CarbonixUAV · loki077 · Jun 21, 2024 · Jun 21, 2024 · Jun 21, 2024
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,16 +1,4 @@
-Release 5.2.0-beta3 19th June 2024
-------------------------------
-Technical:
- - AP_Param: fixed setting of defaults for dynamic param trees 
-
-Release 5.2.0-beta2 18th June 2024
-------------------------------
-Technical:
- - Fix bug in CPN causing NaN currents for first 5 seconds of boot
- - Default CPN15 to use legacy ESC telemetry
- - Fix conflict/repetition between Common and Volanti params
-
-Release 5.2.0-beta1 16th June 2024
+Release 5.2.0 21th June 2024
 ------------------------------
  - Added a prearm check for a crash dump file. If one is found, arming will be blocked by the prearm. 
  - Added prearm checks for cx_built_in_test script to warn about ESC failure.
@@ -69,7 +57,11 @@ Technical:
  - Params: Enable terrain following if commanded by mission item for Auto and Guided #136 [SW-159](https://carbonix.atlassian.net/browse/SW-159)
  - AP_Arming: force user to ack crashdump or get prearm failure #125 [SW-148](https://carbonix.atlassian.net/browse/SW-148)
  - Tools: Added Python Script to decode and encode Devid #136 [SW-159](https://carbonix.atlassian.net/browse/SW-159)
-
+ - Fix bug in CPN causing NaN currents for first 5 seconds of boot
+ - Default CPN15 to use legacy ESC telemetry
+ - Fix conflict/repetition between Common and Volanti params
+ - AP_Param: fixed setting of defaults for dynamic param trees 
+ - Set OUT_BLH_MASK to 1 on all ESC CPNs to prevent duplicate ESC status packets  
 
 Release 5.1.1 20th March 2024
 ------------------------------

diff --git a/libraries/AP_Common/CxVersion.h b/libraries/AP_Common/CxVersion.h
@@ -1,5 +1,5 @@
 #ifdef CARBOPILOT
 #ifndef AP_CUSTOM_FIRMWARE_STRING
-#define AP_CUSTOM_FIRMWARE_STRING "CxPilot-5.2.0-beta3"
+#define AP_CUSTOM_FIRMWARE_STRING "CxPilot-5.2.0"
 #endif
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M1.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M1.parm
@@ -4,7 +4,7 @@ OUT1_MAX 2000
 OUT1_TRIM 1000
 OUT1_FUNCTION 33
 OUT2_FUNCTION 0
-OUT_BLH_MASK 3
+OUT_BLH_MASK 1
 OUT_BLH_OTYPE 6
 OUT_BLH_POLES 28
 OUT_BLH_EXTLM 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M2.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M2.parm
@@ -4,7 +4,7 @@ OUT1_MAX 2000
 OUT1_TRIM 1000
 OUT1_FUNCTION 34
 OUT2_FUNCTION 0
-OUT_BLH_MASK 3
+OUT_BLH_MASK 1
 OUT_BLH_OTYPE 6
 OUT_BLH_POLES 28
 OUT_BLH_EXTLM 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M3.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M3.parm
@@ -4,7 +4,7 @@ OUT1_MAX 2000
 OUT1_TRIM 1000
 OUT1_FUNCTION 35
 OUT2_FUNCTION 0
-OUT_BLH_MASK 3
+OUT_BLH_MASK 1
 OUT_BLH_OTYPE 6
 OUT_BLH_POLES 28
 OUT_BLH_EXTLM 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M4.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M4.parm
@@ -4,7 +4,7 @@ OUT1_MAX 2000
 OUT1_TRIM 1000
 OUT1_FUNCTION 36
 OUT2_FUNCTION 0
-OUT_BLH_MASK 3
+OUT_BLH_MASK 1
 OUT_BLH_OTYPE 6
 OUT_BLH_POLES 28
 OUT_BLH_EXTLM 1

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M5.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M5.parm
@@ -4,7 +4,7 @@ OUT1_MAX 2000
 OUT1_TRIM 1000
 OUT1_FUNCTION 37
 OUT2_FUNCTION 0
-OUT_BLH_MASK 3
+OUT_BLH_MASK 1
 OUT_BLH_OTYPE 6
 OUT_BLH_POLES 28
 OUT_BLH_EXTLM 0