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ArduPilot Copter Release Notes:
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Copter 4.1.0-rc4 01-Oct-2021
Copter 4.1.0 08-Oct-2021 / 4.1.0-rc4 01-Oct-2021
Changes from 4.1.0-rc3
1) Position controller PSC/Z logging changed to PSCN/E/D and includes "desired"
2) Bug Fixes