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ReleaseNotes.txt
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Rover Release Notes:
------------------------------------------------------------------
Release 4.6.0-beta2 11 Dec 2024
Changes from 4.6.0-beta1
1) Board specfic changes
- FoxeerF405v2 supports BMP280 baro
- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
- MUPilot support
- SkySakura H743 support
- TBS Lucid H7 support
- VUAV-V7pro README documentation fixed
- X-MAV AP-H743v2 CAN pin definition fixed
2) Copter specific enhancements and bug fixes
- AutoTune fix for calc of maximum angular acceleration
- Advanced Failsafe customer build server option
3) Plane related enhancements and bug fixes
- QuadPlane fix for QLand getting stuck in pilot repositioning
- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
- Takeoff direction fixed when no yaw source
- TECS correctly handles home altitude changes
4) Bug Fixes and minor enhancements
- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
- CAN frame logging added to ease support
- CRSF reconnection after failsafe fixed
- EKF3 position and velocity resets default to user defined source
- Ethernet IP address default 192.168.144.x
- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
- Fence pre-arm check that vehicle is within polygon fence
- Fence handling of more than 256 items fixed
- FFT protection against divide-by-zero in Jain estimator
- Frsky telemetry apparent wind speed fixed
- Inertial sensors stop sensor converging if motors arm
- Inertial sensors check for changes to notch filters fixed
- Real Time Clock allowed to shift forward when disarmed
- ROS2/DDS get/set parameter service added
- Scripting gets memory handling improvements
- Scripting promote video-stream-information to applet
- Topotek gimbal driver uses GIA message to retrieve current angle
- Tramp VTX OSD power indicator fixed
------------------------------------------------------------------
Release 4.6.0-beta1 13 Nov 2024
Changes from 4.5.7
1) Board specific changes
- AnyLeaf H7 supports compass and onboard logging
- Blitz743Pro supports CAN
- BlueRobotics Navigator supports BMP390 baro
- Bootloader ECC failure check fixed on boards with >128k bootloader space (e.g CubeRed)
- CB Unmanned Stamp H743 support
- ClearSky CSKY405 support
- CUAV-7-Nano default batt monitor fixed
- CubeRed bootloader fixes including disabling 2nd core by default
- CubeRed supports PPP networking between primary and secondary MCU
- CubeRedPrimary supports external compasses
- ESP32 main loop rate improvements
- ESP32 RC input fixes and wifi connection reliability improved
- ESP32 safety switch and GPIO pin support
- FlyingMoon no longer support MAX7456
- Flywoo F405HD-AIOv2 ELRS RX pin pulled high during boot
- Flywoo H743 Pro support
- Flywoo/Goku F405 HD 1-2S ELRS AIO v2
- FlywooF745 supports DPS310 baro
- FPV boards lose SMBus battery support (to save flash)
- GEPRC F745BTHD support
- GEPRCF745BTHD loses parachute support, non-BMP280 baros (to save flash)
- Here4FC bootloader fix for mismatch between RAM0 and periph that could prevent firmware updates
- Holybro Kakute F4 Wing support
- iFlight 2RAW H743 supports onboard logging
- JFB110 supports measuring servo rail voltage
- JFB110 supports safety switch LED
- JHEM-JHEF405 bootloader supports firmware updates via serial
- JHEMCU GF30H743 HD support
- JHEMCU-GF16-F405 autopilot support
- JHEMCU-GSF405A becomes FPV board (to save flash)
- KakuteF7 only supports BMP280 baro (to save flash)
- KakuteH7Mini supports ICM42688 IMU
- Linux auto detection of GPS baud rate fixed
- Linux board scheduler jitter reduced
- Linux board shutdown fixes
- MakeFlyEasy PixPilot-V6Pro support
- MatekF405, Pixhawk1-1M-bdshot, revo-mini loses blended GPS (to save flash)
- MatekH7A3 support Bi-directional DShot
- MicoAir405v2 and MicoAir405Mini support optical flow and OSD
- MicoAir743 internal compass orientation fixed
- MicroAir405Mini, MicroAir743, NxtPX4v2 support
- MicroAir405v2 Bi-directional DShot and LED DMA fixes
- MicroAir405v2 defined as FPV board with reduced features (to save flash)
- ModalAI VOXL2 support including Starling 2 and Starling 2 max
- mRo Control Zero Classic supports servo rail analog input
- mRo KitCAN revC fixed
- Mugin MUPilot support
- OmnibusF7v2 loses quadplane support (to save flash)
- Pixhack-v3 board added (same as fmuv3)
- Pixhawk6C bootloader supports flashing firmware from SD card
- RadiolinkPIX6 imu orientation fixed
- RadiolinkPIX6 supports SPA06 baro
- ReaperF745 V4 FC supports MPU6000 IMU
- RPI5 support
- SDModelH7v2 SERIAL3/7/9_PROTOCOL param defaults changed
- Solo serial ports default to MAVLink1
- SpeedyBeeF405Wing gets Bi-directional DShot
- SpeedyBeeF405WING loses landing gear support, some camera gimbals (to save flash)
- Spektreworks boom board support
- TrueNavPro-G4 SPI does not share DMA
- X-MAV AP-H743v2 support
2) AHRS/EKF enhancements and fixes
- AHRS_OPTION to disable fallback to DCM (affects Plane and Rover, Copter never falls back)
- AHRS_OPTION to disable innovation check for airspeed sensor
- Airspeed sensor health check fixed when using multiple sensors and AHRS affinity
- DCM support for MAV_CMD_EXTERNAL_WIND_ESTIMATE (Plane only)
- EK2 supports disabling external nav (see EK2_OPTIONS)
- EK3 External Nav position jump after switch from Optical flow removed (see EK3_SRC_OPTION=1)
- EK3 uses filtered velocity corrections for IMU position
- EKF2, EKF3, ExternalAHRS all use common origin
- EKF3 accepts set origin even when using GPS
- EKF3 allows earth-frame fields to be estimated with an origin but no GPS
- EKF3 copes better with GPS jamming
- EKF3 logs mag fusion selection to XKFS
- EKF3 wind estimation when using GPS-for-yaw fixed
- External AHRS improvements including handling variances, pre-arm origin check
- Inertial Labs External AHRS fixes
- VectorNav driver fix for handling of error from sensor
- VectorNav External AHRS enhancements including validation of config commands and logging improvements
- VectorNav support for sensors outside VN-100 and VN-300
3) Driver enhancements and bug fixes
- ADSB fix to display last character in status text sent to GCS
- Ainstein LR-D1 radar support
- Airspeed ASP5033 whoami check fixed when autopilot rebooted independently of the sensor
- AIRSPEED message sent to GCS
- Analog temperature sensor extended to 5th order polynomial (see TEMP_A5)
- ARSPD_OPTIONS to report calibration offset to GCS
- Baro EAS2TAS conversions continuously calculated reducing shocks to TECS (Plane only)
- Baro provides improved atmospheric model for high altitude flight
- BARO_ALT_OFFSET slew slowed to keep EKF happy
- BATTx_ESC_MASK param supports flexible mapping of ESCs to batteries
- BATTx_OPTION to not send battery voltage, current, etc to GCS
- Benewake RDS02U radar support
- Bi-directional DShot on IOMCU supports reversible mask
- Bi-directional DShot telemetry support on F103 8Mhz IOMCUs
- BMM350 compass support
- CAN rangefinders and proximity sensors may share a CAN bus (allows NRA24 and MR72 on a single CAN bus)
- Compass calibration world magnetic model checks can use any position source (e.g. not just GPS)
- CRSF baro and vertical speeed fixed
- CRSF RX bind command support
- DroneCAN battery monitor check to avoid memory corruption when type changed
- DroneCAN DNA server fixes including removing use of invalid node IDs, faster ID allocation, elimination of rare inability to save info
- DroneCAN EFI health check fix
- DroneCAN ESC battery monitors calculate consumed mah
- DroneCAN ESCs forced to zero when disarmed
- DroneCAN RPM message support
- DroneCAN timeout fix for auxiliary frames
- DroneCAN to serial tunneling params accepts short-hand baud rates (e.g. '57' for '57600')
- F9P, F10-N and Zed-F9P support for GPSx_GNSS_MODE to turn on/off SBAS, Galileo, Beidou and Glonass
- FuelLevel battery monitor fix to report capacity
- GPS_xxx params renamed to GPS1_xxx, GPS_xxx2 renamed to GPS2_xxx
- Hirth EFI logging includes modified throttle
- Hirth ICEngine supports reversed crank direction (see ICE_OPTIONS parameter)
- Hott and LTM telemetry deprecated (still available through custom build server)
- i-BUS telemetry support
- ICE_PWM_IGN_ON, ICE_PWM_IGN_OFF, ICE_PWM_STRT_ON, ICE_PWM_STRT_OFF replaced with SERVOx_MIN/MAX/REVERSED (Plane only)
- ICE_START_CHAN replaced with RC aux function (Plane only)
- ICEngine retry max added (see ICE_STRT_MX_RTRY)
- IE 2400 generator error message severity to GCS improved
- INA2xx battery monitor support (reads temp, gets MAX_AMPS and SHUNT params)
- MCP9600 temperature sensor I2C address fixed
- MLX90614 temperature sensor support
- MSP GPS ground course scaling fixed
- MSP RC uses scaled RC inputs (fixes issue with RCx_REVERSED having no effect)
- Networking supports reconnection to TCP server or client
- OSD params for adjusting horizontal spacing and vertical extension (see OSD_SB_H_OFS, OSD_SB_V_EXT)
- Relay inverted output support (see RELAYx_INVERTED parameter)
- ROMFS efficiency improvements
- RS-485 driver enable RTS flow control
- Sagetech MXS ADSP altitude fix (now uses abs alt instead of terrain alt)
- Septentrio GPS sat count correctly drops to zero when 255 received
- Septentrio supports selecting constellations (see GPS_GNSS_MODE)
- Single LED for user notification supported
- SPA06 baro supported
- Sum battery monitor optionally reports minimum voltage instead of average
- Sum battery monitor reports average temp
- Torqeedo dual motor support (see TRQ1, TRQ2 params)
- Ublox GPS driver uses 64 bit time for PPS interrupt (avoids possible dropout at 1hour and 12 minutes)
- UBlox GPS time ignored until at least 2D fix
- VideoTX supports additional freq bands (RushFPV 3.3Ghz)
- Volz logs desired and actual position, voltage, current, motor and PCB temp
- Volz server feedback and logging fixed
- Volz servo output in its own thread resulting in smoother movements
- W25N02KV flash support
4) Networking enhancements and fixes
- Allow multiple UDP clients to connect/disconnect/reconnect
- Ethernet supports faster log downloading (raised SDMMC clock limit on H7)
5) Camera and gimbal enhancements
- Alexmos precision improved slightly
- CAMERA_CAPTURE_STATUS mavlink msg sent to GCS (reports when images taken or video recorded, used by QGC)
- CAMERA_FOV_STATUS mavlink reports lat,lon of what camera is pointing at
- DO_MOUNT_CONTROL yaw angle interpreted as body-frame (was incorrectly being interpreted as earth-frame)
- Dual serial camera gimbal mounts fixed
- Lua script bindings to send CAMERA_INFORMATION and VIDEO_STREAM_INFORMATION messages to GCS
- Retract Mount2 aux function added (see RCx_OPTION = 113)
- Servo gimbal reported angles respect roll, pitch and yaw limits
- Siyi driver sends autopilot location and speed (recorded in images via EXIF)
- Siyi picture and video download scripts
- Siyi ZT6 and ZT30 support sending min, max temperature (see CAMERA_THERMAL_RANGE msg)
- Siyi ZT6 and ZT30 thermal palette can be changed using camera-change-setting.lua script
- Siyi ZT6 hardware id and set-lens fixed
- Topotek gimbal support
- Trigger distance ignores GPS status and only uses EKF reported location
6) Harmonic notch enhancements
- Harmonic notch is active in forward flight on quadplanes
- Harmonic notch filter freq clamping and disabling reworked
- Harmonic notch handles negative ESC RPMs
- Harmonic notch supports per-motor throttle-based harmonic notch
7) Copter specific enhancements and bug fixes
- Attitude control fix to dt update order (reduces rate controller noise)
- Auto mode fix to avoid prematurely advancing to next waypoint if given enough time
- Auto mode small target position jump when takeoff completes removed
- Auto mode yaw drift when passing WP removed if CONDITION_YAW command used and WP_YAW_BEHAVIOR = 0/None
- Auto, Guided flight mode pause RC aux switch (see RCx_OPTION = 178)
- AutoRTL (e.g. DO_LAND_START) uses copter stopping point to decide nearest mission command
- AutoRTL mode supports DO_RETURN_PATH_START (Copter, Heli only)
- AutoTune fix to prevent spool up after landing
- AutoTune performance and safety enhancements (less chance of ESC desync, fails when vehicle likely can't be tuned well)
- Autotune test gains RC aux switch function allows testing gains in any mode (see RCx_OPTION = 180)
- Config error avoided if auto mode is paused very soon after poweron
- FLIGHT_OPTIONS bit added to require position estimate before arming
- Follow mode slowdown calcs fixed when target is moving
- Ground oscillation suppressed by reducing gains (see ATC_LAND_R/P/Y_MULT)
- Guided mode internal error fix when taking off using SET_ATTITUDE_CONTROL message
- Guided mode internal error resolved when switching between thrust or climb rate based altitude control
- Guided mode yaw fixed when WP_YAW_BEHAVIOR = 0/None and CONDITION_YAW command received containing relative angle
- Landing detector fixed when in stabilize mode at full throttle but aircraft is upside down
- Landing detector logging added to ease support (see LDET message)
- Loiter unlimited command accepts NaNs (QGC sends these)
- Mavlink SYSTEM_STATUS set to BOOT during initialisation
- MOT_PWM_TYPE of 9 (PWMAngle) respects SERVOx_MIN/MAX/TRIM/REVERSED param values
- Payload place bug fix when aborted because gripper is already released
- RC based tuning (aka CH6 tuning) can use any RC aux function channel (see RCx_OPTION = 219)
- RTL_ALT minimum reduced to 30cm
- SystemID position controller support (Copter and Heli)
- TriCopter motor test and slew-up fixed
- WPNAV_SPEED min reduced to 10 cm/s (Copter only)
- Loiter mode zeros desired accel when re-entering from Auto during RC failsafe
8) TradHeli specific enhancements
- Autorotation yaw behaviour fix
- Autotune improvements including using low frequency dwell for feedforward gain tuning and conducting sweep in attitude instead of rate
- Blade pitch angle logging added (see SWSH log message)
- Constrain cyclic roll for intermeshing
- ICE / turbine cool down fix
- Inverted flight extended to non manual throttle modes
- Inverted flight transitions smoothed and restricted to only Stabilize mode
- SWSH logging fix for reversed collectives
9) Plane specific enhancements and bug fixes
- AIRSPEED_STALL holds vehicle stall speed and is used for minimum speed scaling
- Allow for different orientations of landing rangefinder
- Assistance requirements evaluted on mode change
- FBWB/CRUISE climb/sink rate limited by TECS limits
- FLIGHT_OPTION to immediately climb in AUTO mode (not doing glide slope)
- Glider pullup support (available only through custom build server)
- Loiter breakout improved to better handle destinations inside loiter circle
- Manual mode throttle made consistent with other modes (e.g battery comp and watt limit is done if enabled)
- Mavlink GUIDED_CHANGE_ALTITUDE supports terrain altitudes
- Minimum throttle not applied during SLT VTOL airbrake (reduces increase in airspeed and alt during back transition)
- Q_APPROACH_DIST set minimum distance to use the fixed wing approach logic
- Quadplane assistance check enhancements
- Quadplane Deca frame support
- Quadplane gets smoother takeoff by input shaping target accel and velocity
- Servo wiggles in altitude wait staged to be one after another
- Set_position_target_global_int accepts MAV_FRAME_GLOBAL_RELATIVE_ALT and MAV_FRAME_GLOBAL_TERRAIN_ALT frames
- Takeoff airspeed control improved (see TKOFF_MODE, TKOFF_THR_MIN)
- Takeoff fixes for fence autoenable
- Takeoff improvements including less overshoot of TKOFF_ALT
- TECS reset along with other controllers (important if plane dropped from balloon)
- Tilt quadplane ramp of motors on back transition fixed
- Tiltrotor tilt angles logged
- TKOFF_THR_MIN applied to SLT transitions
- Twin motor planes with DroneCAN ESCs fix to avoid max throttle at arming due to misconfiguration
- VTOLs switch to QLAND if a LONG_FAILSAFE is triggered during takeoff
10) Rover specific enhancements and bug fixes
- Auto mode reversed state maintained if momentarily switched to Hold mode
- Circle mode tracks better and avoids getting stuck at circle edge
- Flight time stats fixed
- MAV_CMD_NAV_SET_YAW_SPEED deprecated
- Omni3Mecanum frame support
- Stopping point uses max deceleration (was incorrectly using acceleration)
- Wheel rate controller slew rate fix
11) Antenna Tracker specific enhancements and bug fixes
- Never track lat,lon of 0,0
12) Scripting enhancements
- advance-wp.lua applet supports advancing Auto mode WP via RC switch
- AHRS_switch.lua supports switching between EKF2 and EKF3 via RC switch
- battery_internal_resistance_check.lua monitors battery resistance
- CAN:get_device returns nil for unconfigured CAN device
- copter_terrain_brake.lua script added to prevent impact with terrain in Loiter mode (Copter only)
- Copter:get_target_location, update_target_location support
- crosstrack_restore.lua example allows returning to previous track in Auto (Plane only)
- Display text on OLED display supported
- Docs improved for many bindings
- EFI get_last_update_ms binding
- EFI_SkyPower.lua driver accepts 2nd supply voltage
- ESC_slew_rate.lua example script supports testing ESCs
- Filesystem CRC32 check to allow scripts to check module versions
- forced arming support
- GPIO get/set mode bindings (see gpio:set_mode, get_mode)
- GPS-for-yaw angle binding (see gps:gps_yaw_deg)
- Halo6000 EFI driver can log all CAN packets for easier debugging
- handle_external_position_estimate binding allows sending position estimate from lua to EKF
- I2C:transfer support
- IMU gyros_consistent and accels_consistent bindings added
- INF_Inject.lua driver more robust to serial errors, improved logging, throttle and ignition control
- INS bindings for is calibrating, gyro and accel sensor values
- IPV4 address bindings (see SocketAPM_ipv4_addr_to_string) to allow UDP server that responds to individual clients
- Logging of booleans supported
- Lua language checks improved (finds more errors)
- MAVLink commands can be called from scripting
- MCU voltage binding (see analog:mcu_voltage)
- NMEA 2000 EFI driver (see EFI_NMEA2k.lua)
- "open directory failed" false warning when scripts in ROMFS fixed
- Param_Controller.lua supports quickly switching between 3 parameter sets via RC switch
- Pass by reference values are always initialized
- pelco_d_antennatracker.lua applet supports sending Pelco-D via RS-485 to PTZ cameras
- plane_aerobatics.lua minor enhancements
- REPL applet (read-evaluate-print-loop, see repl.lua) for interactive testing and experimentation
- "require" function failures in rare circumstances fixed
- "require" function works for modules in ROMFS (e.g. not on SD card)
- revert_param.lua supports more params (e.g ATC_RATE_R/P/Y, PTCH2SRV_TCONST, RLL2SRV_TCONST, TECS_)
- Scripts may receive mavlink messages which fail CRC (e.g messages which FC does not understand)
- SD card formatting supported
- Serial device simulation support (allows Lua to feed data to any supported serial protocol for e.g. sensor simulation)
- set_target_throttle_rate_rpy allows rate control from scripts (new for Copter)
- sitl_standby_sim.lua example shows how to switch between redundant flight controllers using an RC switch
- Slung payload oscillation suppression applet added (see copter-slung-payload.lua)
- Temperature sensor bindings added
- uint64 support
- Various performance and memory usage optimizations
- VTOL-quicktune.lua minor enhancements including increasing YAW_FLTE_MAX to 8
- x-quad-cg-allocation.lua applet corrects for the CoM discrepancy in a quad-X frame
13) GCS / mavlink related changes and fixes
- BATTERY2 message deprecated (replaced by BATTERY_STATUS)
- CMD_MISSION_START/STOP rejected if first-item/last-item args provided
- Deny attempts to upload two missions simultaneously
- Fence and Rally points may be uploaded using FTP
- GPS_INPUT and HIL_GPS handles multiple GPSs
- HIGHRES_IMU mavlink message support (used by companion computers to receive IMU data from FC)
- MAV_CMD_COMPONENT_ARM_DISARM accepts force arm magic value of 21196
- MAV_CMD_DO_SET_SAFETY_SWITCH_STATE support
- MAV_CMD_SET_HAGL support (Plane only)
- MAVFTP respects TX buffer flow control to improve FTP on low bandwidth links
- MAVLink receiver support (RADIO_RC_CHANNELS mavlink message)
- Message interval supports TERRAIN_REPORT msg
- Mission upload may be cancelled using MISSION_CLEAR_ALL
- MOUNT_CONFIGURE, MOUNT_CONTROL messages deprecated
- RC_CHANNELS_RAW deprecated
- Serial passthrough supports parity allowing STM32CubeProgrammer to be used to program FrSky R9 receivers
- SET_ATTITUDE_TARGET angular rate input frame fixed (Copter only)
- TIMESYNC and NAMED_VALUE_FLOAT messages not sent on high latency MAVLink ports
14) Logging enhancements and fixes
- AC_PID resets and I-term sets logged
- ANG provides attitude at high rate (equivalent to ATT)
- ATT logs angles as floats (better resolution than ints)
- CAND message gets driver index
- DCM log message includes roll/pitch and yaw error
- EDT2 log msg includes stress and status received via extended DShot Telemetry v2
- EFI ECYL cylinder head and exhaust temp logs in degC (was Kelvin)
- ESCX log msg includes DroneCAN ESCs status, temp, duty cycle and power pct
- FMT messages written as required instead of all at beginning
- Logging restarted after download completes when LOG_DISARMED = 1
- MISE msg logs active mission command (CMD logged when commands are uploaded)
- ORGN message logging fixed when set using SET_GPS_GLOBAL_ORIGIN
- RPM sensor logging gets instance field, quality and health fields
- Short filename support removed (e.g log1.BIN instead of 00000001.BIN)
- Temperature sensor logging option for only sensors with no source (see TEMP_LOG)
- UART data rates logged at 1hz (see UART message)
15) ROS2 / DDS support
- Airspeed published
- Battery topic reports all available batteries
- Compile-time configurable rates for each publisher
- DDS_TIMEOUT_MS and DDS_MAX_RETRY set timeout and num retries when client pings XRCE agent
- GPS global origin published at 1 Hz
- High frequency raw imu data transmission
- Joystick support
- Support sending waypoints to Copter and Rover
- Remove the XML refs file in favor of binary entity creation
16) Safety related enhancements and fixes
- Accel/Gyro inconsistent message fixed for using with only single IMU
- Battery monitor failure reported to GCS, triggers battery failsafe but does not take action
- Far from EKF origin pre-arm check removed (Copter only)
- Fence breach warning message slightly improved
- Fence enhancements incluiding alt min fence (Copter only, see FENCE_AUTOENABLE, FENCE_OPTIONS)
- Fences can be stored to SD Card (see BRD_SD_FENCE param)
- ICEngine stopped when in E-Stop or safety engaged (Plane only)
- LEDs flash green lights based on EKF location not GPS
- Parachute option to skip disarm before parachute release (see CHUTE_OPTIONS)
- Plane FENCE_AUTOENABLE of 1 or 2 deprecation warning added
- Pre-arm check if OpenDroneID is compiled in but disabled
- Pre-arm check of duplicate RC aux functions fixed (was skipping recently added aux functions)
- Pre-arm checks alert user more quickly on failure
- Prearm check for misconfigured EAHRS_SENSORS and GPS_TYPE
- Proximity sensor based avoidance keeps working even if one proximity sensor fails (Copter, Rover)
- RC aux functions for Arm, Disarm, E-Stop and Parachute ignored when RC is first turned on
- Warning of duplicate SERIALx_PROTOCOL = RCIN
17) Other bug fixes and minor enhancements
- Accel cal fixed for auxiliary IMUs (e.g. IMU4 and higher)
- Bootloader fix to reduce unnecessary mass erasing of flash when using STLink or Jlink tools
- Bootloader rejects allocation of broadcast node ID
- CAN forward registering/de-registering fix (affected Mission Planner DroneCAN UI)
- Dijkstras fix to correct use of uninitialised variable
- DShot rates are not limited by NeoPixel rates
- Ethernet and CAN bootloader fix to prevent getting stuck in bootloader mode
- Filesystem does not show entries for empty @ files
- Filesystem efficiency improvements when reading files
- Flight statistics only reset if user sets STAT_RESET to zero (avoids accidental reset)
- Flight time statistics updated on disarm (avoids issue if vehicle powered-down soon after disarm)
- Internal error thrown if we lose parameters due to saving queue being too small
- MAVLink via DroneCAN baud rate fix
- SPI pins may also be used as GPIOs
- Terrain cache size configurable (see TERRAIN_CACHE_SZ)
18) Developer focused fixes and enhancements
- AP_Camera gets example python code showing how to use GStreamer with UDP and RTSP video streams
- Cygwin build fix for non-SITL builds
- Cygwin build fixed with malloc wrap
- DroneCAN and scripting support FlexDebug messages (see CAN_Dn_UC_OPTION, FlexDebug.lua)
- EKF3 code generator documentation and cleanup
- GPS jamming simulator added
- MacOS compiler warnings reduced
- SFML joystick support
- SITL support for OpenBSD
- Text warning if older Fence or Rally point protocols are used
------------------------------------------------------------------
Release 4.5.7 08 Oct 2024
Changes from 4.5.7-beta1
1) Reverted Septentrio GPS sat count correctly drops to zero when 255 received
------------------------------------------------------------------
Release 4.5.7-beta1 26 Sep 2024
Changes from 4.5.6
1) Bug fixes and minor enhancements
- VUAV-V7pro support
- CUAV-7-Nano correction for LEDs and battery volt and current scaling
- DroneCAN deadlock and saturation of CAN bus fixed
- DroneCAN DNA server init fix (caused logging issues and spam on bus)
- F4 boards with inverter support correctly uninvert RX/TX
- Nanoradar M72 radar driver fix for object avoidance path planning
- RC support for latest version of GHST
- Septentrio GPS sat count correctly drops to zero when 255 received
2) ROS2/DDS and other developer focused enhancements
- AP quaternions normalised for ROS2 to avoid warnings
- Dependencies fixed for easier installation
- ROS2 SITL launch file enhancements including displaying console and map
- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2
- Python 3.12 support
------------------------------------------------------------------
Release 4.5.6 03 Sep 2024
No changes from 4.5.6-beta1
------------------------------------------------------------------
Release 4.5.6-beta1 20 Aug 2024
Changes from 4.5.5
1) Board specific enhancements and bug fixes
- 3DR Control Zero H7 Rev G support
- CUAV-7-Nano support
- FoxeerF405v2 servo outputs increased from 9 to 11
- Holybro Pixhawk6C hi-power peripheral overcurrent reporting fixed
- iFlight 2RAW H7 support
- MFT-SEMA100 support
- TMotorH743 support BMI270 baro
- ZeroOneX6 support
2) Minor enhancements and bug fixes
- Cameras using MAVLink report vendor and model name correctly
- DroneCAN fix to remove occasional NodeID registration error
- GPS NMEA and GSoF driver ground course corrected (now always 0 ~ 360 deg)
- ICP101XX barometer slowed to avoid I2C communication errors
- IMU temp cal param (INSn_ACCSCAL_Z) stored correctly when bootloader is flashed
- IMU gyro/accel duplicate id registration fixed to avoid possible pre-arm failure
- Logging to flash timestamp fix
- OSD displays ESC temp instead of motor temp
- PID controller error calculation bug fix (was using target from prev iteration)
- Relay on MAIN pins fixed
------------------------------------------------------------------
Release 4.5.5 1st Aug 2024
No changes from 4.5.5-beta2
------------------------------------------------------------------
Release 4.5.5-beta2 27 July 2024
Changes from 4.5.5-beta1
1) Board specific enhancements and bug fixes
- CubeRed's second core disabled at boot to avoid spurious writes to RAM
- CubeRed bootloader's dual endpoint update method fixed
------------------------------------------------------------------
Release 4.5.5-beta1 1st July 2024
Changes from 4.5.4
1) Board specific enhancements and bug fixes
- fixed IOMCU transmission errors when using bdshot
- update relay parameter names on various boards
- add ASP5033 airspeed in minimal builds
- added RadiolinkPIX6
- fix Aocoda-RC H743Dual motor issue
- use ICM45686 as an ICM20649 alternative in CubeRedPrimary
2) System level minor enhancements and bug fixes
- correct use-after-free in script statistics
- added arming check for eeprom full
- fixed a block logging issue which caused log messages to be dropped
- enable Socket SO_REUSEADDR on LwIP
- removed IST8310 overrun message
- added Siyi ZT6 support
- added BTFL sidebar symbols to the OSD
- added CRSF extended link stats to the OSD
- use the ESC with the highest RPM in the OSD when only one can be displayed
- support all Tramp power levels on high power VTXs
- emit jump count in missions even if no limit
- improve the bitmask indicating persistent parameters on bootloader flash
- fix duplicate error condition in the MicroStrain7
5) Other minor enhancements and bug fixes
- specify pymonocypher version in more places
- added DroneCAN dependencies to custom builds
------------------------------------------------------------------
Release 4.5.4 12th June 2024
Changes from 4.5.3
Disable highres IMU sampling on ICM42670 fixing an issue on some versions of Pixhawk6X
------------------------------------------------------------------
Release 4.5.3 28th May 2024
No changes from 4.5.3-beta1
------------------------------------------------------------------
Release 4.5.3-beta1 16th May 2024
Changes from 4.5.2
1) Board specific enhancements and bug fixes
- correct default GPS port on MambaH743v4
- added SDMODELV2
- added iFlight Blitz H7 Pro
- added BLITZ Wing H743
- added highres IMU sampling on Pixhawk6X
2) System level minor enhancements and bug fixes
- fixed rare crash bug in lua scripting on script fault handling
- fixed Neopixel pulse proportions to work with more LED variants
- fixed timeout in lua rangefinder drivers
- workaround hardware issue in IST8310 compass
- allow FIFO rate logging for highres IMU sampling
3) Rover specific changes
- correct clamping of RTL_SPEED for fractional speed values
------------------------------------------------------------------
Release 4.5.2 14th May 2024
No changes from 4.5.2-beta1
------------------------------------------------------------------
Release 4.5.2-beta1 29th April 2024
Changes from 4.5.1
1) Board specific enhancements and bug fixes
- FoxeerF405v2 support
- iFlight BLITZ Mini F745 support
- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
2) System level minor enhancements and bug fixes
- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
- Crashdump pre-arm check added
- Gimbal gets improved yaw lock reporting to GCS
- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
- RM3100 compass SPI bus speed reduced to 1Mhz
- SBUS output fix for channels 1 to 8 also applying to 9 to 16
- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
- fixed serial passthrough to avoid data loss at high data rates
3) AHRS / EKF fixes
- Compass learning disabled when using GPS-for-yaw
- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
- MicroStrain7 External AHRS position quantization bug fix
- MicroStrain7 init failure warning added
- MicroStrain5 and 7 position and velocity variance reporting fix
4) Other minor enhancements and bug fixes
- DDS_UDP_PORT parameter renamed (was DDS_PORT)
- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
------------------------------------------------------------------
Release 4.5.1 8th April 2024
This release fixes a critical bug in the CRSF R/C protocol parser that
can lead to a handfault and a vehicle crashing. A similar fix was
applied to the GHST protocol, although we believe that GHST could not
be affected by the bug, so this was just a precaution.
There are no other changes in this release.
------------------------------------------------------------------
Release 4.5.0 2nd April 2024
No changes from 4.5.0-beta4
-------------------------------------------------------------------
Release 4.5.0-beta4 22nd March 2024
Changes from 4.5.0-beta3
1) system changes
- fixed a cache corruption issue with microSD card data on H7 based boards
- rename parameter NET_ENABLED to NET_ENABLE
- fixed FDCAN labels for adding new H7 boards
- avoid logging dma.txt to save CPU
- fixed roll/pitch in viewpro driver
- added band X in VideoTX
- fixed quaternion attitude reporting for Microstrain external AHRS
- add RPLidarC1 proximity support
2) new boards
- added MicoAir405v2
- add Orqa F405 Pro
-------------------------------------------------------------------
Release 4.5.0-beta3 14-March-2024
Changes from 4.5.0-beta2
1) Board specific changes
- added PixFlamingo F7 board
- support ICM42688 on BlitzF745AIO
- fixed IMU orientation of CubeRedSecondary
- enable all FPV features on SpeedyBeeF405WING
2) System level changes
- improved robustness of CRSF parser
- reduced memory used by DDS/ROS2
- added filesystem crc32 binding in lua scripting
- support visual odometry quality metric and added autoswitching lua script
- allow for expansion of fence storage to microSD for larger pologon fences
- allow FTP upload of fence and rally points
- fixed vehicle type of ship simulation for ship landing
- make severity level depend on generator error level in IE 2400 generator
- speed up initial GPS probe by using SERIALn_BAUD first
- allow NanoRadar radar and proximity sensor to share the CAN bus
- added MR72 CAN proximity sensor
- only produce *_with_bl.hex not *.hex in builds if bootloader available
- fixed check for GPS antenna separation in moving baseline yaw
- added GPS_DRV_OPTIONS options for fully parsing RTCMv3 stream
- fixed logging of RTCM fragments in GPS driver
- fixed video recording while armed
- robostness and logging improvements for ExternalAHRS
- fixed RPM from bdshot on boards with IOMCU
- fixed accel cal simple to remove unused IMUs
-------------------------------------------------------------------
Rover 4.5.0-beta2 14th February 2024
Changes from 4.5.0-beta1:
1) New Autopilots supported
- YJUAV_A6Ultra
- AnyLeaf H7
2) System level changes
- fixed float rounding issue in HAL_Linux millis and micros functions
- fixed loading of defaults.parm parameters for dynamic parameter subtrees
- fixed discrimination between GHST and CRSF protocols
- fixed bug in DroneCAN packet parsing for corrupt packets that could cause a crash
- fixed handling of network sockets in scripting when used after close
- fixed bit timing of CANFD buses
3) Camera and gimbal enhancements
- wait for non-zero camera version in SIYI driver
4) Miscellaneous
- do relay parameter conversion for parachute parameters if ever has been used
- broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
------------------------------------------------------------------
Rover 4.5.0-beta1 30-Jan-2025
Changes from 4.4.4
1) New autopilots supported
- ACNS-F405AIO
- Airvolute DCS2 onboard FMU
- Aocoda-RC-H743Dual
- BrainFPV RADIX 2 HD
- CAN-Zero
- CM4Pilot
- CubeRed
- Esp32-tomte76, esp32nick, esp32s3devkit
- FlyingMoonH743
- Flywoo F405 Pro
- FlywooF405S-AIO with alternative IMUs
- Here4 GPS as flight controller
- Holybro 6X revision 6
- Holybro6X-45686 with 3x ICM45686 IMUs
- JAE JFB110
- KakuteH7 using ICM42688
- PixFlamingo (uses STM32L4PLUS CPU)
- PixPilot-C3
- PixSurveyA1-IND
- QiotekAdeptF407
- Sierra TrueNavIC
- SPRacing H7RF
- SW-Nav-F405
- YJUAV_A6
- YJUAV_A6SE, YJUAV_A6SE_H743
2) Autopilot specific changes
- 1MB boards lose features to save flash (Payload Place, some battery monitors, NMEA Output, bootloaders, Turtle mode)
- CubeOrangePlus supports IMU high resolution sampling (works with ICM42688, ICM42652, ICM42670, ICM45686 IMUs)
- F4 processors with only 1 IMU gain Triple Harmonic Notch support
- F765-SE bdshot support on 1st 4 pin
- F7 and H7 boards lose DMA on I2C ports (not required, limited DMA better used elsewhere)
- FlyingMoonH743, FlyingMoonF427 2nd and 3rd IMU order swapped
- HEEWING-F405 supports CRSF
- MatekL431-RC bootloader added, DMA used for RC and GPS
- PH4-mini, PH4-mini-bdshot, Swan-K1 and TBS-Colibri-F7 BRD_SER4_RTSCTS param conflict fixed
- Pixhawk6C supports BMI088 baro
- TMotorH743, Heewing-F405 serial parameter definitions fixed
3) AHRS/EKF enhancements and fixes
- AHRS_OPTIONS supports disabling fallback to DCM
- BARO_ALT_OFFSET slews more slowly (was 20sec, now 1min)
- EKF2 removed (can be re-enabled with Custom build server)
- External AHRS support for multiple GPSs
- InertialLabs INS-U external AHRS support
- Lord external AHRS renamed to MicroStrain5
- MAV_CMD_EXTERNAL_POSITION_ESTIMATE supports setting approximate position during dead-reckoning
- Microstrain7 (aka 3DM-QG7) external AHRS support
4) Driver enhancements
- 3DR Solo supports up to 6S batteries
- Airspeed health checks vs GPS use 3D velocity
- BDshot on the first four channels of boards with F103-based IOMCUs (e.g. Pixhawk 6X)
- Dshot on all IOMCU channels on all boards with an IOMCU (e.g. all CubePilot autopilots)
- Dshot commands (e.g. motor reversal abd beeps) and EDT supported on IOMCU
- DroneCAN battery monitors calculate consumed energy if battery doesn't provide directly
- DroneCAN RC and Ghost RC protocol support
- EFI MAVLink driver
- Extended DShot Telemetry support (requires BLHeli32 ver 32.10 or BlueJay, set SERVO_DSHOT_ESC=3 or 4)
- GPS L5 band health override to enable L5 signal use (see GPS_DRV_OPTIONS)
- GPS-for-yaw works at lower update rate (3hz minimum)
- GSOF GPS supports GPS_COM_PORT parameter
- Hirth ICEngine support
- ICE option to enable/disable starting while disarmed
- ICE support for starter via relay
- IMUDATA serial protocol outputs raw IMU data on serial port (only available using custom build server)
- Innomaker LD06 360deg lidar support
- Intelligent Energy fuel cells new protocol support
- IRC Tramp supports 1G3 bands A and B
- IRC Ghost support
- JAE JRE-30 radar
- KDECAN driver rewrite (params moved to KDE_, works on all vehicles)
- MCP9601 temperature sensor support
- NanoRadar NRA24 rangefinder support
- NeoPixelsRGB support
- NoopLoop TOFSense, TOFSenseF-I2c rangefinder support
- OSD shows flashing horizon when inverted
- OSD2 support (e.g. second OSD)
- QMC5883P compass support
- Relay refactored to support RELAYx_FUNCTION, RELAY_STATUS message support added
- Reventech fuel level support (extends existing analog driver, see BATT_FL_xx parameters)
- RPLidarS1 360 deg lidar support and improved reliability for all RPLidars
- SBF GPS supports yaw from dual antennas
- Temperature sensor using analog voltages supported
- Trimble PX-1 support added as a GPS
- Winch driver enhancements including stuck protection, option for spin-free on startup
5) Control and navigation changes and enhancements
- Auto missions can always be cleared while disarmed (would fail if mission still running)
- DO_ENGINE_CONTROL allows starting engine even when disarmed
- DO_SET_MISSION_CURRENT command can reset mission (see Reset Mission field)
- DO_SET_SERVO, DO_REPEAT_SERVO work with servo outputs set to RCInxScaled
- Fractional Loiter Turn Support in missions
- HarmonicNotch supports up to 16 harmonics
- JUMP command sends improved text msg to pilot (says where will jump to)
- MAV_CMD_AIRFRAME_CONFIGURATION can control landing gear on all vehicles
- MAV_CMD_NAV_SET_YAW_SPEED deprecated
- MOT_OPTIONS allows voltage compensation to use raw battery voltages (instead of current corrected voltage)
- PID controllers get DFF/D_FF (derivative feed-forward), NTF (target notch filter index) and NEF (error notch filter index)
- PID controllers get PDMX param to limit P+D output (useful for large vehicles and/or slow actuators)
- PID notch filter configured via new filter library using FILT parameters
6) Parameters renamed
- COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK
7) ROS2 / DDS support
- Added support for EProsima MicroXRCEDDS as a transport in SITL and hardware
- Added sensor data topic support such as NavSatStatus and BatteryState
- Added a new AP_ExternalControl library for generic control support in SI units
- Added support for building ArduPilot with the colcon build system
- DDS topics comply with ROS REP-147
- Added Gazebo Garden and Gazebo Harmonic simulation with examples
- Added support for ROS 2 services such as Arm and Mode control
- Added high level goal interface for waypoints
- Wiki updated to support ROS 2
- Added ROS 2 launch scripts for SITL, MAVProxy and micro-ROS agent
- Add pytests for DDS client and ROS 2 launch scripts and integrate into CI
8) Camera and gimbal enhancements
- Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
- CAMx_MNT_INST allows specifying which mount camera is in
- Camera lens (e.g. live video stream) selectable using RC aux function
- Interval timer (for taking pictures at timed intervals)
- Image tracking support (ViewPro only)
- MAVLink Gimbal Protocol v2 support for better GCS integration
- MNTx_SYSID_DFLT allows easier pointing gimbal at another vehicle
- MOUNT_CONTROL, MOUNT_CONFIGURE messages deprecated
- RangeFinder support (only logged, only supported on Siyi, Viewpro)
- Pilot's RC input re-takes manual control of gimbal (e.g. switches to RC_TARGETING mode)
- Siyi driver gets Zoom control, sends autopilot attitude and time (reduces leans)
- Video recording may start when armed (see CAMx_OPTIONS)
- ViewPro driver (replaces equivalent Lua driver)
- Xacti camera gimbal support
- Zoom percentage support (for both missions and GCS commands)
9) Logging and reporting changes
- Battery logging (e.g. BAT) includes health, temperature, state-of-health percentage
- CAM and MNT messages contain camera gimbal's desired and actual angles
- INS_RAW_LOG_OPT allows raw, pre-filter and post-filter sensor data logging (alternative to "batch logging", good for filtering analysis)
- PID logging gets reset and I-term-set flags
- Rangefinder logging (e.g. RFND) includes signal quality
- RC aux functions sorted alphabetically for GCS
- RC logging (RCI, RCI2) include valid input and failsafe flags
- RTK GPS logging includes number of fragments used or discarded
10) Scripting enhancements
- Autopilot reboot support
- Baro, Compass, IMU, IOMCU health check support
- Battery cell voltage bindings
- Battery driver support
- BattEsimate.lua applet estimates SoC from voltage
- Camera and Mount bindings improved
- CAN input packet filtering reduces work required by Lua CAN drivers
- DJI RS2/RS3 gimbal driver supports latest DJI firmware version (see mount-djirs2-driver.lua)
- EFI drivers for DLA serial, InnoFlight Inject EFI driver
- EFI bindings improved
- Fence support
- Generator drivers for Halo6000, Zhuhai SVFFI
- GCS failsafe support
- Hobbywing_DataLink driver (see Hobbywing_DataLink.lua)
- is_landing, is_taking_off bindings
- led_on_a_switch.lua sets LED brightness from RC switch
- MAVLink sending and receiving support
- Mission jump_to_landing_sequence binding
- mount-poi.lua upgraded to applet, sends better feedback, can lock onto Location
- Networking/Ethernet support
- Plane dual-aircraft synchronised aerobatics
- Proximity driver support
- Rangefinder drivers can support signal quality
- revert_param.lua applet for quickly reverting params during tuning
- RockBlock.lua applet supports setting mode, fix for battery voltage reporting
- Serial/UART reading performance improvement using readstring binding
- sport_aerobatics.lua rudder control fixed
- Thread priority can be set using SCR_THD_PRIORITY (useful for Lua drivers)
- Wind alignment and head_wind speed bindings
11) Safety related enhancements and fixes
- Arm/Disarmed GPIO may be disabled using BRD_OPTIONS
- Arming check that Auto mode requires mission
- Arming check of compass vs world magnetic model to detect metal in ground (see ARMING_MAGTHRESH)
- Arming check of GPIO pin interrupt storm
- Arming check of Lua script CRC
- Arming check of mission loaded from SD card
- Arming check of Relay pin conflicts
- Arming check of emergency stop skipped if emergency stop aux function configured
- Arming check that at least some outputs are configured
- Arming failures reported more quickly when changing from success to failed
- ARMING_OPTIONS allows supressing "Armed", "Disarmed" text messages
- BRD_SAFETY_MASK extended to apply to CAN ESCs and servos
- Buzzer noise for gyro calibration and arming checks passed
- Dijkstras object avoidance supports "fast waypoints" (see AVOID_OPTIONS)
- Fence breach failsafe gets disarm action
- FENCE_OPTIONS supports union OR intersection of all polygon fences
- FLTMODE_GCSBLOCK blocks GCS from changing vehicle to specified modes
- Main loop lockup recovery by forcing mutex release (only helps if caused by software bug)
- Mandatory arming checks cannot be skipped (previously setting ARMING_CHECKS=0 skipped all)
- Rally points supports altitude frame (AMSL, Relative or Terrain)
- SERVO_RC_FS_MSK allows outputs using RC passthrough to move to SERVOx_TRIM on RC failsafe
12) System Enhancements
- CAN port can support a second CAN protocol on the same bus (2nd protocol must be 11 bit, see CAN_Dn_PROTOCOL2)
- CAN-FD support (allows faster data transfer rates)
- Crash dump info logged if main thread locksup (helps with root cause analysis)
- Ethernet/Networking support for UDP and TCP server and client (see NET_ENABLED) and PPP (see SERIALx_PROTOCOL)
- Firmware flashing from SD card
- Linux board SBUS input decoding made consistent with ChibiOS
- Linux boards support DroneCAN
- Parameter defaults stored in @ROMFS/defaults.parm
- SD Card formatting supported on all boards
- Second USB endpoint defaults to MAVLink (instead of SLCAN) except on CubePilot boards
- Serial over DroneCAN (see CAN_D1_UC_SER_EN) useful for configuring F9P DroneCAN GPSs using uCenter
13) Custom Build server include/exclude features extended to include
- APJ Tools
- Bootloader flashing
- Button
- Compass calibration
- DroneCAN GPS
- ExternalAHRS (e.g. MicroStrain, Vectornav)
- Generator
- Highmark Servo
- Hobbywing ESCs
- Kill IMU
- Payload Place
- Plane BlackBox arming allows Plane to be used as logger (see ARMING_BBOX_SPD)
- Plane's TX Tuning
- Precision landing
- Proximity sensor
- RC Protocol
- Relay
- SBUS Output
- ToneAlarm
- Winch
14) Developer specific items
- ChibiOS upgrade to 21.11
- UAVCAN replaced with DroneCAN
- AUTOPILOT_VERSION_REQUEST message deprecated (use REQUEST_MESSAGE instead)
- PREFLIGHT_SET_SENSOR_OFFSETS support deprecated (was unused by all known ground stations)
- MISSION_SET_CURRENT message deprecated (use DO_SET_MISSION_CURRENT command instead)
- MISSION_CURRENT message sends num commands and stopped/paused/running/complete state
- Python version requirement increased to 3.6.9
- mavlink_parse.py shows all suported mavlink messages
- COMMAND_INT messages can be used for nearly all commands (previously COMMAND_LONG)
15) Bug fixes:
- 3DR Solo gimbal mavlink routing fixed
- Bootloop fixed if INS_GYRO_FILTER set too high
- Button Internal Error caused by floating pin or slow device power-up fixed
- CAN Compass order maintained even if compass powered up after autopilot
- Compass device IDs only saved when calibrated to ensure external compasses appear as primary on new boards
- Currawong ECU EFI does not send exhaust gas temperature
- DCM fallback in order to get better GPS is disabled if GPS is not used
- DJI RS2/RS3 gimbal reported angle fix
- DO_SET_ROI, ROI_LOCATION, ROI_NONE bug fix that could lead to gimbal pointing at old target
- Generator parameter init fix (defaults might not always have been loaded correctly)
- GPS_TC_BLEND parameter removed (it was unused)
- Harmonic Notch gets protection against extremely low notch filter frequencies
- IE 650/800 Generators report fuel remaining
- INS calibration prevents unlikely case of two calibrations running at same time
- LPS2XH Baro supported over I2C fixed
- MatekH743 storage eeprom size fixed
- MAVLink routing fix to avoid processing packet meant for another vehicle