controller to request terrain data from your GCS.
+
+Pressure Altitude Compensation
+------------------------------
+
+This release adds in the missing hook for the VTOL motor controller on
+a quadplane to compensate the VTOL gains using your pressure
+altitude. For most people this will not have a noticible effect, but
+some users that have tuned their aircraft for high locations may
+notice a tuning change.
+
+Compass Ordering
+----------------
+
+The new compass ordering system in this release gives a lot more
+flexibility and should preseve existing configurations and
+calibrations. If you hit issues then please have a look at the new
+compass ordering user interface in recent beta releases of
+MissionPlanner.
+
+Many thanks to everyone who contributed to and tested this release!
+
+Happy flying!
+
+
+Release 4.0.5, 4th March 2020
+-----------------------------
 
 This release includes a one important bug fix and some minor
 enhancements. The changes are: