Copter-4.1.0-beta8 released for beta testing

[jamson]

Copter-4.1.0-beta8 has been released for beta testing and can be downloaded using the ground stations’s (MP, QGC) beta firmware links. The changes vs -beta7 are in the release notes 8 and copied below.

Changes from 4.1.0-beta7

Enhancements
a) Flywoo F745 Goku Nano support
b) MatekF765-SE support
c) Scripting support for getting circle mode radius and setting rate
d) Scripting support for new Guided mode controls including acceleration control
Bug Fixes
a) ATC_RATE_Y_MAX applies to all modes including Loiter
b) ChibiOS scheduling slip workaround to avoid occasional 60ms delays found on MatekH7
c) EKF2 divide-by-zero protection when using optical flow (issue only found in simulator)
d) External AHRS (e.g. VectorNav driver) init fix
e) KakuteF4Mini SBUS fix
f) Pixhawk4 blue and red LEDs swapped
g) Position control fixes to limit initial desired accel (horizontal and vertical) which could lead to an excessive climb or descent
h) TradHeli takeoff in Guided fix
Thanks to all your testing and reports we are definitely getting closer to the stable release with all the big issues now out of the way leaving relatively small issues to clear up.

Over the next couple of weeks we’re going to try and clearup all the “Issues requiring investigation 14” so you might see some pings from me here and there asking the reporter to re-test because I suspect a lot of them have actually been resolved.

Thanks very much for all your feedback and testing![/size][/size][/size]

[dronecode]

Flown this version on my micro copter with GSF enabled. There was cloudy so GPS suddenly lost good HDOP midflight. There were GPS Glitch and EKF Variance messages, and Loiter become slightly strange. So I switched to Stab. Then after a seconds GPS become good again and EKF recovered fast, and there were no issues then.