ArduPilot · rmackay9 · Feb 17, 2025 · Feb 17, 2025 · Oct 9, 2024 · Oct 17, 2024
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,6 +1,41 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta3
+Release 4.6.0-beta4 14-Feb-2025
+
+Changes from 4.6.0-beta3
+
+1) Board specfic changes
+
+- BETAFPV F405 supports DPS310 baro
+- BETAFPV F405 board variants added
+
+2) Driver enhancements
+
+- CADDX camera gimbal support
+- UltraMotion CAN servo support
+
+3) Copter specific fixes and minor enhancements
+
+- SysId mode uninitialised variables fixed
+- ARMING_OPTIONS gets "Require position for arming" (was in FLIGHT_OPTIONS)
+
+4) Bug Fixes and minor enhancements
+
+- AM32 ESC passthrough fixed
+- BMP581 baro initialisation fix
+- DDS/ROS2 driver waits indefinitely until companion computer running ROS2 starts
+- Lua script potential deadlock fix when initialising mavlink in script
+- Mcast and HW CAN bridging disabled by default
+- Plane's TILT log message only logged on tilt-rotors
+- ROMFS race condition when opening files that caused apparent script corruption fixed
+- Serial flow control support on UARTS 6 to 8
+- Serial passthrough fix to restore parity upon completion
+- Serial protocol parameter fix to include I-Bus Telemetry
+- uAvionix ping200X driver fixes
+- Video stream information lua script param index fixed (avoids param conflict with other scripts)
+- ViewPro object tracking fixed
+------------------------------------------------------------------
+Release 4.6.0-beta3 21-Jan-2025
 
 Changes from 4.6.0-beta2
 

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.6.0-beta3"
+#define THISFIRMWARE "AntennaTracker V4.6.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -452,7 +452,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
 #endif
 
-    if (mode_requires_gps || copter.option_is_enabled(Copter::FlightOption::REQUIRE_POSITION_FOR_ARMING)) {
+    if (mode_requires_gps || require_location == RequireLocation::YES) {
         if (!copter.position_ok()) {
             // vehicle level position estimate checks
             check_failed(display_failure, "Need Position Estimate");

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -627,7 +627,6 @@ class Copter : public AP_Vehicle {
         DISABLE_THRUST_LOSS_CHECK     = (1<<0),   // 1
         DISABLE_YAW_IMBALANCE_WARNING = (1<<1),   // 2
         RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2),  // 4
-        REQUIRE_POSITION_FOR_ARMING =   (1<<3),   // 8
     };
     // returns true if option is enabled for this vehicle
     bool option_is_enabled(FlightOption option) const {

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1002,7 +1002,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
     // @Description: Flight mode specific options
-    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming
+    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 44, ParametersG2, flight_options, 0),
 

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,6 +1,41 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta3
+Release 4.6.0-beta4 14-Feb-2025
+
+Changes from 4.6.0-beta3
+
+1) Board specfic changes
+
+- BETAFPV F405 supports DPS310 baro
+- BETAFPV F405 board variants added
+
+2) Driver enhancements
+
+- CADDX camera gimbal support
+- UltraMotion CAN servo support
+
+3) Copter specific fixes and minor enhancements
+
+- SysId mode uninitialised variables fixed
+- ARMING_OPTIONS gets "Require position for arming" (was in FLIGHT_OPTIONS)
+
+4) Bug Fixes and minor enhancements
+
+- AM32 ESC passthrough fixed
+- BMP581 baro initialisation fix
+- DDS/ROS2 driver waits indefinitely until companion computer running ROS2 starts
+- Lua script potential deadlock fix when initialising mavlink in script
+- Mcast and HW CAN bridging disabled by default
+- Plane's TILT log message only logged on tilt-rotors
+- ROMFS race condition when opening files that caused apparent script corruption fixed
+- Serial flow control support on UARTS 6 to 8
+- Serial passthrough fix to restore parity upon completion
+- Serial protocol parameter fix to include I-Bus Telemetry
+- uAvionix ping200X driver fixes
+- Video stream information lua script param index fixed (avoids param conflict with other scripts)
+- ViewPro object tracking fixed
+------------------------------------------------------------------
+Release 4.6.0-beta3 21-Jan-2025
 
 Changes from 4.6.0-beta2
 

diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
@@ -161,7 +161,8 @@ void ModeSystemId::exit()
 // should be called at 100hz or more
 void ModeSystemId::run()
 {
-    float target_roll, target_pitch;
+    float target_roll = 0.0f;
+    float target_pitch = 0.0f;
     float target_yaw_rate = 0.0f;
     float pilot_throttle_scaled = 0.0f;
     float target_climb_rate = 0.0f;

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.6.0-beta3"
+#define THISFIRMWARE "ArduCopter V4.6.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+4
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,6 +1,41 @@
 ArduPilot Plane Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta3
+Release 4.6.0-beta4 14-Feb-2025
+
+Changes from 4.6.0-beta3
+
+1) Board specfic changes
+
+- BETAFPV F405 supports DPS310 baro
+- BETAFPV F405 board variants added
+
+2) Driver enhancements
+
+- CADDX camera gimbal support
+- UltraMotion CAN servo support
+
+3) Copter specific fixes and minor enhancements
+
+- SysId mode uninitialised variables fixed
+- ARMING_OPTIONS gets "Require position for arming" (was in FLIGHT_OPTIONS)
+
+4) Bug Fixes and minor enhancements
+
+- AM32 ESC passthrough fixed
+- BMP581 baro initialisation fix
+- DDS/ROS2 driver waits indefinitely until companion computer running ROS2 starts
+- Lua script potential deadlock fix when initialising mavlink in script
+- Mcast and HW CAN bridging disabled by default
+- Plane's TILT log message only logged on tilt-rotors
+- ROMFS race condition when opening files that caused apparent script corruption fixed
+- Serial flow control support on UARTS 6 to 8
+- Serial passthrough fix to restore parity upon completion
+- Serial protocol parameter fix to include I-Bus Telemetry
+- uAvionix ping200X driver fixes
+- Video stream information lua script param index fixed (avoids param conflict with other scripts)
+- ViewPro object tracking fixed
+------------------------------------------------------------------
+Release 4.6.0-beta3 21-Jan-2025
 
 Changes from 4.6.0-beta2
 

diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp
@@ -400,6 +400,11 @@ void Tiltrotor::update(void)
 // Write tiltrotor specific log
 void Tiltrotor::write_log()
 {
+    // Only valid on a tiltrotor
+    if (!enabled()) {
+        return;
+    }
+
     struct log_tiltrotor pkt {
         LOG_PACKET_HEADER_INIT(LOG_TILT_MSG),
         time_us      : AP_HAL::micros64(),

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.6.0-beta3"
+#define THISFIRMWARE "ArduPlane V4.6.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
@@ -1,6 +1,41 @@
 Rover Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta3
+Release 4.6.0-beta4 14-Feb-2025
+
+Changes from 4.6.0-beta3
+
+1) Board specfic changes
+
+- BETAFPV F405 supports DPS310 baro
+- BETAFPV F405 board variants added
+
+2) Driver enhancements
+
+- CADDX camera gimbal support
+- UltraMotion CAN servo support
+
+3) Copter specific fixes and minor enhancements
+
+- SysId mode uninitialised variables fixed
+- ARMING_OPTIONS gets "Require position for arming" (was in FLIGHT_OPTIONS)
+
+4) Bug Fixes and minor enhancements
+
+- AM32 ESC passthrough fixed
+- BMP581 baro initialisation fix
+- DDS/ROS2 driver waits indefinitely until companion computer running ROS2 starts
+- Lua script potential deadlock fix when initialising mavlink in script
+- Mcast and HW CAN bridging disabled by default
+- Plane's TILT log message only logged on tilt-rotors
+- ROMFS race condition when opening files that caused apparent script corruption fixed
+- Serial flow control support on UARTS 6 to 8
+- Serial passthrough fix to restore parity upon completion
+- Serial protocol parameter fix to include I-Bus Telemetry
+- uAvionix ping200X driver fixes
+- Video stream information lua script param index fixed (avoids param conflict with other scripts)
+- ViewPro object tracking fixed
+------------------------------------------------------------------
+Release 4.6.0-beta3 21-Jan-2025
 
 Changes from 4.6.0-beta2
 

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.6.0-beta3"
+#define THISFIRMWARE "ArduRover V4.6.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -11949,8 +11949,8 @@ def assert_home_position_not_set(self):
 
         raise NotAchievedException("Home is set when it shouldn't be")
 
-    def REQUIRE_POSITION_FOR_ARMING(self):
-        '''check FlightOption::REQUIRE_POSITION_FOR_ARMING works'''
+    def REQUIRE_LOCATION_FOR_ARMING(self):
+        '''check AP_Arming::Option::REQUIRE_LOCATION_FOR_ARMING works'''
         self.context_push()
         self.set_parameters({
             "SIM_GPS_NUMSATS": 3,  # EKF does not like < 6
@@ -11966,7 +11966,7 @@ def REQUIRE_POSITION_FOR_ARMING(self):
 
         self.change_mode('STABILIZE')
         self.set_parameters({
-            "FLIGHT_OPTIONS": 8,
+            "ARMING_NEED_LOC": 1,
         })
         self.assert_prearm_failure("Need Position Estimate", other_prearm_failures_fatal=False)
         self.context_pop()
@@ -12278,7 +12278,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.GuidedWeatherVane,
             self.Clamp,
             self.GripperReleaseOnThrustLoss,
-            self.REQUIRE_POSITION_FOR_ARMING,
+            self.REQUIRE_LOCATION_FOR_ARMING,
             self.LoggingFormat,
             self.MissionRTLYawBehaviour,
             self.BatteryInternalUseOnly,

diff --git a/Tools/bootloaders/BETAFPV-F405-I2C_bl.bin b/Tools/bootloaders/BETAFPV-F405-I2C_bl.bin