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Copter: 4.1.0-beta4 release notes

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Randy Mackay 2021-06-14 08:34:52 +09:00
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ArduCopter/ReleaseNotes.txt
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ArduPilot Copter Release Notes:
------------------------------------------------------------------
Copter 4.1.0-beta4 14-Jun-2021
Changes from 4.1.0-beta3
1) Minor enhancements (or changes)
a) CSRF telemetry improvements to power setting and pass param requests more quickly
b) CUAV X7/Nora supports ICM42688P IMU
c) Pix32v5 USB product string fixed and IMU heater enabled
d) RunCam Hybrid supported (see RUNCAM_TYPE parameter)
e) VisualOdom feature removed from 1MB boards
2) Bug fixes
a) BLHeli Auto only affects telemetry passthrough to ease setup
b) Circular complex fence radius not truncated
c) CubeOrange serial1/2 DMA fixed
d) EKF ground effect compensation fixed
e) ESC telemetry fixes including motor index on boards with I/O mcu
f) I/O MCU reset fix if user had disabled safety switch (recovery from reset would leave motors not spinning)
g) MSP temperature scaling fixed
h) Pilot yaw rate input during arming ignored
i) PreArm check of roll/pitch and yaw angle difference fixed
j) Serial port info file (@SYS/uarts.txt) easier to understand
k) Scheduler fix of premature run of tasks every 163 seconds
l) Visual odometry yaw alignment fixed
m) WPNAV_RADIUS never less than 5cm
------------------------------------------------------------------
Copter 4.1.0-beta3 24-May-2021
Changes from 4.1.0-beta2
1) Dshot bug fix for autopilots with I/O boards (CubeBlack, CubeOrange, etc)