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ArduPlane Custom Build — Light Variant — v0.1-beta

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@erwinquilloy erwinquilloy released this 26 Jun 15:33
· 248 commits to master_custom_4.6.3_light since this release
light-v0.1-beta
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🪶 ArduCustom Light v0.1-beta

A lightweight ArduPlane 4.6.3 build carrying forward the ArduCustom v11.3e feature set while introducing several new capabilities not available in either ArduCustom v11.3e or official ArduPlane.

This release is optimized for flash-constrained F4 flight controllers using the strict "Light" build philosophy, removing seldom-used hardware backends and protocols while preserving the features most commonly used by FPV and long-range fixed-wing pilots.

Carried Forward from ArduCustom v11.3e

This release includes many of the features that made ArduCustom popular among FPV and long-range fixed-wing pilots:

  • Course Hold flight mode (ground-track hold)
  • Auto Trim flight mode
  • FLTMODE_EXT 12-position flight mode selection
  • Emergency landing failsafe state machine
  • AUTO → FBWA stick takeover
  • Manual airspeed control in navigation modes
  • RTL manual altitude control
  • Arm-switch throttle-cut safety behavior
  • Servo auto-trim enhancements
  • Advanced OSD functionality and flight statistics grid
  • Watt-hour battery monitoring and energy-based failsafes
  • Multi-parameter RC tuning workflow
  • Enhanced telemetry features (CRSF, MSP, FrSky)
  • TECS tuning and throttle-control enhancements

Yaapu Telemetry Script Course Hold support

To enable the coursehold call out and flight mode ID, follow the instructions here:
https://github.com/erwinquilloy/ardupilot/blob/master_custom_4.6.3_light/Tools/yaapu-coursehold/README.md

Auto Trim Flight Mode (Mode 27)

Auto Trim combines Course Hold's locked ground-track behavior with the servo auto-trim system.

While flying, the pilot can make small pitch and roll corrections using the sticks while the firmware gradually accumulates trim adjustments into the saved servo trims. This eliminates the need to land between trim iterations.

Key features:

  • Locked ground-track navigation similar to Course Hold
  • Background servo auto-trim while flying
  • Trim results are written directly into saved servo trims
  • Exiting the mode immediately stops auto-trim accumulation
  • Uses the existing SERVO_AUTO_TRIM and SAT_FINISHTHRESH parameters
  • Shares Course Hold's CRUISE_YAW_RATE behavior
  • Supports yaw-stick steering of the locked course through FLIGHT_OPTIONS bit 20

Enable:

FLTMODE_n = 27

or assign it to any of the additional FLTMODE_EXT slots (7–12).

RC Aux Switch Support

The firmware adds dedicated RC auxiliary functions for AutoTrim and AutoTune so pilots don't have to consume a flight-mode slot.

RCx_OPTION = 17 — AUTOTUNE Mode

Entering the switch HIGH position automatically places the aircraft into Plane AUTOTUNE flight mode.

Unlike RCx_OPTION = 107 (FW_AUTOTUNE), this changes the aircraft's flight mode rather than simply enabling the autotune logic.

RCx_OPTION = 200 — Servos Auto Trim

Allows servo auto-trim to be started and stopped from a momentary or latching switch.

When switched HIGH:

  • Starts a fresh auto-trim session
  • Resets previous auto-trim accumulation
  • Continues operating in the current flight mode (FBWA, CRUISE, RTL, etc.)
  • Does not switch into Auto Trim mode

When switched LOW:

  • Stops auto-trim accumulation

Ground control stations display status messages such as:

Servos auto trim started
Servos auto trim stopped

RCx_OPTION = 200 matches the mf0o implementation, allowing parameter compatibility with existing mf0o-based builds.

New Features Not Available in ArduCustom v11.3e or Official ArduPlane

⭐ LAND_WIND_BIAS

Wind-aware landing-sequence selection for missions containing multiple DO_LAND_START options.

Instead of always choosing the nearest landing sequence, the aircraft can bias selection toward the most favorable headwind approach, improving autonomous landing decisions in windy conditions.

⭐ FormationFlight / ESP32-INAV-Radar Support

Integrated peer-aircraft radar support compatible with:

  • FormationFlight
  • ESP32-INAV-Radar

Displays nearby aircraft directly on the OSD using MSP radar messages, enabling formation flying and aircraft awareness without MAVLink-based tracking systems.

⭐ PTCH_TRIM_DEG RC Knob Tuning

PTCH_TRIM_DEG can now be assigned directly to the RC tuning knob via:

TUNE_PARAM = 59

This enables in-flight pitch-trim adjustment without opening a GCS and was not available in ArduCustom v11.3e or upstream ArduPlane.

What You Gain Over Official ArduPlane 4.6.3

Compared to stock ArduPlane 4.6.3, this firmware provides:

  • Course Hold flight mode
  • Auto Trim flight mode
  • FLTMODE_EXT 12-position mode selection
  • AUTO → FBWA stick takeover
  • Emergency landing failsafe system
  • Manual RTL altitude control
  • Manual airspeed control in navigation modes
  • RC-switch AutoTrim and AutoTune support
  • Wind-aware landing selection
  • Advanced battery-energy monitoring
  • Expanded flight statistics system
  • Enhanced OSD functionality
  • FormationFlight / ESP32-INAV-Radar support
  • PTCH_TRIM_DEG RC knob tuning

Light Variant

The Light build follows the strict 2022 lightweight philosophy and maximizes flash headroom on F4 targets by removing less commonly used hardware backends and protocols.

Included

  • UBLOX GPS
  • SBUS
  • CRSF / ELRS
  • IBUS
  • FPORT / FPORT2
  • Analog airspeed sensors
  • MS4525 airspeed sensors
  • Benewake rangefinders
  • EKF3

Removed

  • DroneCAN / CAN support
  • Multiple GPS support
  • Multiple compass support
  • DSM
  • SRXL / SRXL2
  • SUMD
  • ST24
  • GHST
  • MAVRadio
  • Most GPS backends
  • Most battery-monitor backends
  • Most rangefinder backends
  • Most airspeed backends
  • ICE engine support
  • PiccoloCAN ESC support

Important:

  • DroneCAN peripherals are not supported in the Light build.
  • DLVR/MS5525 digital I²C airspeed sensors require the full build.

Validated Boards

This release has been actively tested and validated on:

  • MatekF405-Wing
  • MatekF405-TE-bdshot
  • SpeedyBeeF405Wing
  • SpeedyBeeF405V3
  • LongBowF405Wing
  • Holybro KakuteH7-Wing

Documentation

Full documentation is available in:

📖 https://github.com/erwinquilloy/ardupilot/blob/master_custom_4.6.3_light/README_CUSTOM.md

Including:

  • Full feature documentation
  • Parameter reference links
  • OSD setup guides
  • Emergency landing configuration
  • Flight-mode descriptions
  • FormationFlight / ESP32-INAV-Radar setup
  • Battery-management extensions
  • Migration notes from upstream ArduPlane

Version

ArduPlane V4.6.3 ArduCustom v0.1-beta Light

Built on ArduPlane 4.6.3 with the ArduCustom v11.3e feature set, plus additional functionality developed specifically for this fork.

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