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Copter: release notes for 4.0.4-rc1

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Randy Mackay 2020-05-25 11:30:01 +09:00
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ArduCopter/ReleaseNotes.txt
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ArduPilot Copter Release Notes: ArduPilot Copter Release Notes:
------------------------------------------------------------------ ------------------------------------------------------------------
Copter 4.0.4-rc1 25-May-2020
Changes from 4.0.3
1) Bug Fixes:
a) I/O CPU fix so safety remains off after infligth reboot (Critical fix)
b) Acro mode yaw expo supports values under 0.5 (see ACRO_Y_EXPO param)
c) Auto mode Loiter-Turn commands points towards center
d) Change-Speed commands applied smoothly
e) EKF compass variance reporting to GCS made consistent with onboard logs
f) Gimbal control using RC input ignores RCx_TRIM param
g) Holybro Durandal buzzer fix
h) Parameter reset fix caused by Eeprom race condition
i) Read-only parameter write failure msg only sent once to GCS
j) RM3100 scaling factor threshhold increased
k) Compass declination can be overriden with COMPASS_DEC param (and EKF stops using world magnetic tables)
l) Terrain database (SRTM) file fix (will cause all terrain to be reloaded after upgrade)
2) Bootloader update to reduce change of param resets during firmware load
3) Compass ordering and prioritisation improvements
4) Flight controller support:
a) CUAV-Nora
b) CUAV-X7
c) MatekSys H743
e) mRo Nexus
d) R9Pilot
5) GPS moving baseline (aka Yaw from GPS)
6) Graupner Hott telemetry support
7) Landing detector filter improvement improves detection on hard surfaces
8) Object Avoidances Fixes and improvements:
a) BendyRuler runs more slowly to reduce CPU load and reduce timeouts
b) Dijkstra's avoidance works with more fence points
c) Proximity drivers (i.e. 360deg lidar) simplified to reduce CPU load
9) ProfiLED LEDs support
10) Smart Battery improvements:
a) Cycle count added
b) NeoDesign battery support
c) SUI battery support
11) Other enhancements:
a) Betaflight X frame type support
b) Landing gear auto deploy/retract configurable using LGR_OPTIONS param
c) MOT_PWM_MIN/MAX pre-arm check (checks fail if only one has been set)
d) Solo gimbal and camera control improvements
e) USB IDs updated to new ArduPilot specific IDs
------------------------------------------------------------------
Copter 4.0.3 28-Feb-2020 / 4.0.3-rc1 20-Feb-2020 Copter 4.0.3 28-Feb-2020 / 4.0.3-rc1 20-Feb-2020
Changes from 4.0.2 Changes from 4.0.2
1) Bug Fixes: 1) Bug Fixes: