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ArduPilot Copter Release Notes:
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Copter 3.5.3-rc1 12-Sep-2017
Copter 3.5.3 21-Sep-2017 / Copter 3.5.3-rc1 12-Sep-2017
Changes from 3.5.2
1) Guided mode support yaw and yaw-rate fields from set-position-target message
2) Optical Flow startup retries 10 times