Copter: 4.0.0 release notes
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ArduPilot Copter Release Notes:
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Copter 4.0.0-rc6 28-Dec-2019
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Copter 4.0.0 29-Dec-2019 / 4.0.0-rc6 28-Dec-2019
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Changes from 4.0.0-rc5
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1) Compiler updated to gcc 6.3.1 (2nd attempt)
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