Custom V6.1

V6 with bugfix
ArduPilot/ardupilot#19240

Custom light V6

light-v6

master_custom_light v6

Custom V6

What changed compared to upstream's base for this release:

• The battery cell count detection algorithm is moved from the OSD to the battery code. Param OSD_CELL_COUNT is replaced with BATT_CELL_COUNT and BATT_CELL_DT_V
• Power and energy counter have been added to analog OSD along with the possibility to have energy based efficiency items (configured with OSD_EFF_UNIT)
• Adds the possibility to build the firmware through Docker
• Adds the possibility to have up to 12 flight modes
• Do not force BLHeli ESCs to 3D mode when the ESC output is marked as being reversible allowing to use BLHeli's soft bidir mode
• Adds an OSD warning for low air speed
• Fixes upstream's MIXING_OFFSET implementation and adds MIXING_DIFF to setup differential aileron/elevon movement
• Reports relative home altitude instead of GPS/MSL altitude through CRSF telemetry
• Fixes ESC telemetry reporting through the OSD
• Adds OSD warnings for high motor RPM, low motor RPM and high ESC temperature
• Adds new OSD elements for ESC telemetry: highest current across all the ESCs, average current across all the ESCs, total current across all the ESCs, highest RPM across all the ESCs
• Changes wind speed from m/s to km/h on DJI FPV OSD
• Regularize ONESHOT output so that pulses are only sent on loop boundary
• Shortens takeoff heading hold delay
• Enables plus code on all builds
• Adds option to shorten plus code
• Suppresses CRSF system info messages by default
• The rangefinder altitude indication on the OSD is attitude corrected
• Manual throttle is increased
• Adds an option to increase the resolution of the throttle OSD element to one decimal
• Disable the output on the LED pad for MatekF405-Wing so that release builds have DMA available on UART3

Parameters documentation can be found here:

• Blimp
• Copter
• Plane
• Sub
• Rover