@tridge wrote:
I’m delighted to announce the release of the first beta of the plane 4.0.0 release.
The 4.0.0 release of ArduPilot plane is a major release. It contains thousands of changes, some large and some small, developed over the last year. Key changes include:
- support STM32H7 MCUs (Durandal and CubeOrange currently)
- QAUTOTUNE mode
- in-flight compass calibration
- support for dynamic node allocation server in UAVCAN
- support for SLCAN pass-through
- support for up to 10 battery backends
- support for MAVLink message intervals
- initial support for onboard Lua scripting
- automatic remount of microSD cards
- support for additional RC input on any UART
- support for WS2812 LEDs
- new simulators: Morse, Webots, SilentWings, Scrimmage
- added AFS_MAX_RANGE for limiting vehicle range
- added support for @READONLY in embedded parameter lists
- added SERIALn_OPTIONS for inversion, half-duplex and swap
- added support for reversible blheli32 ESCs
- added GPS timing jitter correction
- added Sum battery backend type
- added fuel flow battery battery types
- support landing gear control based on altitude
- added loiter-to-alt approach for quadplane landing
- added REVERSE_THROTTLE RCn_OPTION
- added crow brakes for differential spoilers
- support newer versions of JSBSim in SITL
- added RObotis servo support
- added UAVCAN servo support
- added failure timer for quadplane forward transitions
- added KDECAN and ToshibaCAN support
- added RM3100 compass support
- support new Invensense IMUs
- many small improvements to tailsitter support
- added QACRO mode
- improved watchdog logging
- improved EKF compass handling based on WMM data
- added AP_Periph CAN peripheral firmware system
- added IBUS R/C input support
- support yaw from GPS
- support DLVR I2C airspeed sensors
- fixed FrSky telem packet loss
- fixed SUMD for 16 channels via pulse input
- support UAVCAN buzzers, safety switch, safety LED and airspeed
- added NTF_BUZZ_VOLUME parameter
There are hundreds of other changes as well. I expect the beta period for this release to be quite long, and I would greatly appreciate as many test reports as possible. Please submit test results both for successful and unsuccessful tests by replying on this topic.
A huge thank you to everyone who has contributed to this release. We’ve had a lot of new contributors and it is great working with such a fantastic community.
Happy flying!
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