Copter-4.0.1 released!

@rmackay9 wrote:

Copter-4.0.1 has been released as the official firmware for multicopters and traditional helicopters and should be available for download from the ground stations within a few hours of this post.

The changes vs 4.0.0 are in the ReleaseNotes and copied below:

1. FrSky telemetry status text handling fix (Critical Fix)
2. Circle mode allows pilot control of radius and rotation speed
3. CAN servo feedback logged
4. Magnetic declination tables updated
5. Serial0 protocol forced to MAVLink (avoids accidental disabling of USB port)
6. Minor Enhancements:
   a) Autorotate flight mode renamed to Heli_Autorotate
   b) Solo default parameters updated
   c) “Prepared log system” initialisation message removed
7. Bug Fixes:
   a) TradHeli RSC RC passthrough fixed
   b) CubeOrange and Durandal I2C timing fixed (was running slow)
   c) Compass calibration auto orientation skips “pitch 7” which could cause cal to fail
   d) Durandal’s fourth I2C port fixed
   e) Linux boards with CAN support fixed
   f) Neopixel added to SERVOx_FUNCTION param description
   g) NMEA Output fixed (was sending an extra CR)
   h) Optflow messages sent even if EKF has no height estimate
   i) SkyViper build fixed
   j) Spektrum/DSM 22ms RC input fixed
   k) “UC Node Down” message removed (was unnecessarily scary)
   l) Semaphore fixes for Logging, Filesystem and UAVCAN Dyanmic Node Allocation
   m) RangeFinder parameter fix (4th rangefinder was using 1st rangefinder’s params)
   n) TradHeli STB_COL_x parameter description fixed

The most important change is “1) FrSky telemetry status text handling fix (Critical Fix)” which resolves the critical issue announced in this blog post.

WARNING: we have seen two reports of CAN compasses not being recognised at startup unless BRD_DELAY_MS is set to 5000. This parameter slows down the autopilot’s boot time (by 5 seconds) which gives more time for the CAN peripheral to startup. This is not a critical “bug” that should lead to crashes but we would like to hear from users if they are having troubles with CAN compasses being detected.

Special thanks to our beta testers for testing this release over the past few weeks. You are a critical part of the process and we really appreciate your help! Thanks!

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