* Note:

The CrossRace can only upgrade the firmware from Radiolink and cannot upgrade the open-source firmware.

CrossRace only supports the firmware for Multicopter, and its default loads the parameters of the 5-inch drone.

The latest firmware from RadioLink

ArduPilot Copter Release Notes:

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Release 4.6.2 17-Jul-2025 / 4.6.2-beta2 02-Jul-2025

Changes from 4.6.2-beta1

1) Copter/VTOL position control PSC_VELXY_D param default reduced from 0.5 to 0.25

2) Plane specific changes

- DO_RETURN_PATH_START mission command support

- System ID feature implemented in Quadplane and enabled through an AUX switch

- VTOLs get reduce speed scaler in assisted flight at low airspeed

3) Bug Fixes and minor enhancements

- Copter/VTOL AutoTune fix to restore gains when tuning aborts

- ChibiOS tools fix to include bootloaders in hex files (no user impact)

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Release 4.6.2-beta1 26-Jun-2025

Changes from 4.6.1

1) Plane specific changes

- LOITER_TURNS command with zero turns fixed (was skipping waypoint)

- VTOL transitions lose unnecessary bad descent protection

2) Bug Fixes and minor enhancements

- BLHeli passthrough fixes

- CAN race condition fixed on Linux and SITL

- ChibiOS serial driver initialisation respects options to disable TX/RX DMA

- CRSF bootstrap completes when not using passthrough

- CRSF ground speed fixed (was about 20% off)

- DroneCAN GPS ellipsoid alt only trusted if different from AMSL (avoids false impression of zero undulation)

- DroneCAN Servos/ESCs fix when commanding output PWM of zero (previously could go to min or full reverse for bidir ESCs)

- Fence and Rally point upload using older MISSION_ITEM messages fixed

- Flash ECC check fixed on H7 boards

- LD06/LD19 lidar get mode filter to reduce sensitivity to sunlight

- Linux serial driver initial baud rate fixed

- MPPT power module nullptr check added to prevent potential hardfault

- Networking PPP made much more robust

- "No ap_message for mavlink id" message removed on all boards except SITL

- Parameter writes via FTP correctly obey parameter's read-only setting

- Scripting fix for null pointer dereferences when passing incorrect types to certain functions expecting strings

- Sensor health reporting made threadsafe (previously could incorrectly report unhealthy)

- Set-message-interval mavlink messages rejected if intervals below -1

- Siyi ZT6 gets warning if using old camera firmware (should use 0.1.9 or higher)

- SLCAN potential hardfault on arming fixed

- SPLO6 baro initialisation fix

- UBlox F9P driver fix for GPSs configured to never send MSG_STATUS

- VTX hang when setting LowRace band fixed

Firmware for CrossRace

Attention: Flashing firmware for different drone models to the flight controller will reset all current parameters, while flashing different versions of firmware for the same model will not. To preserve flight controller parameters, please export and save them first.