@tridge wrote:
This is a minor release to fix a single important bug in speed/height handling. The bug was in the TECS (total energy control system) and could cause a sustained pitch down due to a transient glitch in airspeed demand resulting in a large negative pitch integrator.The log that found the bug was of a quadplane in CRUISE mode, and resulted in the aircraft forcing nose down for long enough to crash.
The fix includes both protections for the pitch integrator and a fix for the cause of the transient in airspeed demand affecting the TECS demanded airspeed.
Many thanks to ArduPilot partner FoxtechFPV for reporting this bug!
Happy flying!
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