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    Firmware for CrossFlight-CE

    The latest firmware from RadioLink




    Latest Firmware (V4.6.2) Upgrade Instructions

    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



    Attention: If you can not download the files when clicking the files above, please click the website below to download the files you need.

    Firmware: http://www.radiolink.com.cn/firmware/flight_controller/crossflight_EN/