bug fix

New • 3D control-surface preview on the servo page — pick your airframe and the on-screen 3D aircraft turns with the real one while each surface moves the right way, so you can check whether the ailerons, elevator, and rudder are reversed. • 3D rotation guide for compass calibration — after you start, the dialog shows a 3D aircraft demonstrating how to turn the vehicle through every direction (it recognizes your airframe); just follow along to finish. • New EdgeTX radio flashing tool (Android only) — install or update firmware on EdgeTX radios in three steps; just follow the prompts and connect over USB. • Reworked ArduPilot flight-modes page + one-tap preset — a clearer mode layout, plus a preset that applies the recommended fixed-wing arrangement in one tap. • One-tap ArduPilot failsafe preset — applies a safe return-home strategy in one tap (RC loss / low battery → return home, critical battery → land). • Obstacle radar and above-ground height in ArduPilot telemetry — the flight view shows nearby obstacles and height above the ground; toggle it in settings. Improvements • Accelerometer calibration is now folded into the tuning screen for smoother navigation. • On large tablets, the accelerometer / level / barometer calibration pages now stack vertically, so the illustration is bigger and clearer. • iNav tuning now uses a two-column layout on tablets / landscape (outputs, receiver, calibration, configuration, sensors and more) to make better use of the larger screen and fit more on one screen. • Rewritten copy on the device feature entries so each one's purpose is clear. • Nicer wireless-board settings: show / hide the password, plus new connection options. • Maps zoom in further for a closer look. • A warning now appears before you change the Bluetooth tuning port, so you don't accidentally lock yourself out. • iNav tuning now supports firmware up to 9.1. • Added F405 Wing, Remote ID and more; H743 Wing now supports a direct USB connection. • The screen stays awake during a firmware update. Fixes • Fixed some devices showing the wrong language (Chinese when it isn't the primary language). • Fixed a possible failure when exporting the flight controller's configuration for the first time. • Fixed the position of the bottom save bar on some iNav pages. • Fixed a possible crash when saving RC calibration.

fix i18n

New • ArduPilot device self-check — a new pre-flight "Self-check" page reviews the FC's static params for contradictions and pitfalls, grouped channels / safety / power / sensors (misassigned or duplicate AUX, reversed throttle, arming/failsafe issues, RTL altitude 0, missing GPS, battery thresholds, frame unset, uncalibrated compass/accel, airspeed/EKF off, and more). Each item reports pass / warning / error / N/A and links straight to its fix. • ExpressLRS receiver flashing over USB — alongside WiFi: OTG direct, or via FC (Betaflight / iNav / ArduPilot) or radio (EdgeTX) passthrough. Live progress, mismatched firmware caught early, optional "erase chip". • Sirius device flashing over USB — OTG auto-detect + full flash, or via the connected radio passthrough; adds a "choose firmware" step. • Open .tlog / .cwlog logs straight into playback from the system "Open with" (Android & iOS, one file at a time). • iNav firmware-compatibility check — supports only iNav 8.0.1–9.0.1; outside that it blocks to prevent writes that could corrupt incompatible firmware. Betaflight and others unaffected. • Auto-discover devices on the LAN for TCP / UDP — one tap connects; falls back to the host/port form after ~6 s or via "enter manually". Improvements • "Stick replay" in tlog playback — two sticks replay the pilot's left/right movements in sync with the timeline (Mode 2), toggled from the control bar; centered when a log has no RC channels. • New "VTOL" PID category — a QuadPlane's multirotor loops (rate/angle, accel limits, XY pos/vel, altitude Z) are now their own editable category instead of being crowded out by fixed-wing params; hidden on pure Copter / Plane / Rover. • Airspeed page is now config + calibration — left column adds airspeed settings (unexposed fields hidden), right keeps ground calibration; side by side on wide screens. • Better pre-flash guidance — per-method wiring tips and clearer errors (device not found, permission denied, manual boot mode, etc.). • More specific network errors on a failed firmware download. • ArduPilot param import auto-converges — loops write → reboot → re-read → re-compare (up to 5 rounds) until it matches, so reboot-gated params like Q_ENABLE need no manual re-imports. Confirm once; a dialog reports count/rounds with "View" for mismatches. ARSPD_DEVID excluded. • Confirm before leaving a connected device — back, swipe-back, or disconnect now ask first; no prompt if already disconnected or out of range. • Localized fix-it hints for arming failures — ~60 ArduPilot PreArm / Arm errors now carry a one-line hint in your language, with the FC's English as a subtitle. • VTOL Q_* options now carry plain-language descriptions (e.g. Quad → "Quadrotor, 4 motors"); numeric/self-explanatory fields stay bare. • Two-column parameter cards now scroll independently. • Layout polish on calibration and motor-test pages — fixed-width battery gauge, standard-sized compass "Start", side-by-side motor-test sliders when there's room. • Restyled arm / disarm button — unlocked = brand-green (arm), armed = red with red border (tap to disarm), waiting (no heartbeat) = disabled gray. Fixes • Two arming-failure hints corrected — inverted battery failsafe thresholds (critical ≥ low) now point to the two threshold params; Copter's "Altitude disparity" now advises keeping the craft still to settle or checking the barometer. • Clearer frame page when VTOL is off on a fixed wing — on ArduPlane with Q_ENABLE=0 it now says to enable Q_ENABLE on the VTOL page and reboot first. • Protocol-detection probe now uses MSPv2 (was MSPv1) for more reliable detection. • Localized pose prompts in 6-point accel calibration, in sync with the illustration; success/failure messages too. • OSD preview no longer spills outside the canvas — out-of-bounds elements are clipped. • PID Yaw rate IMAX now shows on Copter / VTOL (matching param candidates added).

New - **Remote assistance — now for everyone** — remote assistance is now available to all users (previously beta-only). When you hit a tuning or connection issue, start a remote session in one tap to let support view and help operate your device remotely; leaving a session now asks for confirmation to avoid accidental disconnects. - **4G/5G aggregation box video** — added video support for 4G/5G aggregation boxes so you can watch the box's live feed directly and keep eyes on the aircraft over long distances; the video-source picker is now a 2×2 grid that shows every option at a glance, even in landscape. - **Endurance Calculator** — a new tool that estimates flight time from average current or power draw, so you know what to expect before you fly. - **Power Efficiency Calculator** — a new tool that compares motor / prop / battery / ESC combos by thrust efficiency and power draw to help you choose a setup. - **New device: CoreWing F405 Wing MINI V2** — added to the device library; it's recognized automatically on connect, with its own product image and manual. Improvements - Faster, steadier ArduPilot parameter loading — once most parameters are in (≥75%), only the missing ones are re-requested individually instead of refetching the whole table; noticeably quicker over slow links like BLE. - Refreshed Bluetooth scanning animation for a clearer "searching" view. - **Refreshed video picture-in-picture** — the floating window is now a rounded card with a cleaner control bar and fills the screen by default; a new status overlay tells you what's happening (initializing / not started / connecting / signal lost) and the "not started" state opens settings in one tap; tap the video to hide or show the controls for immersive viewing. - **All-new frosted-glass look** — the Home, Devices, Tools, and Profile screens now use a frosted-glass style over a background image, with translucent, layered cards / nav bar / dialogs; dark mode and text legibility were tuned to match, and input fields inside popup sheets now blend with the frosted surface too. - **Shared-element page transitions** — device covers, saved-device cards, and your profile cover and avatar now animate with a shared-element transition when navigating, for smoother, more natural screen changes. - **Receiver flashing completion screen** — ExpressLRS / Sirius receivers now show a dedicated completion screen after a successful flash, clearly summarizing the result, with a steadier exit flow. Fixes - Fixed voice broadcast being silent on some Android devices. - ArduPilot telemetry message (StatusText) banner: only the bubble is tappable now, so reviewing history no longer accidentally opens the map. - Relaxed telemetry source detection — some lightweight MAVLink transmitters and non-ArduPilot flight controllers (e.g. iNav) could previously leave the telemetry page blank; they now show telemetry correctly.

### New - **Speed unit** — switch between km/h and m/s across all telemetry. - **Voice Broadcast** — voltage, battery, speed, altitude and status alerts read aloud in flight, plus arm/disarm and flight mode. Set it up under Tools → Voice Broadcast. ### Improvements - ArduPilot parameter export now opens an "export details" dialog to name the file and add a remark (input runs on a full-screen editor page, so the keyboard no longer squeezes the dialog); import can be filtered by group (e.g. OSD / servos / channels) and automatically skips values that already match the flight controller, reporting the skipped count. - Telemetry top info bar (dock) is now customizable — long-press to choose which fields show and reorder them — and adapts its count to screen width (at least 8 on phones, more on tablets / wide screens); added a per-cell voltage field. - Telemetry settings (video source / capture card / OpenIPC / display) moved from dark sheets to the standard light app style, consistent with the tools tab and easier to read in portrait; the arm/disarm confirm dialog uses the unified style too, so dismissing it no longer risks an accidental force-arm. - ArduPilot telemetry messages (StatusText) are now tappable to review history — previously only the latest few showed before scrolling away; tap to open a scrollable log of all messages, color-coded by severity with relative timestamps. - ArduPilot telemetry arm indicator now shows pre-arm readiness — when disarmed it reads "READY" (green) or "NOT READY" (orange) based on the FC's pre-arm checks, so you know at a glance whether you can arm. - More reliable protocol detection — no false "detection failed" on devices that don't need it. - Full-screen immersive telemetry. - Cleaner firmware update list (latest version only). - Flight track cleared when switching aircraft. ### Fixes - Fixed false "Bluetooth off" during scan on iOS cold start. - Flight-log recording now respects the off switch. - Fixed GPS positioning with coordinate validation.

New Features Added low-latency video playback for UDP, RTP, RTSP and H.264 / H.265 streams — faster startup, lower latency, RTSP works out of the box. Added Remote Assist so support can remotely diagnose flight controller issues. Added Little Bee AAT antenna tracker management: view sub-board firmware versions and check for updates; main board and signal-forwarder each have their own upgrade page. ArduPilot telemetry page gains a map + video picture-in-picture — tap the inset to swap which view fills the screen; the card has its own toolbar (settings / play-pause / record / swap), supports drag and 0.7x–2.5x pinch zoom. ArduPilot Plane gains an Attitude Trim tuning card with cruise pitch trim and in-flight auto servo trim. ArduPilot vehicle presets are split by flight-controller chip — F405 / H743 each ship dedicated servo and motor PWM mappings, auto-matched by FC name. Firmware flashing wizard is now a four-step flow: entry, version, board, flash, with smoother search and sort. Config square cards now show an author avatar that links to the author's profile. The in-app update dialog renders Markdown — titles, lists and emphasis display cleanly. Connecting a CRSF receiver auto-records the flight log — open it under Tools → Log Playback, scrub and replay up to 16x. CRSF telemetry page's attitude ball is upgraded to a full flight HUD with airspeed / altitude tapes, compass strip and arming-state indicator. Four new chips on the CRSF top bar: airspeed, climb rate, GPS fix quality and consumed mAh. CRSF telemetry now surfaces data piggybacked from ArduPilot FCs: arming state, home location (cyan H marker), VTX freq/power, link quality, and FC text messages color-coded by severity. Improvements iNav tuning page cold-start is faster. ArduPilot map: aircraft and phone-GPS markers split into separate layers, so 25 Hz attitude updates no longer redraw waypoints, geofence and patrol polygons — zoom and pan feel smoother. Attitude ball restyled with a DJI-style translucent disc, N/E/S/W compass letters and home-direction H marker. ArduPilot flight HUD redesigned to match Mission Planner: compass strip on top, attitude centered, airspeed / altitude tapes on the sides, battery + GPS at the bottom, RSSI bar top-right. Attitude ball and HUD per-frame redraw cost reduced — low-end phones stay smooth at 25–50 Hz. Error messages converged to localized friendly descriptions — no more raw exception stacks in the UI. CoreWing OTA upgrades are noticeably faster for large files. Sirius online upgrade auto-confirms version mismatches — no second tap. Attitude-ball visibility toggle moved into "Telemetry Display Settings" and persisted across sessions. "Language" and "Appearance" preferences moved into Basic Settings under "Appearance & Language" — the profile page is now focused on account and content. Log playback list cards redesigned: recording time plus a "Today / Yesterday / weekday" tag stand out, duration and size merged into a single badge row. iNav terminology aligned with upstream: "Control Config / Motor Config" → "Configuration / Mixer". Picture-in-picture toolbar has its own palette for clearer visual layering. CRSF link now decodes more sensors: GPS precision, motor RPM, temperature, per-cell voltage, magnetometer, barometer, VTX and more. CRSF home distance prefers the FC-reported value, falling back to phone GPS — no more jumps when sources switch. Bug Fixes Fixed serial config treating stop-bits "1" as "1.5". Fixed ExpressLRS post-flash back-press popping the exit-app dialog — it now returns to the wizard's host tab. Fixed RTSP video playback producing no output on iOS. Fixed an occasional crash when swapping map and video PIP, and the map tiles no longer go black after the swap. Fixed iNav magnetometer preview compass heading being off by 270 degrees.

This update introduces a refreshed Cloud Library, a Message Center, in-app tutorial search, ESC tuning, and many ArduPilot / iNav workflow improvements. NEW • Cloud Library overhaul — firmware filter, keyword search, parameter preview; save FC config / params / CLI dump locally and sync both ways with the cloud • One-tap DFU flashing for community flight controllers • Brand-new Message Center — bell icon on the home screen • Tutorial Center — keyword search, in-app feedback, new home Tab • Find Aircraft — Google Maps support, swap lat/lng, fixed iOS navigation • ELRS Backpack — one-tap BLE scan & connect • ESC tuning for BLHeli_S / Bluejay / AM32, with built-in motor test • ArduPilot — ESC calibration wizard; new VTX & VTOL config pages; PID gets a Throttle tab; HUD shows "Ready to Arm"; customizable consumed mAh & top chips • Telemetry — HUD / dock / details unified to km/h, HUD auto-scales • Tablet & foldable — responsive HUD + dashboard layout with proportional scale • Multi-aircraft — heartbeat filtering, one-tap flight-mode switch in the AppBar • Auto-detects FC type after connect; guides switching to OTG when needed • BLE scan now checks Bluetooth / Location permissions first, with a one-tap jump to Settings when permanently denied • Screen no longer auto-sleeps on telemetry & tuning pages FIXES & POLISH • Fixed crash on first entry to Cloud Library • Fixed firmware flasher getting stuck on the picker after completion • ArduPilot — more robust compass calibration; HOME auto-backfilled after a waypoint download • iNav — mixer presets aligned with upstream; arming-failure reasons shown; OSD load errors retry automatically • First launch picks a map source based on system language • Tap-outside dismisses the keyboard everywhere • More stable Bluetooth connection and protocol detection • Visual polish across Home, maps, battery & VTX pages

CoreWing is a companion app for drone pilots and developers — connect to your flight controller, tune parameters, flash firmware, and recover a lost aircraft without ever opening a laptop. CONNECT ANY FLIGHT CONTROLLER • Scan and connect over Bluetooth LE, USB Serial (Android OTG), WiFi TCP, or UDP • Auto-detects MAVLink, MSP, and CRSF protocols • Saved-device list with one-tap reconnect, custom cover and name FULL ARDUPILOT PARAMETER TUNING • Read, edit, diff, import and export (.param) every parameter on board • Built-in metadata: enums, bitmasks, units, descriptions • Dedicated pages for Failsafe, PID tuning, Battery & Compass calibration, Serial, RC channels, Servo, Motor test, and Safety • Favorites and full-text search across hundreds of params LIVE TELEMETRY & MISSION PLANNING • Real-time attitude, GPS, battery and link-quality dashboards • Plan and upload waypoint missions on an offline tile map • Phone-GPS fallback when HOME is not yet locked TOOLBOX • ExpressLRS Web Flasher — flash the latest ELRS firmware over WiFi • Sirius link upgrade — CRSF / MAVLink / mLRS variants supported • Find Aircraft — enter crash-site coordinates, get live distance and one-tap navigation through Apple Maps / Google Maps / AMap / Baidu • Offline Map — pre-download tiles by region and zoom for remote flying sites • Remote ID Scanner — sniff nearby aircraft's OpenDroneID broadcasts via BLE • Flight log playback REMOTE ID READY • Configure ODID broadcast (serial / CAA / UTM / operator ID) • Declares 16 aircraft categories incl. fixed-wing, multirotor, VTOL, glider WIRELESS MODULE UPGRADES • Update peripheral module firmware over Bluetooth — no disassembly DESIGNED FOR EVERY SCREEN • Material 3 adaptive layout for phone, tablet, landscape • Light / Dark / System themes • Fully localized in English and Simplified Chinese CoreWing works with CoreWing hardware (F405 Wing V2, Sirius, LittleBee AAT…) as well as open-source ArduPilot, ExpressLRS and OpenDroneID. No account required for any local feature.

## 新增模拟遥控 - 虚拟摇杆模拟 RC 遥控器 - 支持美国手 / 日本手模式切换 - 辅助通道可自定义映射 (CH5-CH16) - 横屏全屏沉浸式界面 ## 遥测页面全新升级 - 新增顶部信息栏，关键飞行数据（信号、卫星、电压、高度、距离、地速）一目了然 - 电压根据单体电压值变色预警，电池状态实时掌握 - 左侧数据面板改为紧凑列表布局，空间利用更高效 - 飞控状态消息改为地图内控制台显示，支持展开查看历史记录 ## 新增功能 - 串口连接支持波特率选择 - 新增 Sirius 2.4G 产品支持 - 高频头刷写前增加接收机固件确认提示，避免协议不一致导致连接失败 ## 任务航线增强 - 航点上传/下载传输可靠性大幅提升，支持断点恢复和自动重试 - 离家距离改用手机 GPS 计算，数据更准确 - 任务下载增加超时重试机制 ## 问题修复 - 修复垂起机型预设未启用 Q_ENABLE 的问题 - 修复遥控器校准串口波特率参数值错误 - 优化电池串数检测算法，避免噪声数据导致误判

### 新功能 - 新增 Sirius 2.4G 高频头产品支持 - 新增模块固件升级提示功能 - 新增 INAV OSD 推荐布局电流消耗显示 - 首页新增无线工具快捷入口，支持 ELRS / mLRS / ELRS MAVLink 多协议配置 ### 优化改进 - 重新设计 Sirius 固件升级页面交互体验 - 航点上传/下载可靠性大幅增强，支持断点恢复与退避重试 - Sirius 筛选栏支持横向滚动 - INAV 配置模块全面国际化（面板、航点、配置文件、状态等） - INAV 舵机混控功能完善 - INAV 配置项改为动态加载，统一输入框样式 - 地图缓存管理支持选择性删除 ### 问题修复 - 修复垂起机型（Y3/4+1）预设未启用 Q_ENABLE 参数的问题 - 修复遥控器校准串口波特率参数错误 - 修复模块升级提示在无网络状态下的异常崩溃 - 修复 INAV 航点上传冗余方法导致的问题

修复问题 - 修复模块升级提示在无网络状态下的崩溃异常 - 修复 ArduPilot 航点上传/下载可靠传输问题 - 修复 INAV 航点上传中的冗余方法导致的异常 - 修复 INAV 面板国际化显示不完整的问题 功能优化 - Sirius 固件升级：重新设计固件升级页面交互，体验更流畅 - 地图缓存管理：支持选择性删除地图缓存，管理更灵活 - INAV 全面优化： - 任务规划功能优化 - 舵机混控完善 - 状态面板统一定时器机制 - 配置页面代码重构优化 - 输入框样式统一 - 配置项改为动态加载方式

- 修复GPS地图不显示的bug - 提升地图模块稳定性 - 修复部分界面错乱问题 - 完善平板横屏设备适配 - 优化响应式布局 - 参数中心新增OSD预览 - 遥测地图新增飞机自动跟随功能 - 新增硬件健康状态详细信息展示 - 提供更直观的设备状态监控

修复iPhone布局错误

适配iPad横屏界面

新增 对小蜜蜂AAT的支持 修复与优化 状态文本修复: 修复了 statustext 解码问题，确保状态信息显示正确。 连接稳定性: 优化了超时处理逻辑，提升连接稳定性。 设备管理: 针对设备交互进行了底层优化。 性能提升:进行了多项代码结构优化，提升 App 运行效率。

APP更新日志 新增功能 - INAV OSD配置： - 支持单独OSD配置导出/导入功能 - 新增OSD推荐布局应用功能 - 实用工具扩展： - 新增飞行日志分析功能 - 新增AM32电调配置功能 - 新增Bluejay和BLHeli32电调配置功能 - 电调调参功能整合（All-in-One） 优化改进 - 界面优化： - 多处界面细节优化，提升用户体验 - 弹窗交互优化，操作更流畅 - ArduPilot舵机功能弹窗优化 - INAV优化： - 修复状态栏电池显示UI异常 - 数据模型优化 - 混控预设优化，配置更便捷 - 4way进入流程优化，连接更稳定 - 中文翻译更新，本地化体验更好 - 性能优化：应用运行更流畅 - 提示功能优化：ArduPilot新增未保存提示 问题修复 - 修复多个已知bug，提升应用稳定性 - 修复命令超时问题 - 修复初始化预设问题

- 离线地图下载：支持离线地图下载，随时随地查看飞行区域 INAV功能优化 - CLI模式全面改进： - 优化CLI模式体验，改进UI切换样式 - 改进CLI模式提示信息和保存指令 - 优化INAV CLI命令处理 - 改进基类子路由切换和cli模式子路由 - 配置增强： - 新增链路模式切换功能 - 改进配置切换提示 - 优化INAV协议提供参数访问 - 优化INAV设置定时器销毁机制 - 航点规划改进：优化航点更新逻辑，提升规划效率 - 功能新增： - 新增恢复默认设置功能 - 优化设置补偿和失控保护状态 - 其他优化： - 优化输出电机示意图位置 - 优化混控器预设UI位置 ArduPilot功能优化 - 调参功能增强： - 新增更多调节数据 - 优化寄出调参和图传预设 - 抛飞参数更新 - 参数表优化：全部参数表优化，新增中文描述 - 端口设置增强：端口设置新增serial和uart的映射 - 电调校准优化：完善电调校准功能 - 优化OSD设置界面和按钮 - 设备详情界面优化 - 解锁设置优化 通用功能优化 - 界面优化： - 统一状态栏UI风格，优化指令优先级显示 - 连接稳定性提升： - 优化重连机制和设备连接流程 - 提升连接可靠性 - 性能提升： - 改进模型加载速度 - 优化参数加载性能 - 优化PID提示及加载速度 - 其他优化： - 固件升级机制优化 - 协议内容更新和优化 - 去除测试提示

连接方式： 1.新增：支持第三方飞控使用UDP、TCP模式连接APP 2.新增：支持第三方飞控使用ELRS Backpack 功能连接APP 新增功能： 1.新增：状态速览页进行飞行模式切换 2.新增：抛飞页面全中文描述 3.新增：OSD中文注释，支持OSD单独导入与导出 4.新增：状态速览页新增校准菜单，支持空速校准和气压计校准 5.新增：适配AP固件的CoreWing H743 WING定时器分组和舵机输出类型 体验优化: 1.修复：基础调参单位，返航高度单位显示问题 2.修复：升级架构，提升APP运行稳定性 3.优化：基础设置分组，更新配置调试参数，调参更高效 4.优化：航点功能，序号对齐地面站逻辑，支持AP固件航点文件本地保存 5.优化：遥控器校准页面优化摇杆预览，反向逻辑与MP地面站保持一致

CoreWing APP 1.2.5版本更新内容： 功能优化与新增 通道功能页面：优化了通道占用提示与激活显示，状态更清晰直观。 基础调参页面：新增 ARMING_RUDDER、RSSI_TYPE、FLIGHT_OPTIONS 关键参数选项，满足进阶调试需求。 端口与图传设置：优化串口数量识别，并新增图传通信串口的独立选择设置，连接配置更灵活。 状态速览页：新增空速计校准与气压计校准入口，助力提升飞行数据精准度。 飞行轨迹回放升级：新增普通回放模式与3D轨迹回放模式，助您从多维度复盘飞行细节。 体验与兼容性提升 支持夜间模式：界面适配系统深色主题，满足不同环境下的使用需求。 ELRS配置扩展：新增对 Flysky PA01 遥控器 的支持，设备兼容性更广。 优化加速度计校准：优化校准时的操作体验，使用更加流畅。