Copter-4.6.2 has been released as the stable/official version for multicopters and traditional helicopter and should be available for download from MP and QGC within a few hours of this post. Alternatively it can be downloaded directly from firmware.ardupilot.org.
The changes vs 4.6.1 can be found in the ReleaseNotes and copied below:
- Board specific changes
- AEDROX H7 support
- FoxeerF405v2, GEPRCF745BTHD now use SPA06 barometer
- GEPRC autopilots support QMC5883P compass
- JFB110 SD card speed increased (resolves startup failure)
- MicoAir743-AIO OSD type fixed
- Sequre-H743/H743v2 autopilot support
- Skystars H7HDv2 support
- SPEDIX F405, H743 support
-
Copter/VTOL position control PSC_VELXY_D param default reduced from 0.5 to 0.25
-
Plane specific changes
- DO_RETURN_PATH_START mission command support
- LOITER_TURNS command with zero turns fixed (was skipping waypoint)
- System ID feature implemented in Quadplane and enabled through an AUX switch
- VTOLs get reduce speed scaler in assisted flight at low airspeed
- VTOL transitions lose unnecessary bad descent protection
- Bug Fixes and minor enhancements
- BLHeli passthrough fixes
- CAN race condition fixed on Linux and SITL
- ChibiOS serial driver initialisation respects options to disable TX/RX DMA
- ChibiOS tools fix to include bootloaders in hex files (no user impact)
- Copter/VTOL AutoTune fix to restore gains when tuning aborts
- CRSF bootstrap completes when not using passthrough
- CRSF ground speed fixed (was about 20% off)
- DroneCAN GPS ellipsoid alt only trusted if different from AMSL (avoids false impression of zero undulation)
- DroneCAN Servos/ESCs fix when commanding output PWM of zero (previously could go to min or full reverse for bidir ESCs)
- Fence and Rally point upload using older MISSION_ITEM messages fixed
- Flash ECC check fixed on H7 boards
- LD06/LD19 lidar get mode filter to reduce sensitivity to sunlight
- Linux serial driver initial baud rate fixed
- MPPT power module nullptr check added to prevent potential hardfault
- Networking PPP made much more robust
- “No ap_message for mavlink id” message removed on all boards except SITL
- Parameter writes via FTP correctly obey parameter’s read-only setting
- Scripting fix for null pointer dereferences when passing incorrect types to certain functions expecting strings
- Sensor health reporting made threadsafe (previously could incorrectly report unhealthy)
- Set-message-interval mavlink messages rejected if intervals below -1
- Siyi ZT6 gets warning if using old camera firmware (should use 0.1.9 or higher)
- SLCAN potential hardfault on arming fixed
- SPLO6 baro initialisation fix
- UBlox F9P driver fix for GPSs configured to never send MSG_STATUS
- VTX hang when setting LowRace band fixed
Thanks to the devs and beta testers who contributed to this release!
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