Copter-3.4-rc6 available for beta testing

[Randy Mackay]

Copter-3.4-rc6 is now available for beta testing.  It can be downloaded from firmware.ardupilot.org or loaded through the Mission Planner’s Install Screen’s “Beta Firmwares” link.

 

The changes from the previous release candidate are:

Changes from 3.4.0-rc5

1) Object Avoidance with SF40c 360 lidar

2) ACRO_Y_EXPO parameter allows exponential yaw in ACRO mode (slow yaw at mid stick but fast response at full stick)

3) ACRO_THR_MID parameter allows custom mid throttle for ACRO mode

4) Precision Landing reliability and accuracy improvements using mini EKF and adding IRLock lens distortion correction

5) Bug fixes, minor improvements:

    a) fix DSM binding on Pixracer

    b) resolved position jump caused by EKF core change (also added logging and reporting to GCS)

    c) EKF failsafe while in LAND triggers non-GPS LAND

    d) small throttle jump removed when switching between AltHold, Loiter

6) Safety:

    a) EKF falls back to optical flow if GPS fails

    b) pre-arm check that GPS configuration has completed

 

I think we are getting quite close to the final release but we still have at least these three issues to resolve:

·         Non-motor channels (i.e. those used to control a gimbal) don’t move until the safety switch is pressed.  https://github.com/ArduPilot/ardupilot/issues/4955

·         “Drifty Loiter” – it’s not clear if this is a real problem or not so it needs more investigation

·         Mavlink messages being sent with two different system ids https://github.com/ArduPilot/ardupilot/issues/4912

 

If you see any issues, please report them in the Copter-3.4 section of the discourse server: http://discuss.ardupilot.org/c/arducopter/copter34

 

-Randy

[Tom Pittenger]

Randy. Any chance you could branch this? If not, why? Would be great to freeze the rc's.

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