Although aerial drones get the spotlight, ArduRover 3.6.2 (part of the 248 family) remains a favorite for surface vehicles due to its predictable steering control.
If you have a Pixhawk running 2.4.8 today: pixhawk 248 firmware
| Feature | Pixhawk 248 (3.6.8) | ArduCopter 4.5 | |---------|---------------------|----------------| | Control loop speed | 400 Hz maximum | 1000 Hz (on F7/H7) | | Terrain following | Basic | Advanced Lidar fusion | | OSD support | Minimal (Mavlink) | Full Canvas 2.0 | | VTOL tiltrotor | Limited | Full support | | Object avoidance | No | SITL + real sensor | | Parameter count | ~850 | ~2100 | | Memory usage | 1.2 MB | 1.8 MB+ | Although aerial drones get the spotlight, ArduRover 3
Conclusion: If you have a new Pixhawk 4 or Cube Orange, use 4.5. If you own an original Pixhawk 1 or are a racing purist, Pixhawk 248 firmware is unbeatable. | Parameter | Recommended Value (Racer) | Stock
| Parameter | Recommended Value (Racer) | Stock Value | |-----------|--------------------------|--------------| | PSC_ACC_P | 1.2 | 0.8 | | PSC_ACC_I | 0.8 | 0.5 | | ATC_RAT_RLL_P | 0.22 | 0.12 | | ATC_RAT_PIT_P | 0.22 | 0.12 | | ATC_RAT_YAW_P | 0.25 | 0.20 |