mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-02 10:23:25 +08:00
2213 lines
127 KiB
Plaintext
2213 lines
127 KiB
Plaintext
ArduPilot Sub Release Notes:
|
|
------------------------------------------------------------------
|
|
Release 4.7.1 31-August-2026 / 4.7.1-beta1 17-August-2026
|
|
|
|
Changes from 4.7.0
|
|
|
|
1) Board specific changes
|
|
|
|
- ARKV6S board added (@dakejahl, PR:33157)
|
|
- CORVON_V5 board added (@holydust, PR:33593)
|
|
- DAKEFPV boards add support for LSM6DSV and BMI270 IMUs (@engineer-dakefpv, PR:33984)
|
|
- FlywooF405S-AIO and -HD boards support SPL06 barometer (@mbuzdalov, PR:33779)
|
|
- KakuteH7-Wing boards support LSM6DSV IMU (@zebulon-86, PR:33761)
|
|
- ORBITH743v2 board added (@orbittechnologyx, PR:33582)
|
|
|
|
2) Plane specific changes
|
|
|
|
- Q_P_JERK_NE/D renamed to Q_P_NE/D_JERK (@rmackay9, PR:33843)
|
|
- Quadplane: In transition only set TECS throttle min in auto throttle modes (@IamPete1, PR:33972)
|
|
|
|
3) Copter specific changes
|
|
|
|
- Auto mode climbing Arc waypoint speed limits and velocity/acceleration fixed (@lthall, PR:33833)
|
|
- Auto mode fix to continue past RTL if rtl-final-descent non-zero (@rmackay9, PR:33797)
|
|
- Circle mode entry fixed when RC input present (@peterbarker, PR:33525)
|
|
- PSC_JERK_NE/D renamed to PSC_NE/D_JERK (@rmackay9, PR:33843)
|
|
- Simple mode fixed (@rmackay9, PR:33947)
|
|
|
|
4) Library/Driver changes
|
|
|
|
- AC_WPNAV: Use of uninitialised values avoided in m/cm conversion code (@peterbarker, PR:33715)
|
|
- AP_Filesystem: Files without an End-Of-Line character get correctly read (@peterbarker, PR:33744)
|
|
- AP_FlashStorage: Fix incorrect value of `current_sector` during init (@Juergen-Fahlbusch, PR:33640)
|
|
- AP_Follow: Fix parameter ranges to include their defaults (@lthall, PR:33928)
|
|
- AP_GPS: Unicore baseline correction in vertical component of Unicore reported baseline (@lthall, PR:33730)
|
|
- AP_Mount: Fix AlexMos yaw angle scaling (@borischernov, PR:33785)
|
|
- AP_NavEKF: Log per-core source set in XKFS (@mykhailopylyp, PR:33904)
|
|
- AP_OSD: use Betaflight SYM_TOTAL_DISTANCE for DisplayPort distance icon (@coreyfarley, PR:33908)
|
|
- AP_RangeFinder: TFMiniPlus: Small delay added to improve read reliability (@IamPete1, PR:33709)
|
|
- ChibiOS: fix overdrive disabled on H7 boards clocked above 400MHz (@andyp1per, PR:33824)
|
|
- GCS_MAVLink: Correction in diagnostics printing (@peterbarker, PR:33800)
|
|
- IST8310 compass gets probed only if the driver is enabled (@peterbarker, PR:32696)
|
|
- Topotek gimbal network connection handling is corrected (@peterbarker, PR:33803)
|
|
|
|
5) Tool changes
|
|
|
|
- build_options.py: Wrong dependecy for MAVLINK_SIGNING has been removed (@peterbarker, PR:33798)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0 21-July-2026/ 4.7.0-beta8 13-July-2026
|
|
|
|
Changes from 4.7.0-beta7
|
|
|
|
1) Board specific changes
|
|
|
|
- BCubeF745v2 board added (@petrosaccone, PR:32753)
|
|
- CORVON743V2 board added (@holydust, PR:33307)
|
|
- Navigator board supports lsm6dsv IMU (@Williangalvani, PR:33219)
|
|
- SkystarsH7HDv3 onboard baro changed to SPL06 (@andyp1per, PR:33333)
|
|
- TBS LUCID H7 OEM board added (@andyp1per, PR:33337)
|
|
- TBS LUCID H7 V3 board added (@andyp1per, PR:33337)
|
|
|
|
2) Driver changes
|
|
|
|
- ASM330LHH IMU axes order fixed (@n-ito2222, PR:32921)
|
|
- TMP119 temperature sensor driver added (@Williangalvani, PR:33322)
|
|
|
|
3) Library changes
|
|
|
|
- Compass: COMPASS_DISBLMSK bug on internal compasses fixed (@Georacer, PR:33553)
|
|
- Custom Build Server dependency fix for DroneCAN and Generator (@peterbarker, PR:33429)
|
|
- EKF3: Fix rejected GPS yaw when the measurement is older than the fusion horizon (@lthall, PR:33643)
|
|
- Follow: Small fixes to maths and logic (@lthall, PR:33652)
|
|
- GCS_MAVLink: Serial port blocking write bug fixed (@tridge, PR:33437)
|
|
- MAVLinkCAN: CAN_FORWARD rejects negative CAN bus indices (@CSmith1539, PR:33376)
|
|
- Mount: POI_LOCK does not need terrain to build (@peterbarker, PR:33396)
|
|
- Mount: POI_LOCK function enabled by default in all >2MB boards (@rmackay9, PR:33372)
|
|
- Scripting: New `vehicle:is_crashed()` Lua binding (@yuri-rage, PR:33258)
|
|
|
|
4) Copter specific changes
|
|
|
|
- CIRCLE_OPTIONS descriptions improved (@rmackay9, PR:33669)
|
|
- EKF3 prevented from fusing probably-bad airspeed estimate (@peterbarker, PR:33607)
|
|
- Guided mode set-target-angle-and-climbrate scaling used by scripting fixed (@rmackay9, PR:33692)
|
|
- PosHold "jerky" response fixed (@zebulon-86, PR:33590)
|
|
- WPNav: Fixed LOITER breaking, broken by the turn coordinator (@IamPete1, PR:33631)
|
|
|
|
5) TradHeli specific changes
|
|
|
|
- Fixed run up complete flag not posting in manual throttle modes when governor doesn't engage (@bgnsgeyer, PR:33693)
|
|
|
|
6) Rover specific changes
|
|
|
|
- AHRS does not fall back to DCM when AHRS_OPTIONS=3 (@deepak31296, PR:33392)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0-beta7 13-June-2026
|
|
|
|
Warnings
|
|
|
|
- TradHeli's arming behaviour changes to require collective stick full down regardless of using stick or switch arming. In RC_OPTIONS parameter, uncheck option for "Arming check throttle for 0 input" to allow switch arming with a collective raised from bottom. This option is not recommended for stick arming as it allows arming at non zero collective setting.
|
|
|
|
Changes from 4.7.0-beta6
|
|
|
|
1) Board specific changes
|
|
|
|
- AcctonGodwit GA1 has corrected pinout and bootloader (@erickao-hy, PR:33276)
|
|
- JAE JFB200 board added (@n-ito2222, PR:32786)
|
|
- SkyDroid-S3 fixed internal compass probing bug (@Hwurzburg, PR:33374)
|
|
|
|
2) Library changes
|
|
|
|
- STM ASM330LHH IMU support (@n-ito2222, PR:31656)
|
|
|
|
3) Rover specific changes
|
|
|
|
- Mode changes when safety switch pressed bug fixed (@peterbarker, PR:33070)
|
|
|
|
4) Tradheli specific changes
|
|
|
|
- Stick arming behaviour bugfix (@bnsgeyer, PR:33402)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0-beta6 01-June-2026
|
|
|
|
Changes from 4.7.0-beta5
|
|
|
|
1) Board specific changes
|
|
|
|
- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203)
|
|
- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416)
|
|
- SkyDroid-S3 board added (@UAVcihang, PR:32920)
|
|
- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237)
|
|
|
|
2) Driver changes
|
|
|
|
- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140)
|
|
- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230)
|
|
- KellerLD barometer has better corruption rejection (@vshie, PR:32889)
|
|
- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923)
|
|
- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275)
|
|
|
|
3) Library changes
|
|
|
|
- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031)
|
|
- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156)
|
|
- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109)
|
|
- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038)
|
|
- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224)
|
|
- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232)
|
|
- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138)
|
|
|
|
4) Plane specific changes
|
|
|
|
- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
|
|
|
|
5) Copter specific changes
|
|
|
|
- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943)
|
|
- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169)
|
|
- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
|
|
|
|
6) Sub related changes
|
|
|
|
- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076)
|
|
- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217)
|
|
- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0-beta5 15-May-2026
|
|
|
|
Changes from 4.7.0-beta4
|
|
|
|
1) Board specific changes
|
|
|
|
- Linux-Navigator: IIS2MDC support added (@WillianGalvani, PR:32863)
|
|
|
|
2) Library changes
|
|
|
|
- AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
|
|
- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
|
|
- AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
|
|
- AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
|
|
- AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)
|
|
- HAL_ChibiOS: Oneshot pulse corruption upon safety-enable fixed (@tridge, PR:32979)
|
|
|
|
3) Copter specific changes
|
|
|
|
- Increment data added for several parameters (@ES-Alexander, PR:32949)
|
|
- Weathervaning bugfix to properly stop weathervaning (@IamPete1, PR:33019)
|
|
- Land and Payload place waypoints fixed to use correct altitude and spline waypoints (@lthall, PR:32634)
|
|
|
|
4) Helicopter specific changes
|
|
|
|
- PID scaling support fixed (@lthall, PR:32725)
|
|
|
|
5) Sub specific changes
|
|
|
|
- Increment data added for several parameters (@ES-Alexander, PR:32949)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0-beta4 30-Apr-2026
|
|
|
|
Changes from 4.7.0-beta3
|
|
|
|
1) Board specific changes
|
|
|
|
- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
|
|
|
|
2) Driver changes
|
|
|
|
- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
|
|
- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
|
|
|
|
3) Library changes
|
|
|
|
- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
|
|
- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
|
|
- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
|
|
- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
|
|
- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
|
|
- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
|
|
|
|
4) Plane specific changes
|
|
|
|
- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
|
|
|
|
5) Sub specific changes
|
|
|
|
- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
|
|
- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
|
|
|
|
6) Rover specific changes
|
|
|
|
- Power limiting UX improved (@stephendade, PR:32788)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0-beta3 10-Apr-2026
|
|
|
|
Changes from 4.7.0-beta2
|
|
|
|
1) Board specific changes
|
|
|
|
- Atlas-Control has updated hwdef.dat file (@AltasFlight, PR:32268)
|
|
- HWH7 flight controller added to supported boards (@Arwayday, PR:32248)
|
|
- TBS_LUCID_H7 now has an MPU6000 version (@andyp1per, PR:32512)
|
|
|
|
2) Driver changes
|
|
|
|
- ZB25VQ128D flash chip now supported for onboard logging (@LoyalLinjy, PR:32408)
|
|
- Kebni SensAItion as External AHRS now supported in IMU and INS modes (@magnus-lindhe-kebni, PR:31775)
|
|
- IST8310 compass probing corrected on fmuv3-based boards (@peterbarker, PR:32462)
|
|
|
|
3) AHRS specific changes
|
|
|
|
- EKF3 flash space requirements reduced (@tpwrules, PRs:32213, 32618)
|
|
- EKF3 is fixed to no longer reset to external altitude when it is configured to another source (@snktshrma, PR:32508)
|
|
- AHRS recorded origin check will correctly use the GPS (@andyp1per, PR: 32469)
|
|
- AHRS external origin setting will be delayed until filter is initialised (@andyp1per, PR: 32505)
|
|
- EKF3 missing constraints to FuseDragForces added (@tpwrules, PR:32128)
|
|
- Fix replay involving body odometry data (@twprules, PR:32598)
|
|
|
|
4) Camera and mount specific changes
|
|
|
|
- Camera servo driver's CAMERA_INFORMATION flags fixed (@Davidsastresas, PR:32564)
|
|
- RunCam param metadata names are fixed to match code (@tpwrules, PR:32601)
|
|
- Mount fix to angular rates when using FPV mode (@KSimeonAVTA, PR:32540)
|
|
- Mount scripting driver accepts rate targets (@peterbarker, PR:32626)
|
|
- Fix wire data issues with various Mount backends (@peterbarker, PR:32630)
|
|
|
|
5) Other libraries changes
|
|
|
|
- Fence for Plane and Copter supports alt above terrain (@andyp1per, PR:31619)
|
|
- Ignore-receiver in RC_OPTIONS is now respected during RC loss (@peterbarker, PR:32488)
|
|
- ATC_INPUT_TC and Q_A_INPUT_TC param defaults reduced (@rmackay9, PR:32643)
|
|
|
|
6) Copter/Tradheli specific changes
|
|
|
|
- Spool state is logged (@Georacer, PR:31668)
|
|
|
|
7) Plane specific changes
|
|
|
|
- Rangefinder state is logged (@Georacer, PR:31579)
|
|
- AHRS log message rate not affected by full rate attitude logging (@IamPete1, PR:32623)
|
|
|
|
8) Sub specific changes
|
|
|
|
- Automatically deal with misconfigured lights/actuators (@Williangalvani, PR:31109)
|
|
|
|
9) Rover specific changes
|
|
|
|
- Battery watt limiter feature added to custom build server (@mackay9, PR:32687)
|
|
|
|
10) Scripting changes
|
|
|
|
- plane_follow.lua messages will no longer crash the script if there is no target vehicle (@timtuxworth, PR:32567)
|
|
- plane_follow.lua has a fix for crosstrack oscillation (@timtuxworth, PR:32575)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0-beta2 21-Mar-2026
|
|
|
|
Changes from 4.7.0-beta1
|
|
|
|
1) Board specific changes
|
|
|
|
- UAV-DEV GmbH Powermodule changes for production (@mirkix, PR:32417)
|
|
- X-MAV_AP-H743r1 switch to SPL06 baro only (@TompsonTan, PR:32480)
|
|
|
|
2) Driver changes
|
|
|
|
- External AHRS variances used in arming checks and EKF failsafe (@oursland, PR:32364)
|
|
- Precision landing ORIENT parameter only visible on Rover (@rmackay9, PR:32403)
|
|
- RunCam parameter conversion fix (@IamPete1, PR:32428)
|
|
- Trimble PX-1 GNSS-RTX-INS External AHRS support (@Ryanf55, PR:30232)
|
|
|
|
3) Copter/Tradheli specific changes
|
|
|
|
- Copter CTUN climb rate logging converted to m/s (@piVerified, PR:32474)
|
|
- TradHeli attitude controller leaky-I term during power-off fixed (@Ferruccio1984, PR:32273)
|
|
|
|
4) Plane specific changes
|
|
|
|
- Throttle slew fixed during first takeoff (@IamPete1, PR:32381)
|
|
- EXTENDED_SYS_STATE during AIRBRAKE fixed (@robertlong13, PR:32422)
|
|
|
|
5) Scripting changes
|
|
|
|
- param-set script renamed to param-lockdown (@rmackay9, PR:32489)
|
|
- PlaneFollow scripting parameter case fixed (@timtuxworth, PR:32456)
|
|
|
|
------------------------------------------------------------------
|
|
Release 4.7.0-beta1 06-Mar-2026
|
|
|
|
Changes from 4.6.3
|
|
|
|
1) Board specific changes
|
|
|
|
- 3DR and mRo boards support DPS310 baro (@TOTON95, PR:31560)
|
|
- 3DR ASAUAV periph support (@TOTON95, PR:31744)
|
|
- AeroCogito-H7Digital support (@michael-cerasulo, PR:31076)
|
|
- AeroFox-H7 defaults to no safety switch (@AEROFOXtech, PR:30614)
|
|
- AeroFox-PMU param defaults updated (@AEROFOXtech, PR:30514)
|
|
- Aeromind6X support (@ArkinLabs1Support, PR:31187)
|
|
- AIRBRAIN H743 support (@andyp1per, PR:31262)
|
|
- ARK_FPV autopilot support (@dakejahl, PR:28603)
|
|
- ARKV6X gets default serial port for RCIN (@dakejahl, PR:29851)
|
|
- ARKV6X-bdshot support (@dakejahl, PR:30409)
|
|
- Atlas-Control support (@AltasFlight, PR:31608)
|
|
- AtomRCf405 navi deluxe board support (@Hwurzburg, PR:25511)
|
|
- AUAV UAV-DEV GmbH powermodule support (@mirkix, PR:29781)
|
|
- AUAV UAV-DEV GmbH uav-dev-fc-um982 autopilot support (@mirkix, PR:29780)
|
|
- AUAV uav-dev-auav-g4 baro and airspeed sensor support (@mirkix, PR:30214)
|
|
- AUAV UAV-DEV GmbH M10S GNSS support (@mirkix, PR:29488)
|
|
- BlitzF745 gets filesystem support (@andyp1per, PR:31227)
|
|
- BlitzF745AIO and BlitzF745 support SPL06 baro (@andyp1per, PR:31466)
|
|
- BrahmaF4 gets OSD_TYPE2 param default (@Hwurzburg, PR:29902)
|
|
- BrotherHobbyH743 v2 support (@andyp1per, PR:31691)
|
|
- CBU-H7-Stamp updates including baro changed (@CBUnmanned, PR:28364)
|
|
- CBUnmanned CBU-H7-LC-Stamp support (@andyp1per, PR:28710)
|
|
- CORVON405V2.1 support (@holydust, PR:29665)
|
|
- CORVON743V1 support (@holydust, PR:29797)
|
|
- CrazyF405 support (@Srivenkateshwar, PR:28829)
|
|
- CSKY DroneCAN PMU periph support (@Hwurzburg, PR:31762)
|
|
- CUAV-V6X-v2 support (@cuav-chen2, PR:30900)
|
|
- CubeNode-ETH SERIAL1 protocol defaulted to PPP (@bugobliterator, PR:32187)
|
|
- CubeNode-ETH Serial8 CTS/RTS pin and LED fix (@haydendonald, PR:28665)
|
|
- CubeNode-ETH supports CAN-over-MAVLink (@peterbarker, PR:31055)
|
|
- CubeNode/CubeNode-ETH supports publishing raw IMU data (@bugobliterator, PR:28394)
|
|
- CubeOrangePlus-ODID remote id support (@BryonOI, PR:27561)
|
|
- CubePilot bootloaders updated to avoid flash erase due to single ECC error (@bugobliterator, PR:32318)
|
|
- CubeRed supports CAN Multicast (@bugobliterator, PR:29866)
|
|
- CubeRedPrimary icm45686 SPI speed increased (@bugobliterator, PR:28617)
|
|
- CubeRedSecondary supports running IOMCU FW (@bugobliterator, PR:29094)
|
|
- CubeRedSecondary uses MAVSysId 2 (@bugobliterator, PR:29446)
|
|
- DAKEFPVF405 support (@engineer-dakefpv, PR:30100)
|
|
- DAKEFPVH743_SLIM support (@engineer-dakefpv, PR:31733)
|
|
- DroneerF405 support (@DroneerUAV, PR:28846)
|
|
- ESP32 imu module v1.1 support (@nkruzan, PR:20449)
|
|
- F4BY F427 variant support (@peterbarker, PR:28700)
|
|
- F4BY_F427 supports QMC compass (@kozinalexey, PR:30903)
|
|
- F4BY_H743 support (@kozinalexey, PR:30905)
|
|
- FlyingMoonF407, F427 and H743 updates (@kenking2536, PR:31352)
|
|
- FlysparkF4 support (@magicrub, PR:28365)
|
|
- Foxeer H743v2 support (@andyp1per, PR:26501)
|
|
- GreenSight UltraBlue support (@sionv, PR:28995)
|
|
- H7 CPUs support 32MHz HSE (@jwoloch, PR:27861)
|
|
- Here4-FC WS2812 LEDs fixed (@haydendonald, PR:28919)
|
|
- HolybroG4_GPS supports ICP201XX barometer (@tridge, PR:28781)
|
|
- iFlight Blitz H743 Pro gets camera switch (@andyp1per, PR:28185)
|
|
- JHEMCUF405PRO (aka GHF405AIO-HD) support (@HishamGhosheh, PR:29697)
|
|
- JHEMCUF405WING autopilot support (@jhemcu, PR:26685)
|
|
- KakuteF4Mini, SkystarsH7HD minor default params fixes (@robertlong13, PR:30470)
|
|
- KakuteH7Mini-Nand supports scripting (@tpwrules, PR:29120)
|
|
- KT-FMU-F1 support (@redstonee, PR:32180)
|
|
- Lumenier LUX F765-NDAA support (@djmorvay, PR:29377)
|
|
- MatekG474-GPS periph support (@MATEKSYS, PR:28959)
|
|
- MatekH743 supports flash-from-SDCard (@ntamas, PR:29810)
|
|
- MatekH743-periph supports GPS-for-yaw (@rishabsingh3003, PR:28980)
|
|
- MatekH7A3-Wing support (@peterbarker, PR:31790)
|
|
- MatekL431-AUAV support (@MATEKSYS, PR:30829)
|
|
- MatekL431-Periph NeoPixel support fixed (@villivateur, PR:30469)
|
|
- MFE AirSpeed-CAN periph support (@mikefenghao, PR:28989)
|
|
- MFE_PDB_CAN periph support (@mikefenghao, PR:28694)
|
|
- MFE_POS3_CAN GPS periph support (@mikefenghao, PR:28515)
|
|
- MicoAir743-Lite support (@Minderring, PR:31304)
|
|
- Morakot autopilot support (@Rex-Taiphoon, PR:31316)
|
|
- NarinFC-H5, NarinFC-X3 autopilot support (@vololand, PR:29753)
|
|
- NTF_LED_TYPES param defaults include NeoPixels for many boards (@Hwurzburg, PR:30889)
|
|
- Nucleo H753 zi support (@wdunn001, PR:30639)
|
|
- ORBITH743 support (@Hwurzburg, PR:30237)
|
|
- PilotPi Linux autopilot support (@heeplr, PR:28247)
|
|
- PixSurveyA2-IND autopilot support (@mikefenghao, PR:29662)
|
|
- PocketBeagle 2 with DIY cape support (@juvinski, PR:30536)
|
|
- PocketBeagle supports DShot motor output (@juvinski, PR:32012)
|
|
- Resolute H7 support (@Hwurzburg, PR:32239)
|
|
- SkyRukh Surge H7 autopilot support (@DronmarketAS, PR:31230)
|
|
- SpeedyBeeF405V5 support (@Bloody-Badboy, PR:31884)
|
|
- Stellar F4, F4v2 support (@cvetaevvitaliy, PR:29088)
|
|
- Stellar H7V2 support (@cvetaevvitaliy, PR:28926)
|
|
- STM32F413xx MCU support (@joshanne, PR:28845)
|
|
- STM32H755xx supports Ethernet (@n-ito2222, PR:31655)
|
|
- SULILGH7 support (@SULILG, PR:29209)
|
|
- T3 Gemstone O1 Linux autopilot support (@ghost, PR:31232)
|
|
- TBS L431 airspeed peripheral (@tridge, PR:29185)
|
|
- TBS L431 Peripherals (@andyp1per, PR:29367)
|
|
- TBS-L431-BattMon DAC settings corrected (@andyp1per, PR:31583)
|
|
- TBS_LUCID_H7_WING_AIO pwm outputs corrected (@andyp1per, PR:31493)
|
|
- USB flow control enabled to speed up MAVFTP over USB (@tridge, PR:31549)
|
|
- VimDrones L431 param saving fixed (@Huibean, PR:30821)
|
|
- VimDrones pico and CAN servo hub periph support (@Huibean, PR:29818)
|
|
- X-MAV AP-H743r1 autopilot support (@TompsonTan, PR:31571)
|
|
- YARIV6X support (@KarthiAru, PR:30917)
|
|
- ZeroOne X6_Pro, ZeroOneAir autopilot support (@ZeroOne-Aero, PR:30171)
|
|
|
|
2) System / Driver changes
|
|
|
|
- ADIS16507 IMU gyro and accel data processing fixed (@ZeroOne-Aero, PR:32017)
|
|
- Ainstein LR-D1 driver updated to handle new packet format (@peterbarker, PR:30286)
|
|
- Airspeed driver supports up to 6 sensors (@IamPete1, PR:31162)
|
|
- Airspeed sensor changed if not set to use (@IamPete1, PR:31889)
|
|
- Airspeed sensor switching reduced while armed (@IamPete1, PR:31947)
|
|
- Airspeed startup cal can be skipped but may require manual cal (@IamPete1, PR:29467)
|
|
- Airspeed's EKF based health check fixed to only affect sensor being used (@IamPete1, PR:31893)
|
|
- AIS fix for multi part message decoding (@IamPete1, PR:29195)
|
|
- Analog battery monitor safely handles allocating too many analog channels (@WickedShell, PR:28910)
|
|
- AP_DroneCAN message subscription performance optimised (@tpwrules, PR:28400)
|
|
- AUAV airspeed sensor absolute channel maybe used as barometer (@IamPete1, PR:29535)
|
|
- AUAV Airspeed sensor support (@Tdogb, PR:27802)
|
|
- Baro Field Elevation set to 0m endlessly fixed (@rishabsingh3003, PR:25114)
|
|
- Baro thrust scaling compensates for prop wash effect on baro (see BARO1_THST_SCALE) (@andyp1per, PR:28982)
|
|
- Benewake TFS20L rangefinder support (@Shubham07-bit, PR:31161)
|
|
- BMM350 compass low temperature calibration fixed (@cuav-chen2, PR:31302)
|
|
- Bootloader and Firmware signing process improvements (@joshanne, PR:31623)
|
|
- CAN range finders correctly report type (Laser, Radar) via mavlink (@Charlie-Burge, PR:31033)
|
|
- ChibiOS updates to fix SD card watchdogs/stuck threads (@tpwrules, PR:31620)
|
|
- CPU load accurately recorded in @SYS/threads.txt (@andyp1per, PR:30913)
|
|
- Crash dump pre-arm message made less spammy (@IamPete1, PR:31414)
|
|
- CRSF bind fix (@andyp1per, PR:31396)
|
|
- Currawong Cortex generator support (@SchrodingersGat, PR:31022)
|
|
- Cypress S25FL064L flash chip support (@rishabsingh3003, PR:31242)
|
|
- Direct DMA transfer on Invensense v3 IMUs (@andyp1per, PR:28201)
|
|
- DO_JUMP counter reset when loop completed (see MIS_OPTIONS) (@tridge, PR:29763)
|
|
- DroneCAN battery monitor supports hot-swapping using new option bit (@tatsuy, PR:29690)
|
|
- DroneCAN GPS GPS-for-yaw warning messages made less spammy (@peterbarker, PR:30674)
|
|
- DroneCAN GPS shows num sats from receiver regardless of fix type (was always zero with no fix) (@fsaulo, PR:30251)
|
|
- DroneCAN message playback using script and CAN_Pn_OPTIONS param (@tridge, PR:30796)
|
|
- DroneCAN rangefinder resolution improved to sub-centimeter (@IamPete1, PR:32088)
|
|
- DroneCAN rangefinders correctly report too-low and too-high (@andyp1per, PR:31155)
|
|
- DroneCAN rangefinders with slow startup enabled correctly (@rishabsingh3003, PR:30364)
|
|
- DroneCAN RC supports link statistics (@olliw42, PR:28390)
|
|
- DroneCAN, Networking log virtual UART data rates (@IamPete1, PR:29486)
|
|
- DShot DMA buffer flushed and invalidated correctly (@andyp1per, PR:31398)
|
|
- DTS6012M rangefinder support (@FractalEngineer, PR:32188)
|
|
- Ensure that boards with small flash-based sdcard logging do not erase all logs on boot (@andyp1per, PR:31517)
|
|
- ESC Telemetry handles negative RPMs from DroneCAN ESCs (@rishabsingh3003, PR:30538)
|
|
- ESC Telemetry RPM timeout race conditions fixed (@robertlong13, PR:29028)
|
|
- FATFS (SDCard) filesystem reliability and error handling improvements (@tpwrules, PR:29332)
|
|
- Fence warns at the margins (see FENCE_OPTIONS) (@andyp1per, PR:28840)
|
|
- Fence horizontal margin made configurable (see FENCE_MARGIN_XY) (@andyp1per, PR:31018)
|
|
- Fix handling of more than 3 compasses connected to autopilot (@bugobliterator, PR:31496)
|
|
- GPS blending unhealthy if all blend weights are zero (@peterbarker, PR:31476)
|
|
- Gripper starts in the neutral position instead of always opening (@lthall, PR:31249)
|
|
- H7 File Log Buffer performance improvements (@andyp1per, PR:30842)
|
|
- Harmonic notch filter handles negative ESC RPMs (@andyp1per, PR:28309)
|
|
- Holybro CAN products support software CAN termination (@vincentpoont2, PR:29557)
|
|
- ICEngine slews smoothly between start percent and minimum throttle (@LachlanConn, PR:31727)
|
|
- ICM42688-V IMU support (uses ICM42688-P driver) (@peterbarker, PR:31199)
|
|
- IIM42652 IMU supports external clock input (aka CLKIN) (@cuav-chen2, PR:30541)
|
|
- IMUs support 3 harmonic notch filters (@tridge, PR:30246)
|
|
- INA260 battery monitor support (@IamPete1, PR:31324)
|
|
- JRE serial range finder provides signal quality (@n-ito2222, PR:31255)
|
|
- LEDs show GCS failsafe for Plane, Rover, Sub (@magicrub, PR:31257)
|
|
- LightWare GRF250/GRF500 lidar support (@rishabsingh3003, PR:30043)
|
|
- LIS2MDL compass support (@andyp1per, PR:31405)
|
|
- LittleFS (Flash) filesystem reliability and speed improvements (@tpwrules, PR:29472)
|
|
- Loweheiser generator support added (@Georacer, PR:29587)
|
|
- MAX31865 temperature sensor fixed for sub-zero temps (@andyp1per, PR:32019)
|
|
- MAX31865 temperature sensor gets params for nominal and reference resistance (see TEMPx_RTD_NOM, TEMPx_RTF_REF) (@IamPete1, PR:30406)
|
|
- Mission get_item ensures returned items are clean (previously unused fields could be random numbers) (@IamPete1, PR:29038)
|
|
- Mission handling better deals with home being in index 0 (@IamPete1, PR:29071)
|
|
- MMC5XX3 (MMC5983MA) external I2C compass support (@Jagadeeshdinesh, PR:29722)
|
|
- MS5837-02BA baro support (@Shaikimram, PR:29122)
|
|
- MS5837-30BA baro temperature compensation improved (@ES-Alexander, PR:29132)
|
|
- Networking port type change requires reboot to take effect (@magicrub, PR:30828)
|
|
- Networking supports capturing all packets to a pcap file (@tridge, PR:30637)
|
|
- Networking supports non-blocking sockets (@tridge, PR:30983)
|
|
- Networking supports up to 3 PPP interfaces (@tridge, PR:30587)
|
|
- OpticalFlow MAVLink backend accepts rad/s and supports roll/pitch stabilised sensor (@rmackay9, PR:30663)
|
|
- OSD INAV font fix for arrow at 11:00 position (@Caped-Crussader, PR:31448)
|
|
- OSD parameter screens indexed correctly from CRSF (@andyp1per, PR:31518)
|
|
- Periph battery monitors expose BATTx_options if battery summing is used (@AlfieLockrey, PR:28678)
|
|
- Periph firmware updates over very high latency links fixed (@tridge, PR:28948)
|
|
- PID filtering enabled on low flash boards (@tridge, PR:28787)
|
|
- Precision Landing mavlink backend supports LOCAL_FRD frame (@rmackay9, PR:30446)
|
|
- ProfiLEDs may be controlled via bit banging on IOMCU safety switch pins (@bugobliterator, PR:27732)
|
|
- Quintuple harmonic notch support (@andyp1per, PR:30994)
|
|
- Rangefinders with more than 327m range supported (@peterbarker, PR:27886)
|
|
- RC failsafe cleared if enable param set to zero (FS_THR_ENABLE=0 or THR_FAILSAFE=0) (@Hwurzburg, PR:29846)
|
|
- RC input uses full resolution to reduce jitter (@andyp1per, PR:29465)
|
|
- RC input valid only if we have ever seen RC input (@peterbarker, PR:31351)
|
|
- Rockblock 9704 satellite modem support (@stephendade, PR:31296)
|
|
- RPLidar A2M12 proximity sensor support (@amilcarlucas, PR:30737)
|
|
- RPM sensors run at 50hz on all vehicles (@IamPete1, PR:30632)
|
|
- SBF GPS undulation usage fixed (@peterbarker, PR:31997)
|
|
- Scheduler loop period during startup improved (@andyp1per, PR:30224)
|
|
- Serial passthrough timeout can be disabled by setting SERIAL_PASSTIMO to -1 (@tridge, PR:30212)
|
|
- Servo telemetry support for DroneCAN servos, Himark, Volz (@IamPete1, PR:28651)
|
|
- SPI full duplex optimisation for baros, IMUs, MAX7456 OSD (@andyp1per, PR:29614)
|
|
- Stats include total dist flown (STAT_DISTFLWN) and number of flights (STAT_FLTCNT) (@TroyNeubauer, PR:31002)
|
|
- Temperature sensor library supports up to 15 sensors (@rob-clarke, PR:31871)
|
|
- Temperature sensor support for motor and PCB temps (@rob-clarke, PR:31616)
|
|
- Terrain DisableDisk option allows using terrain on boards with no SD card (see TERRAIN_OPTION) (@TroyNeubauer, PR:30993)
|
|
- Terrain pre-arm check for old DAT files (@tridge, PR:32275)
|
|
- Terrain sanity check of spacing less than 1m (@tiagoc-santos, PR:29653)
|
|
- Tremble GPS obeys GPS_AUTO_CONFIG param for ethernet connection (@Ryanf55, PR:29641)
|
|
- Tremble Gsof GPS driver robustness improvements (@Ryanf55, PR:28802)
|
|
- Triple-channel INA3221 i2c voltage-and-current sensor support (@peterbarker, PR:15091)
|
|
- Ublox driver supports CFG_VALGET/VALSET/VALDEL msgs (required for X20/F20) (@bugobliterator, PR:31217)
|
|
- Ublox F9 GPS potential memory leak fixed (@peterbarker, PR:29374)
|
|
- Ublox GPS epoch time around u-blox week rollover fixed (@rishabsingh3003, PR:31914)
|
|
- Ublox GPS supports NAVIC constellation (@MonarchOfShadows69, PR:31202)
|
|
- VisualOdometry MAVLink backend supports aligning position with GPS (@rishabsingh3003, PR:30650)
|
|
- Volz telemetry support including motor and PCB temp (@IamPete1, PR:28188)
|
|
|
|
3) AHRS/EKF changes
|
|
|
|
- AHRS without GPS may set origin to last known location (see AHRS_ORIGIN_LAT, LON, ALT) (@andyp1per, PR:31177)
|
|
- DCM drift correct fix for use of TAS/EAS (@peterbarker, PR:28728)
|
|
- DCM uses only horizontal component of wind speed for heading consistency check (@muramura, PR:32339)
|
|
- EKF source option defaults to not FuseAllVelocities (@rishabsingh3003, PR:30584)
|
|
- EKF3 allow extnav to work without vertical velocity (@rishabsingh3003, PR:29213)
|
|
- EKF3 CPU, RAM, flash usage and code generation improvements (@tpwrules, PR:32003)
|
|
- EKF3 delta velocity bias covariance fixed (may resolve occasional onground covariance instability) (@tpwrules, PR:32069)
|
|
- EKF3 GPS sat count based noise scaling only applied when actually using GPS (@rishabsingh3003, PR:29847)
|
|
- EKF3 reverts to primary compass on ground (@rishabsingh3003, PR:29300)
|
|
- EKF3 support for cores to run different sensor sources (@rishabsingh3003, PR:29750)
|
|
- EKF3 supports manual lane switching (see EK3_OPTIONS and EK3_PRIMARY parameters) (@rishabsingh3003, PR:29623)
|
|
- EKF3 uses the correct extnav variances for posvel fusion (@rishabsingh3003, PR:29420)
|
|
- EKF3 wind estimate based drag force fusion rho calculation fixed (@jschall, PR:28495)
|
|
- EKF3 with optical flow but no compass fixed (was cycling between aiding/stopped-aiding) (@rishabsingh3003, PR:32136)
|
|
- External AHRS IMU timestamp handling fixed (was causing accel cal to fail) (@andyp1per, PR:31927)
|
|
- External AHRS logs only when EAHRS_TYPE non-zero to avoid unnecessary logging (@muramura, PR:31472)
|
|
- External AHRS pre-arm check of origin skipped unless primary AHRS (@rishabsingh3003, PR:31377)
|
|
- External AHRS supports variances per backend (@tridge, PR:28405)
|
|
- GSF accel usage during dynamic maneuvers fixed (@rmackay9, PR:32212)
|
|
- Non-GPS using optical flow may use SRTM data when beyond the rangefinder range (@rmackay9, PR:30718)
|
|
- Protect against uninitialized location and origin (@Ryanf55, PR:29636)
|
|
- SBG External AHRS support (@magicrub, PR:31048)
|
|
|
|
4) Camera and gimbal enhancements
|
|
|
|
- AVT camera gimbal support (@rmackay9, PR:30643)
|
|
- CADDX mount support roll pitch EF mount lock via aux sw option (RCx_OPTION = 185) (@Hwurzburg, PR:31461)
|
|
- Camera mavlink commands use target sysid and compid (@rmackay9, PR:30517)
|
|
- FPV Lock support on some gimbal (aka roll/pitch body frame lock) (@Hwurzburg, PR:31832)
|
|
- MAVLink gimbal retract mode fix (@KSimeonAVTA, PR:31635)
|
|
- MAVLink gimbals may implement ROI directly (@KSimeonAVTA, PR:32162)
|
|
- Mount Lock RC aux function inits heading reference instead of using North (@Hwurzburg, PR:31713)
|
|
- RC failsafe handling including stop moving if RC lost while in rate control (@peterbarker, PR:16251)
|
|
- POI lock aux function switch added (@Hwurzburg, PR:31860)
|
|
- Runcam integration improved including use during missions (@andyp1per, PR:26887)
|
|
- Scripting backend ROI handling fixed (@neo-0007, PR:31552)
|
|
- Servo camera support focus and zoom control (@Williangalvani, PR:29247)
|
|
- Servo retract support extended to all gimbals (@landswellsong, PR:30810)
|
|
- Solo and SToRM32 gimbal RC rate targetting fixed (@peterbarker, PR:31706)
|
|
- SToRM32 initialisation improved by searching for gimbal while vehicle disarmed (@rmackay9, PR:30501)
|
|
- Topotek tracking error handling improved (@laozhou-fujian, PR:31768)
|
|
- Viewpro supports zoom for IR sensors (@eppravitra, PR:29140)
|
|
- Warning added if ROI active but AHRS/EKF has no position estimate (@Hwurzburg, PR:31499)
|
|
- XFRobot gimbal support (@rmackay9, PR:29599)
|
|
|
|
5) Parameter scaling and/or renaming related changes
|
|
|
|
- ANGLE_MAX (centi-degrees) replaced by ATC_ANGLE_MAX or Q_A_ANGLE_MAX (in degs) (@rmackay9, PR:31978)
|
|
- ARMING_CHECK replaced with ARMING_SKIPCHK (@tpwrules, PR:31568)
|
|
- ATC_ACC_R/P/Y_MAX renamed and scaled to deg/s/s (@rmackay9, PR:32192)
|
|
- AVOID_ANGLE_MAX renamed to AVOID_ANG_MAX and converted to degrees (@rmackay9, PR:32186)
|
|
- Copter Land, PosHold and RTL parameters renamed and converted to meters (@rmackay9, PR:32169)
|
|
- Copter position controller converted to meters including logging (@lthall, PR:30516)
|
|
- Copter/Sub's CIRCLE_RADIUS replaced by CIRCLE_RADIUS_M (@rmackay9, PR:31990)
|
|
- Copter/TradHeli PILOT parameters renamed and converted to meters (@rmackay9, PR:32184)
|
|
- EK3_MAX_FLOW renamed to EK3_FLOW_MAX (@rmackay9, PR:30729)
|
|
- SERIALn_OPTIONS bits moved to MAVn_OPTIONS (@peterbarker, PR:30094)
|
|
- QuadPlane attitude control, position control converted to SI units (@lthall, PR:30683)
|
|
- Waypoint navigation params converted to deg and meters and renamed from WPNAV to WP (@rmackay9, PR:32147)
|
|
|
|
6) Copter specific changes
|
|
|
|
- Acro balance parameters pre-arm check (@lthall, PR:31435)
|
|
- Acro mode trainer minor fix when ACRO_TRAINER = 1 (Leveling) (@lthall, PR:30392)
|
|
- Acro mode uses Rate control only with scaled I-term when ACRO_OPTIONS = 1 (Rate Loop Only) (@andyp1per, PR:31171)
|
|
- Alt-above-ground calculation corrected for non-GPS modes including non-GPS Land and landing gear (@ahmedmsalah99, PR:30698)
|
|
- Attitude command model replaced with improved Real Time S-Curve algorithm (@lthall, PR:31849)
|
|
- Attitude control, Loiter, position control and navigation converted to SI units (@lthall, PR:30120)
|
|
- Auto mode supports circular arcs (use ARC_WAYPOINT command) (@lthall, PR:31139)
|
|
- Auto mode uses LAND command's alt field to slow descent (@IamPete1, PR:30195)
|
|
- Auto trim can be started from RC aux function (set RCx_OPTION = 182) (@peterbarker, PR:28881)
|
|
- Auto trim works in position hold modes (@Hwurzburg, PR:29341)
|
|
- Autotune gain backoff added to improve stability margin (see AUTOTUNE_GMBK) (@lthall, PR:31127)
|
|
- Brake mode may trigger GCSs failsafe action (@IamPete1, PR:30670)
|
|
- Co-rotating X8 frame support (@tridge, PR:30585)
|
|
- Compass pre-arm health check text includes compass number (@muramura, PR:31563)
|
|
- Custom modes available using scripting (@IamPete1, PR:28110)
|
|
- Dijkstras object avoidance corner detection fix (@lthall, PR:30457)
|
|
- EKF failsafe gets "Report Only" action and notifies pilot in all cases (@IamPete1, PR:30189)
|
|
- Fast rate loop runs at full IMU filter rate (see FSTRATE_ENABLE, FSTRATE_DIV) (@andyp1per, PR:27029)
|
|
- Follow mode improvements for target estimation and control (@lthall, PR:30101)
|
|
- Guided mode resumes horizontal control when takeoff completes even if lower than WP_NAVALT_MIN (@lthall, PR:31958)
|
|
- Lean-angle based object avoidance disabled by default (re-enable with custom build server) (@rmackay9, PR:32360)
|
|
- Loiter speed may be changed using CH6 tuning (@rishabsingh3003, PR:14188)
|
|
- Loiter supports co-ordinated turns by default (see LOIT_OPTIONS) (@lthall, PR:31061)
|
|
- LOITER_TURNS with zero radius bug fixed (was using previous iteration's radius) (@henrywarhurst, PR:30874)
|
|
- LoiterTurns command announces number of circles completed (@peterbarker, PR:30231)
|
|
- LoiterTurns command moves to circle edge in a straight line (@peterbarker, PR:31379)
|
|
- Motors support ESC startup delay (see MOT_IDLE_SEC) (@lthall, PR:31963)
|
|
- Payload place parameters hidden when payload place is disabled (@tatsuy, PR:31998)
|
|
- PosHold timing fix when main loop rate is not 400hz (@lthall, PR:30358)
|
|
- Position control EKF reset handling improved (@lthall, PR:31357)
|
|
- Real time S-Curves use improved jerk limited algorithm (@lthall, PR:31848)
|
|
- RTL final alt fixed when RTL_ALT_FINAL non-zero (@IamPete1, PR:29244)
|
|
- Save trim scaling problem fixed (was assuming lean angle max of 45 deg) (@lthall, PR:32233)
|
|
- Second transmitter-tuning control channel added (see TUNE2 parameters) (@peterbarker, PR:30042)
|
|
- Simple mode fix to never consume invalid RC input (@peterbarker, PR:30071)
|
|
- Stabilize, Acro, Drift and Turtle modes may not be entered during RC failsafe (@peterbarker, PR:30543)
|
|
- Support for up to 32 motors, including dodecahexa-octa (two-layers of 8 motors each) (@peterbarker, PR:29020)
|
|
- Terrain failsafe message improved (@timtuxworth, PR:30544)
|
|
- Throw mode gets target ascent and descent params (see THROW_ALT_DCSND, THROW_ALT_ACSND) (@peterbarker, PR:29869)
|
|
- Toy mode wifi reset check fixed (@peterbarker, PR:31445)
|
|
- WeatherVaning emits active message for change of direction (@IamPete1, PR:31104)
|
|
- WP_NAVALT_MIN is only applied to takeoff (not landing) (@IamPete1, PR:30662)
|
|
|
|
7) TradHeli specific changes
|
|
|
|
- Autorotation restructured and improved speed controller added (@MattKear, PR:28209)
|
|
- Collective transition ramp (@Ferruccio1984, PR:31561)
|
|
- Do not allow users to set throttle-based notch (@MattKear, PR:28843)
|
|
- Rotor runup complete checks governor is engaged (@Ferruccio1984, PR:30952)
|
|
|
|
8) Plane/QuadPlane specific changes
|
|
|
|
- Added optional full roll limiting near stall using airspeed sensor (@rubenp02, PR:29843)
|
|
- Advanced Failsafe option to not go back to the loss comm mission item if we are already in the return path (@eppravitra, PR:29961)
|
|
- AHRS fly-forward re-evaluated on mode mode change (avoids clearing wind estimates on mode change) (@peterbarker, PR:28346)
|
|
- Airspeed nudge supported when using synthetic airspeed (@IamPete1, PR:31679)
|
|
- Allow lower speeds in landing final (@rubenp02, PR:29265)
|
|
- AP_TECS fix off-by-one error in TECS_HDEM_TCONST docs (@Ryanf55, PR:30160)
|
|
- Attitude stall prevention adjustments (see AIRSPEED_STALL) (@rubenp02, PR:29092)
|
|
- Autoland mode added (@Hwurzburg, PR:28771)
|
|
- Blackbox logging using BBX onboard log messages (@tridge, PR:30926)
|
|
- Climb slope minimum height parameter added (see CLIMB_SLOPE_HGT) (@rubenp02, PR:29077)
|
|
- Crash detection false positive fixed on "shake to launch" (@rubenp02, PR:29390)
|
|
- CTUN.Pitch log field corrected to remove PITCH_TRIM (@Hwurzburg, PR:29152)
|
|
- D Feedforward scaling for PID controllers fixed (but rarely used) (@grep265, PR:30753)
|
|
- Do not apply minimum throttle during SLT VTOL airbrake (@Georacer, PR:28329)
|
|
- Flight options bit added to enable flaps by actual speed (@tridge, PR:30476)
|
|
- Forward throttle cutoff voltage parameter added (see FWD_BAT_THR_CUT) (@rubenp02, PR:29080)
|
|
- Forward transition throttle glitch fixed for tilting rotor quadplanes (@priseborough, PR:29696)
|
|
- get_fwd_pitch_is_limited check fixed (@lthall, PR:29826)
|
|
- Guided mode command timeout made configurable (see GUIDED_TIMEOUT) (@eppravitra, PR:31032)
|
|
- Heading lock upon gnd speed made consistent (@Hwurzburg, PR:29104)
|
|
- ICE governor while disarmed in non-manual (@robertlong13, PR:30201)
|
|
- ICE input control fully move to aux function (@IamPete1, PR:28655)
|
|
- Idle throttle setting for hand/bungee/catapult launches (see TKOFF_THR_IDLE, TKOFF_OPTIONS) (@Georacer, PR:28351)
|
|
- Inflight Tuning text displayed on OSD and GCS (@Yury-MonZon, PR:28831)
|
|
- is_landing correctly reported to GCS during AUTOLAND (@Hwurzburg, PR:29553)
|
|
- Load factor and roll formulas fixed along with TECS's TASmin (@IamPete1, PR:29101)
|
|
- log throttle-is-suppressed to STAT message "Sup" field (@peterbarker, PR:28906)
|
|
- Motor test obeys E-Stop during motor test and allow changing values (@IamPete1, PR:29491)
|
|
- Pitch stick mixing full override fixed (@rubenp02, PR:29841)
|
|
- Precision landing accuracy fixed (@tridge, PR:31677)
|
|
- Prevent excessive aero surface deflections in VTOL operation (@priseborough, PR:31010)
|
|
- Quadplane autotune heading fixed while holding position (@lthall, PR:32214)
|
|
- Quadplane coordinates turns during transition (@robertlong13, PR:30434)
|
|
- Quadplane POSITION1 velocity control improved (@robertlong13, PR:30309)
|
|
- Quadplane pre-arm check for RTL_AUTOLAND vs Q_RTL_MODE (@peterbarker, PR:31457)
|
|
- Quadplane stopping speed equation fixed (@eppravitra, PR:29712)
|
|
- Quadplane supports thrust loss detection (@IamPete1, PR:31764)
|
|
- QuadPlane yaws more smoothly during back transition (@robertlong13, PR:31401)
|
|
- RC_FS_TIMEOUT parameter support (@Maarrk, PR:31441)
|
|
- Reverse thrust available in manual modes with `USE_REV_THRUST` 0 (@IamPete1, PR:30532)
|
|
- Roll-only stick mixing added (see STICK_MIXING) (@rubenp02, PR:29842)
|
|
- RPM check added to takeoff (@robertlong13, PR:29052)
|
|
- Short failsafe simplified by removing FS_SHORT_TIMEOUT (@Jazhi, PR:30350)
|
|
- Soaring adds named value float publisher of soaring thermal EKF state (@Ryanf55, PR:29030)
|
|
- Soaring rate limit the NVF publishers to 4Hz (@Ryanf55, PR:29064)
|
|
- System ID on RC aux Switch (set RCn_OPTION=184) (@bnsgeyer, PR:29608)
|
|
- Takeoff roll error fixed when flying inverted (@Maarrk, PR:32110)
|
|
- TEC3 log message field formatting rearranged (@peterbarker, PR:30486)
|
|
- TECS altitude reset along with the rest of the controllers (good for balloon drops) (@Georacer, PR:27827)
|
|
- TECS initializes flare sink demand with current demand (@Georacer, PR:31610)
|
|
|
|
9) Rover specific changes
|
|
|
|
- AIS information populated in object avoidance database (used by BendyRuler) (@IamPete1, PR:30185)
|
|
- Arm automatically after arming checks complete (set ARMING_REQUIRE=3) (@peterbarker, PR:29066)
|
|
- Arming check added to optionally require position (see ARMING_NEED_LOC) (@peterbarker, PR:29073)
|
|
- Arming check if terrain data required but not available (@rmackay9, PR:31365)
|
|
- DCM fallback disabled by default (see AHRS_OPTIONS) (@rmackay9, PR:31632)
|
|
- DO_CHANGE_SPEED command's speed type (param1) must be 0 or 1 (@IamPete1, PR:30509)
|
|
- Follow mode better handles a stopped leader (@stephendade, PR:30012)
|
|
- Guided mode position targets rejected if acceleration supplied (@peterbarker, PR:28076)
|
|
- Log when armed fixed (regardless of safety switch state) (@IamPete1, PR:32082)
|
|
- Loiter or Hold added as a failsafe action (@Williangalvani, PR:30079)
|
|
- MAVLink stream rate requests do not save to params (e.g. stream rates revert on next reboot) (@rmackay9, PR:28894)
|
|
- MOT_REV_DELAY allows delaying before reversing motors (@tridge, PR:30188)
|
|
- MOT_THR_MAX minimum reduced to 5% to support very powerful vehicles (@IamPete1, PR:31576)
|
|
- Omni vehicle brushed motor support fixed (@mattp256, PR:29187)
|
|
- Pivot turn control improved with steering deceleration max parameter (see ATC_STR_DEC_MAX) (@stephendade, PR:30539)
|
|
- Pivot turns disabled by default (see WP_PIVOT_ANGLE) (@rmackay9, PR:31376)
|
|
- RC_FS_TIMEOUT parameter support (@Maarrk, PR:31441)
|
|
- Rover AMP limiter added (see BATTn_WATT_MAX, MOT_BAT_WATT_TC) (@SpiciestMayo, PR:31285)
|
|
- Speed max increased to 100m/s for pilot controlled modes (@IamPete1, PR:32080)
|
|
|
|
10) Sub specific changes
|
|
|
|
- Acro mode pilot throttle input bug fix (@xianglunkai, PR:31469)
|
|
- Allow limiting upwards throttle at surface (@Williangalvani, PR:29995)
|
|
- Baro data timeout extended to 20sec (@peterbarker, PR:30887)
|
|
- Correct operation of pilot input and rc failsafes (@Hwurzburg, PR:30365)
|
|
- Depth sensor message made less spammy (@Hwurzburg, PR:29891)
|
|
- DO_CHANGE_SPEED command's speed type (param1) must be 0 or 1 (@IamPete1, PR:30509)
|
|
- Do not interpret zero altitude waypoints as 'current altitude' (@Williangalvani, PR:30823)
|
|
- Lights and video switches moved to aux functions (@Williangalvani, PR:29863)
|
|
- Loop rate logging added (see LOG_BITMASK's IMU_FAST bit) (@clydemcqueen, PR:28747)
|
|
- OSD support added to FPV builds (@Hwurzburg, PR:30271)
|
|
- PosHold horizontal velocity limited to PILOT_SPEED to avoid bounceback (@clydemcqueen, PR:28205)
|
|
- Pre-arm check for aux func disarm/estop (@Hwurzburg, PR:29979)
|
|
- RCMAP supports remapping RC input channels (@Hwurzburg, PR:30018)
|
|
- RSSI support (@Hwurzburg, PR:30166)
|
|
- SCALED_PRESSURE3 fixed for standard users (@ES-Alexander, PR:31133)
|
|
- Servos refactored (see ACTUATOR params) (@Williangalvani, PR:28801)
|
|
- Simplify home logic (@Williangalvani, PR:30891)
|
|
- Surface mode number reporting to GCS fixed (@Hwurzburg, PR:29906)
|
|
- Surface mode works with no altitude data (@Williangalvani, PR:29996)
|
|
- Surface tracking reset if disarmed (fixes dive when disarmed) (@clydemcqueen, PR:30103)
|
|
- Sysid filtering added for remote leak detection (@ES-Alexander, PR:32255)
|
|
- Tether turn counting improved (@ES-Alexander, PR:30011)
|
|
- Traditional RC tx/rx supported (@Hwurzburg, PR:29742)
|
|
- Warn or automatically fix misconfigured relay/leak detector (@Williangalvani, PR:31702)
|
|
- WATER_DEPTH MAVLink reporting added (@SpiciestMayo, PR:31622)
|
|
- When disarmed and in manual mode, set throttle out to neutral value (@amarburg, PR:32057)
|
|
|
|
11) Tracker specific changes
|
|
|
|
- ATTITUDE_TARGET mavlink message sent to GCS (@python36, PR:30548)
|
|
- GCS_PID_TUNING fixed (@landswellsong, PR:31284)
|
|
- PWM outputs "corked" to ensure consistent outputs (@landswellsong, PR:32368)
|
|
|
|
12) AP_Periph specific changes
|
|
|
|
- Actuator telemetry support added (@Huibean, PR:31557)
|
|
- Basic BMS support (@rmackay9, PR:31791)
|
|
- BatteryMonitor reports state of health (@IamPete1, PR:29700)
|
|
- BatteryTag support (@tridge, PR:29983)
|
|
- CAN-over-MAVLink added (@peterbarker, PR:30782)
|
|
- ESC telemetry fills in ESC error count if available (@IamPete1, PR:31528)
|
|
- Periph DroneCAN msg order fix (@tpwrules, PR:31673)
|
|
- PWM servo command timeout (see SRV_CMD_TIME_OUT) (@IamPete1, PR:30363)
|
|
- Simultaneous serial passthrough connections (@peterbarker, PR:30133)
|
|
- Support for sending servo telemetry (@IamPete1, PR:31577)
|
|
|
|
13) Scripting changes
|
|
|
|
- AHRS's get_accel() binding returns primary accel rather than first usable (@andyp1per, PR:28588)
|
|
- AHRS_switch.lua gets minor improvement to RC aux switch handling (@tridge, PR:28386)
|
|
- mavlink:init docs corrected and scripts fixed including plane_aerobatics, copter-slung-payload (@IamPete1, PR:29246)
|
|
- Aux auths reset when scripts restarted (avoids "PreArm: Too many auxiliary authorisers" error) (@robertlong13, PR:29337)
|
|
- BattEstimate.lua applet's SoC model generalised for more battery chemistries (@rubenp02, PR:29391)
|
|
- Binding for fence margin direction (@andyp1per, PR:31009)
|
|
- Binding for mcu_voltage (@haydendonald, PR:28338)
|
|
- Binding for scripted battery monitors to set state of health (@IamPete1, PR:29701)
|
|
- Bindings for more fence methods (@andyp1per, PR:31603)
|
|
- Bindings for serial port parity and stop bits (@ajboainain, PR:30226)
|
|
- Bindings for servo telemetry (@IamPete1, PR:28857)
|
|
- Bindings for ESC telem power percentage and support "depends" keyword on fields (@IamPete1, PR:31502)
|
|
- config_profiles.lua examples allows selection of different configuration sets (@peterbarker, PR:31052)
|
|
- copter_terrain_brake.lua applet reads aloud activation message (@peterbarker, PR:30760)
|
|
- CRSF memory leaks and nullptr dereferences fixed (@tpwrules, PR:31718)
|
|
- Duplicate names checked when adding scripting params (@IamPete1, PR:30523)
|
|
- EFI_DLA64.lua driver supports new protocol for updated EFI engine from DLA (@tridge, PR:29953)
|
|
- EFI_Halo6000.lua driver enable fix (@Georacer, PR:29758)
|
|
- Enhanced copter attitude control bindings (see set_target_angle_and_rate_and_throttle) (@andyp1per, PR:25814)
|
|
- ESC_slew_rate.lua example for testing ESC slew limits (@tridge, PR:28415)
|
|
- fake camera tracking example added (@robertlong13, PR:28418)
|
|
- follow-target-send.lua applet sends leader position to followers (@rmackay9, PR:28886)
|
|
- gcs:set_message_interval port range expanded to include serial-over-ethernet ports (@tpwrules, PR:31279)
|
|
- gps_switch.lua example supports switching GPS used by EKF (@Ryanf55, PR:30239)
|
|
- HFE EFI driver script supports logging all CAN frames (@tridge, PR:28772)
|
|
- INF_Inject.lua EFI temperature ranges corrected (was C, now Kelvin) (@WickedShell, PR:30608)
|
|
- Initial memory usage message only printed if SCR_DEBUG_OPTS's Runtime messages bit set (@tpwrules, PR:31180)
|
|
- Logging memory leak reporting fixed (was not actually leaking) (@tpwrules, PR:31688)
|
|
- LTE_modem.lua driver supports Air780, BG95, CMUX, EC200U, EG800Q, SIM7070G including via PPP (@tridge, PR:30213)
|
|
- Lua example to convert pwm output to sbus (see sbus_send.lua) (@robot-to-society, PR:31781)
|
|
- Lua upgraded to ver 5.3.6 (@tpwrules, PR:29116)
|
|
- Mavlink handling fixed to avoid crash on reinit with bigger buffer size (@tpwrules, PR:31682)
|
|
- MAVLink messages with incorrect CRC are rejected (@IamPete1, PR:31268)
|
|
- Memory leak in socket recv() fixed (@tridge, PR:31039)
|
|
- message_interval applet sends more messages (@rmackay9, PR:31320)
|
|
- Minor script changes to resolve luacheck issues (@IamPete1, PR:28931)
|
|
- MissionSelector applet handles file access failures (@IamPete1, PR:28520)
|
|
- mount-djirs2 driver updated including support for connecting using a DroneCAN bus (@tpwrules, PR:28512)
|
|
- net-ntrip.lua applet supports RTK GPS via direct connection to an unsecure NTRIP caster (@yuri-rage, PR:29821)
|
|
- param-set.lua applet allows rejecting attempts to set parameters (@peterbarker, PR:29989)
|
|
- Param_Controller.lua time out fixed and support added for comma delimited lists (@JosephStew-art, PR:30475)
|
|
- Plane autoland applet added (@Hwurzburg, PR:28591)
|
|
- Plane follow lua applet (@timtuxworth, PR:30654)
|
|
- plane-callout-alt.lua example provides alt callouts in feet (@timtuxworth, PR:28426)
|
|
- plane_precland.lua fix when PLND_XY_DIST_MAX is 0 (@AlexisMGL, PR:30685)
|
|
- plane_ship_landing.lua gets pos/vel sanity check (@peterbarker, PR:29886)
|
|
- qnh_alt.lua example sends QNH altitude to GCS (useful for BVLOS) (@tridge, PR:29705)
|
|
- RAM and flash cost reduced by removing utf8 assistance code (unlikely anyone was using it) (@tpwrules, PR:30625)
|
|
- RAM usage reduced by loading metatables on first use (@tpwrules, PR:31717)
|
|
- Repl applet minor bug fix (@tpwrules, PR:31944)
|
|
- revert_params.lua applet supports motor slew rates, notch params (@tridge, PR:30815)
|
|
- RockBlock.lua applet and MAVLinkHL.lua example get better mavlink parsing (@stephendade, PR:29314)
|
|
- Scripts may be stored in flash on boards using littlefs (@andyp1per, PR:28724)
|
|
- Scripted CRSF Menus (@andyp1per, PR:29368)
|
|
- Scripting e-stop RC aux function (set RCn_OPTION = 316) (@andyp1per, PR:30508)
|
|
- Scripting engine run in protected mode to fix panic hardfault (@tpwrules, PR:31793)
|
|
- Scripting RC aux functions increased to 16 (@IamPete1, PR:28858)
|
|
- Scripts may use default serial baudrate (@landswellsong, PR:31269)
|
|
- Segfault fixed from trying to send a mavlink message on an invalid channel (@IamPete1, PR:31031)
|
|
- set_ahrs_origin promoted to an applet (@rmackay9, PR:28770)
|
|
- Support for sending/receiving DroneCAN messages (@tridge, PR:29310)
|
|
- throttle_kill.lua applets supports turning off turbine engines that rely on low PWM (@tridge, PR:28714)
|
|
- Torqeedo TorqLink lua driver (see drivers/torqeedo-torqlink.lua) (@rmackay9, PR:29145)
|
|
- Traxxas Velineon ESC example script (@IamPete1, PR:30976)
|
|
- trisonica-mini.lua example decode wind speed from Trisonica LI-550 (@Ryanf55, PR:30054)
|
|
- UltraMotion servo driver fixes (@robertlong13, PR:30651)
|
|
- Unify handling of legacy dot vs. colon calls (@tpwrules, PR:31681)
|
|
- Viewpro lua driver removed (use C++ driver instead) (@deepak61296, PR:31774)
|
|
- VSPeak Modell flow meter driver added (@Georacer, PR:28627)
|
|
|
|
14) ROS2/DDS changes
|
|
|
|
- Airspeed control added for planes in GUIDED mode (@Ryanf55, PR:29829)
|
|
- Airspeed message includes eas_2_tas factor (@tizianofiorenzani, PR:29522)
|
|
- Arm commands handled through external control for additional safety (@Ryanf55, PR:28609)
|
|
- Battery topic reports all available batteries (@tizianofiorenzani, PR:28291)
|
|
- Compile-time configurable rates for each publisher supported (@Ryanf55, PR:28434)
|
|
- Configuration fixes so enable options work as expected (@srmainwaring, PR:29009)
|
|
- Goal topic publisher added (@tizianofiorenzani, PR:28372)
|
|
- Initialisation fixed on UDP transport (@stephendade, PR:30899)
|
|
- Namespace representation for global constants added (@snktshrma, PR:29850)
|
|
- Publish all available GPS instances (@tizianofiorenzani, PR:29419)
|
|
- Quadplane takeoff support (@Ryanf55, PR:30098)
|
|
- RC channels message support (@tizianofiorenzani, PR:28907)
|
|
- Status Message provides vehicle type, mode, RC Failsafe (@tizianofiorenzani, PR:28337)
|
|
- Topic retries added (@stephendade, PR:31599)
|
|
|
|
15) Linux/ESP32/QURT (ModalAI) changes
|
|
|
|
- AP_HAL_ESP32 fix to GPIO relays (@DanyloZhubryd, PR:32055)
|
|
- ESP32 CPU and memory usage optimisations (@srmainwaring, PR:28803)
|
|
- ESP32 I2C and SPI driver fixes (@tpwrules, PR:29269)
|
|
- ESP32 RC over UART support (@srmainwaring, PR:28650)
|
|
- ESP32 scheduler and UART thread ownership fixes (@srmainwaring, PR:29010)
|
|
- ESP32 wifi connection reliability improved (@sblaksono, PR:28460)
|
|
- Increase max notch filters for Linux boards (@andyp1per, PR:31920)
|
|
- Linux boards gets SPI-based serial LED driver for NeoPixel/WS2812 (@andyp1per, PR:31951)
|
|
- M5Stack M5Stamp Fly 55mm quadcopter support (@tpwrules, PR:29448)
|
|
- ModalAI Sentinel with IO board and Starling 2 Max parameter files added (@katzfey, PR:28844)
|
|
- QURT support for the ModalAI IO board to support PWM ESCs (@katzfey, PR:28834)
|
|
|
|
16) Logging related changes
|
|
|
|
- CAN servo messages (CSRV) logging fixed to avoid missed messages (@tridge, PR:28404)
|
|
- ControlMonitor removed including logging (use PID Review WebTool instead) (@rmackay9, PR:29610)
|
|
- DCM logging of airspeed to DCM log message (@peterbarker, PR:31510)
|
|
- Fsync code enhancements (@tpwrules, PR:29308)
|
|
- Generator GEN log message renamed to RICH (@peterbarker, PR:30033)
|
|
- Log last time we saw our GCS on each link in MAV message (@peterbarker, PR:30495)
|
|
- Log rate of dropped incoming serial data (@IamPete1, PR:29473)
|
|
- Log transfer expects longer CPU delays avoiding possible watchdogs (@peterbarker, PR:31955)
|
|
- Log Unix epoch time (@peterbarker, PR:29948)
|
|
- POWR message ACC flag's Changed field fixed (@peterbarker, PR:28618)
|
|
- Pre-arm failure if no logging backends are available (@tpwrules, PR:31534)
|
|
- Protect against memory corruption if scripts log very large messages (@tpwrules, PR:31680)
|
|
- Rally altitude logging multiplier corrected (@peterbarker, PR:32298)
|
|
|
|
17) GCS / MAVLink related changes
|
|
|
|
- Accel calibration ack only accepted from initial source sysid/compid (resolves conflict with Gremsy gimbals) (@meee1, PR:18989)
|
|
- AVAILABLE_MODES message sends list of available modes to GCS (for QGC) (@IamPete1, PR:28566)
|
|
- DO_SET_GLOBAL_ORIGIN command support added (@peterbarker, PR:29699)
|
|
- FLIGHT_INFORMATION message added (@nexton-winjeel, PR:25489)
|
|
- High latency connections do not initialise streamrates (@stephendade, PR:31331)
|
|
- HIL_GPS message support removed (@peterbarker, PR:28593)
|
|
- HWSTATUS mavlink message removed by default (re-enable with custom build server) (@peterbarker, PR:31174)
|
|
- MAV_GCS_SYSID_HI param allows GCS failsafe handling to work with multiple ground stations (@tridge, PR:30627)
|
|
- MAVFTP burst complete indicator fixed (@ZachFleck42, PR:30399)
|
|
- MAVFTP fix to create file if opened as "write only" (@deepak61296, PR:31872)
|
|
- MAVFTP fix to file name length comparison to support MAVSDK (@alploskov, PR:26462)
|
|
- MAVFTP fix to returned error code from close calls (@ntamas, PR:31045)
|
|
- MAVFTP speedup (@tridge, PR:31551)
|
|
- MAVn_OPTIONS bit added to forward mavlink messages with bad CRCs (@peterbarker, PR:25419)
|
|
- MAVn_OPTIONS bit to enable channel-specific signing (@ben-sembira-1, PR:29546)
|
|
- MOUNT_CONFIGURE, MOUNT_CONTROL message support removed (use equivalent commands instead) (@peterbarker, PR:28990)
|
|
- Nicer mode names for QGC (@tpwrules, PR:31897)
|
|
- ODOMETRY, VISION_POSITION_ESTIMATE, ATT_POS_MOCAP consume covariance, pos and ang err calcs fixed (@chobitsfan, PR:32084)
|
|
- PARAM_ERROR error message support (reports error to GCS if param cannot be set) (@peterbarker, PR:31062)
|
|
- Plane supports DO_REPOSITION command with HEADING_TYPE_DEFAULT (@timtuxworth, PR:28527)
|
|
- Preflight calibration of airspeed return code fixed no airspeed (@rishabsingh3003, PR:30111)
|
|
- PREFLIGHT_REBOOT command accepted only if sent to autopilot compID (@nexton-winjeel, PR:31537)
|
|
- Raise number of MAVLink ports to 8 (or 32 with code definition change) (@tridge, PR:28343)
|
|
- RANGEFINDER messages not sent by default (use DISTANCE_SENSOR instead) (@peterbarker, PR:31095)
|
|
- Rover's POSITION_TARGET_GLOBAL_INT alt units fixed (@peterbarker, PR:32315)
|
|
- Rover's WHEEL_DISTANCE timestamp overflow fixed (@peterbarker, PR:32302)
|
|
- Sanity check SET_GPS_GLOBAL_ORIGIN altitude (@Maarrk, PR:31261)
|
|
- Streamrates, sysid, mygcs-sysid, etc moved to MAV_ parameters (@peterbarker, PR:29617)
|
|
- Support requesting MESSAGE_INTERVAL via REQUEST_MESSAGE cmd (@nexton-winjeel, PR:28353)
|
|
- SYS_STATUS errors_comm field holds number of received packets dropped (@amilcarlucas, PR:20949)
|
|
- SYS_STATUS errors_count3 fields holds dropped message count (@peterbarker, PR:30187)
|
|
- Tracker's GLOBAL_POSITION_INT alt units fixed (@peterbarker, PR:32312)
|
|
- WIND mavlink message speed field fixed (was using 3D length) (@peterbarker, PR:32311)
|
|
|
|
18) Features removed due to flash constraints
|
|
|
|
- Beacon, Generator, KDECAN, Robotis and Volz servos, Winch support removed on most boards (re-enable with custom build server) (@peterbarker, PR:30297)
|
|
- External AHRS removed from <2MB boards (@tridge, PR:30062) remove ExtAHRS from <2MB boards
|
|
- ICE, EFI, GHST telemetry and Video TX disabled on Pixhawk1-1M (@andyp1per, PR:32062)
|
|
- SBP GPS raw logging removed (@peterbarker, PR:29469)
|
|
|
|
19) Developer and support related changes
|
|
|
|
- Bootloader reads Git SHA (@joshanne, PR:28492)
|
|
- Copter internals converted to SI units and NED frame (@lthall, PR:31513)
|
|
- Copter loses InertialNav library wrapper for EKF (code simplification) (@lthall, PR:30153)
|
|
- Crashdump memory regions increased to diagnostic data (@bugobliterator, PR:28395)
|
|
- Ensure stable IMU timing on RealFlight (@andyp1per, PR:29921)
|
|
- FlightAxis support for automatically resetting the aircraft position (@robertlong13, PR:28282)
|
|
- RealFlight performance under cygwin improved (@peterbarker, PR:31539)
|
|
- Simulink arducopter.slx updated from 4.3.3 to 4.6.2 (@amilcarlucas, PR:31047)
|
|
- Various QURT compiler support improvements (@katzfey, PR:28624)
|
|
------------------------------------------------------------------
|
|
Sub-4.5.0 beta1 22-February-2024
|
|
- Branched from Copter 4.5
|
|
- Innumerable system-level improvements; see Copter and Plane 4.2-4.5 release notes
|
|
- Added SurfTrak mode for surface tracking (Altitude Hold with rangefinders)
|
|
|
|
Sub-4.1.2 22-February-2024
|
|
- Add support for additional joystick axis for roll/pitch
|
|
- Allow using Compass Learn with no GPS
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 2-November-2023
|
|
|
|
Changes from 4.1.0:
|
|
- prevent multiple baro drivers on the same device
|
|
- Revert attitude control to 3.5 implementation, hopefully resolving the roll/pitch drift for good.
|
|
- Fix Python 3.11 compatibility
|
|
- drop MMC5xx3 sample rate to 100Hz
|
|
- Introduce CONTROL_FRAME parameter, allowing users to switch control frame for yaw
|
|
- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
|
|
- Fix Leak detection on Navigator
|
|
- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
|
|
- Fix GUIDED MODE bouncing back to origin after velocity command
|
|
- Add digital output (including relay) support for Navigator boards
|
|
- Fix Position Hold "bounce back" issue
|
|
- Improve low gain control in Position Hold and Depth Hold modes
|
|
- Add Pixhawk defaults for lights and camera mount tilt
|
|
- Changed flow_of_control error to a gcs warning
|
|
- Always calibrate barometer if negative depth is detected
|
|
- Improve Depth hold behavior when surface/bottom is reached
|
|
- Fix issue where changing modes caused the ROV to dive
|
|
- Change default PILOT_VELZ_MAX to 1 m/s
|
|
- Set default EK3_SRC1_VELZ to None instead of GPS to fix Depth oscilations
|
|
- Set default parameters for a smoother Position Hold and Depth Hold operation
|
|
- Add support for CPU affinity in Linux boards
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta8 31-Oct-2023
|
|
|
|
- Revert default Roll/Pitch P and D terms
|
|
- prevent multiple baro drivers on the same device
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta7 16-July-2023
|
|
|
|
- Revert attitude control to 3.5 implementation, hopefully resolving the roll/pitch drift for good.
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta6 10-July-2023
|
|
|
|
- Fix roll/pitch drift in stabilized modes
|
|
- Fix Python 3.11 compatibility
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta5 10-April-2023
|
|
|
|
- drop MMC5xx3 sample rate to 100Hz
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta4 1-December-2022
|
|
|
|
- Introduce CONTROL_FRAME parameter, allowing users to switch control frame for yaw
|
|
- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta3 1-December-2022
|
|
|
|
- Fix Leak detection on Navigator
|
|
- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta2 24-October-2022
|
|
|
|
- Fix GUIDED MODE bouncing back to origin after velocity command
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.1 Beta1 13-October-2022
|
|
|
|
- Add digital output (including relay) support for Navigator boards
|
|
- Fix Position Hold "bounce back" issue
|
|
- Improve low gain control in Position Hold and Depth Hold modes
|
|
- Add Pixhawk defaults for lights and camera mount tilt
|
|
- Changed flow_of_control error to a gcs warning
|
|
- Always calibrate barometer if negative depth is detected
|
|
- Improve Depth hold behavior when surface/bottom is reached
|
|
- Fix issue where changing modes caused the ROV to dive
|
|
- Change default PILOT_VELZ_MAX to 1 m/s
|
|
- Tighten default Pitch stabilization parameters
|
|
- Set default EK3_SRC1_VELZ to None instead of GPS to fix Depth oscilations
|
|
- Set default parameters for a smoother Position Hold and Depth Hold operation
|
|
- Add support for CPU affinity in Linux boards
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0 6-June-2022
|
|
|
|
- Fix agressive depth hold twitching introduced in beta7
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0-beta8 26-May-2022
|
|
|
|
- Fix issue with poshold introduced in beta7 (no lateral control)
|
|
- Fix i2c buses masks for Navigator
|
|
- Do not use RC3_MIN/MAX instead of MOT_PWM_MIN/MAX
|
|
- Update submodules for easier builds
|
|
- Fix cygwin build
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0-beta7 29-Apr-2022
|
|
|
|
- Tweak depth hold at arbitrary attitudes
|
|
- Add autotest for depth hold at arbitrary attitudes
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0-beta6 19-Apr-2022
|
|
|
|
- Update Navigator I2C masks
|
|
- Fix constraining PWM with SERVON_MAX and MOT_PWM_MAX
|
|
- Tweak default BTN parameters
|
|
- Improve althold with large buoyancy/payloads
|
|
- Fix depth hold jumping down when enabling it
|
|
- Allow holding arbitrary attitudes in depth hold and stabilize modes
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0-beta5 31-Mar-2022
|
|
|
|
- Set default BRD_RTC_TYPE to 3 (GPS and MAVLink)
|
|
- Set default BARO_PROBE_EXT to 768 (Keller and MS5837)
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0-beta4 25-Mar-2022
|
|
|
|
- Set default loop rate for Navigator
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0-beta3 3-Mar-2022
|
|
|
|
- Set default parameters for Navigator for camera tilt and lights
|
|
- Set default streamrates
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0-beta2 3-Mar-2022
|
|
|
|
- Set default parameters for Navigator
|
|
- AP_Hal_Linux: PCA9685: do not shutdown PWM chip
|
|
- Use AK09915 compass at 200Hz
|
|
- Retry reading MMC5983 Compass ID up to 10 times
|
|
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.1.0beta 3-Jan-2022
|
|
- Rebased on top of Copter 4.1.3
|
|
- Add leak detection support for Pixhawk 4
|
|
- No longer report battery percentage if capacity is set to 0 mAh
|
|
- fix issue where it was not possible to arm after testing motors
|
|
- Added support for the Blue Robotics Navigator Raspberry Pi hat.
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 4.0.0 4-March-2020
|
|
|
|
- Over 10000 new commits, catching up with other vehicles 4.0 releases
|
|
- The Real Time Operating System (RTOS) is now ChibiOs instead of NuttX
|
|
- Added a new option for automatic detection of the thrusters directions, making setup easier
|
|
- Heavy frames can now roll/tilt to arbitrary attitudes (even upside down)
|
|
- Depth Hold is now working with arbitrary attitudes
|
|
- Depth Hold and Stabilize modes now hold the attitude at which they were enabled
|
|
- Roll-Pitch toggle mode now used the inputs as rate targets instead of position targets
|
|
- In Roll-Pitch Toggle mode, the Center Mount button now levels the ROV
|
|
- Support depth setpoints via MAVlink in Depth-Hold mode
|
|
- Support attitude setpoints via MAVlink in Depth-Hold and Stabilize modes
|
|
- Support for setting MAVLink message intervals
|
|
- Navigator board support
|
|
- Frame SimpleROV-4 now has Roll factor for thrusters 4 and 5
|
|
- Barometers is now recalibrated if disarmed and reading a depth above water level
|
|
- Added thrusters matrix for Frame SimpleROV-3
|
|
- Many improvements to SITL (Software In The Loop simulator for developers) so its behavior better resembles that of a real ROV
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.5.4 5-April-2019
|
|
|
|
- major depth hold performance improvement: remove overshoot and bounce-back
|
|
- bugfix motor test initialization condition
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.5.3-beta 29-April-2018 / Sub 3.5.3 8-May-2018
|
|
|
|
Changes from 3.5.2:
|
|
|
|
- Add current and voltage monitoring to simulation (SITL)
|
|
- Add current limiting
|
|
- Add momentary relay and servo button functions
|
|
- Add servo toggle button functions
|
|
- Apply yaw input scaling via ACRO_YAW_P to manual mode
|
|
- Remove some vehicle-specific parameter metadata that does not apply to Sub
|
|
- Allow zero gains for attitude control
|
|
- Allow system time to be set by SYSTEM_TIME message from GCS
|
|
- Clarify and improve error messages for depth sensor problems
|
|
- Do not report depth calculated via air pressure with on-board barometer
|
|
- Add motor test functionality
|
|
- Remove arbitrary scalars from inputs in manual mode - allow full power to motors in manual mode
|
|
- Disarm motors if initial failsafe action fails to execute
|
|
- Implement camera mount pan
|
|
- Reduce default yaw input scaling by 25% (ACRO_YAW_P)
|
|
- Suppress repeated printing of "GPS detected as MAV" messages when no mavlink gps is connected
|
|
- Add RC_SLEW_RATE parameter for slewing input demands to motors mixer in manual mode
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.5.2 31-October-2017
|
|
|
|
Changes from 3.5.1:
|
|
|
|
- Bugfix output conflicts between motors and servo channel function assignments
|
|
- Bugfix Notify leak flag logic
|
|
- Bugfix COMPASS_OFFS_MAX should default to 1000
|
|
- Don't emit tether turn status via audible STATUSTEXT messages
|
|
- Increase threshold for input hold engaged flag
|
|
- Announce input hold engaged/disengaged
|
|
- Force correct GND_EXT_BUS parameter at boot for Pixhawk 1 and 2
|
|
- Rework camera tilt input and slew limiting. This fixes mount stabilization.
|
|
- Clear and disable input hold when disarmed
|
|
- Allow adjusting PWM output range for lights channels
|
|
- Always neutralize control inputs during pilot input failsafe
|
|
- Add joystick button functions for relays 3 and 4
|
|
- Clear roll/pitch inputs when switching to manual or acro mode
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.5.1 12-September-2017 / Sub 3.5.1beta1 29-August-2017
|
|
|
|
Changes from 3.5:
|
|
|
|
- Various parameter metadata and default value corrections
|
|
- Add support for PLAY_TUNE and LED_CONTROL mavlink commands
|
|
- Send sub-specific telemetry via NAMED_VALUE_FLOAT (tether turns, camera tilt angle etc.)
|
|
- Support for Keller LD pressure sensors enabling depth measurement to 200 bar / 2 km
|
|
- Relax arming checks, no sensor checks required by default
|
|
- Increase pilot input failsafe timeout from 1 second to 3 seconds
|
|
- Default INS_GYR_CAL behavior to 'Never' (0)
|
|
- Bug fix neutralization of forward input channel during failsafe
|
|
- Bug fix notify LED status code does not reflect leak fault resolution
|
|
- Set GND_EXT_BUS appropriately at boot for both Pixhawk 1 and Pixhawk 2
|
|
- Bug fix sensor health flag with no pressure sensor detected at boot
|
|
- Acknowledge MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN before shutting down
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.5 09-May-2017 / Sub 3.5-rc2 04-May-2017
|
|
|
|
Changes from 3.5-rc1:
|
|
|
|
- Bugfix for external baro failsafe handling when no baro is
|
|
connected at boot
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.5-rc1 17-April-2017
|
|
|
|
Major changes:
|
|
|
|
- Merge with ardupilot project
|
|
- Implement autotest suite (autotest.ardupilot.org)
|
|
- Firmware available on firmware.ardupilot.org and through QGC dropdown
|
|
|
|
- All supported frames are included in one binary. Select your frame with the FRAME_CONFIG parameter
|
|
- Improved pilot control in depth hold mode. Now depth hold behaves like STABLIZE when pilot commands
|
|
ascent/descent, rather than setting desired climb rate.
|
|
- Implemented arming checks and the AP_Arming libraries
|
|
- Added pilot input failsafe requiring MANUAL_CONTROL or RC_CHANNELS_OVERRRIDE messages to be received
|
|
at regular intervals. This addresses issue of joystick being disconnected while GCS connection remains
|
|
unbroken.
|
|
- Add failsafe for depth sensor malfunction, vehicle will automatically enter MANUAL mode when
|
|
depth sensor malfunctions.
|
|
- Drastically reduced latency between IMU updates and motor output (Thanks Randy and Tridge!)
|
|
- RC/Servo Channel library and parameters split
|
|
- Allow MS5837 pressure sensor on boards other than pixhawk, use GND_EXT_BUS parameter to select
|
|
I2C bus to look for sensor on. -1 = Disabled; default to 1, which is Pixhawk external I2C bus
|
|
- Rework parameters, unused or irrelevant parameters have been removed
|
|
|
|
Other changes:
|
|
|
|
- No more ch5 mode selection, modes are configured by assigning modes directly to
|
|
joystick button functions. Forward/lateral inputs are now on channel 5/6 (was 6/7)
|
|
- Default FS_LEAK_ENABLE to FS_LEAK_WARN_ONLY (was disabled)
|
|
- Added support for BlueRobotics Celsius temperature sensor (TSYS01). Temperature is output on
|
|
SCALED_PRESSURE3 message as a workaround.
|
|
- No longer report battery percent remaining, as the measurement algorithm is flawed and does not work
|
|
on partially charged batteries.
|
|
- Implement auto circle mode (loiter turns)
|
|
- Implement circle mode
|
|
- Implement guided mode
|
|
- Implement auto surface mode (NAV_CMD_LAND)
|
|
- Implement spline waypoints
|
|
- Implement crash check failsafe
|
|
- Implement ekf failsafe
|
|
- Implement battery failsafe
|
|
- Implement relay joystick button functions
|
|
- Add joystick button functions to control servos
|
|
- Add joystick button function to toggle between forward/lateral input and roll/pitch input
|
|
- Remove BASE_RESET and BASE_PRESS baro parameters. Barometer reset is now done via mavlink cmd.
|
|
- Implement parameter reset to defaults via mavlink cmd.
|
|
- Fixed bug with camera tilt smoothing conflicting with RC_OVERRIDE messages
|
|
- Fix bug preventing LOG_FILE_DSRMROT parameter from working correctly
|
|
- Detect external pressure sensor according to BARO_TYPE == BARO_TYPE_WATER rather than hard-coding baro instance index
|
|
- Use default StorageManager layout instead of Copter layout
|
|
- Add support for AHRS View
|
|
- Remove experimental/deprecated VELHOLD and TRANSECT modes
|
|
- Some refactoring of code and files to improve readability
|
|
- Disable untested CAMERA object and parameters by default
|
|
- Only allow negative altitudes and ALT_FRAME_ABOVE_HOME for mission commands
|
|
|
|
- Remove lots of dead code left over from ArduCopter:
|
|
|
|
- RC receiver
|
|
- Landing
|
|
- Unused/unsupported modes
|
|
- Remove channel 5 mode logic
|
|
- Remove aux switches
|
|
- Throttle zero flag
|
|
- Auto trim
|
|
- Unsupported mavlink messages
|
|
- Compassmot calibration
|
|
- Simple mode
|
|
- Ch6 tuning
|
|
- Esc calibration
|
|
- CLI
|
|
- Motor test
|
|
- Helicopter references
|
|
- HIL_MODE
|
|
- Various unused flags, members and methods
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.4.1 04-May-2017
|
|
|
|
Don't report battery percentage estimate. The estimate is only correct if battery
|
|
is fully charged at boot. User should rely on voltage estimate.
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.4 30-Dec-2016 / Sub 3.4-rc3 14-Dec-2016
|
|
First Stable Release
|
|
|
|
Changes from 3.4-rc2:
|
|
1) Bug fix for GCS (ground control station) failsafe, suppress warning message
|
|
until after first contact.
|
|
|
|
Notes:
|
|
ArduSub v3.4 is the first official stable release of ArduSub. After nearly a
|
|
year of steady development, testing, and improvement, ArduSub has become one
|
|
of the most capable ROV control systems available.
|
|
|
|
Important Note for ArduSub-3.4: Many unused and inapplicable parameters that
|
|
ArduSub inherited from ArduCopter have been removed. As a consequence, after
|
|
upgrading to V3.4 and later, all of the parameters will be erased, and the
|
|
default parameters will be loaded. You should save your parameters before
|
|
flashing this firmware. After upgrading the firmware, you can load your saved
|
|
parameter file through QGroundControl. When loading your old parameter file
|
|
through QGroundControl, you will see many errors about parameters that have
|
|
been removed, this is okay. After you load your parameter file, you need to
|
|
change the SYSID_SW_MREV parameter to 1 before rebooting in order to prevent
|
|
the default parameters from being reloaded. This procedure will only have to
|
|
be done when upgrading from firmware version 3.4-dev. Subsequent releases will
|
|
keep the same parameter format, so this will only have to be done once.
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.4-rc2 13-Dec-2016
|
|
Changes from 3.4-rc1:
|
|
1) Bug fix on external barometer initialization. BRD_TYPE parameter should
|
|
remain set to 2.
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
Sub 3.4-rc1 11-Dec-2016
|
|
Notes:
|
|
- Due to parameter reorganization, all parameters will be overwritten when updating
|
|
- Must be used with QGroundControl daily builds or stable version 3.1 (once released)
|
|
- Joystick buttons are configured by default
|
|
- PX4Firmware sensor drivers have been replaced with in-tree APM drivers. On some
|
|
hardware, the barometer driver will sometimes hang until a reboot. If your pressure
|
|
sensor is not detected after rebooting, set the BRD_TYPE parameter to 100 and reboot
|
|
to fall back to the PX4Firmware driver. Please report back if you experience an issue
|
|
with the pressure sensor and the new driver.
|
|
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
~~~~~~~~~~~~~~~~ArduSub Development Begins Here~~~~~~~~~~~~~~~~~~~
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
APM:Copter Release Notes:
|
|
------------------------------------------------------------------
|
|
Copter 3.3.2 01-Dec-2015 / 3.3.2-rc2 18-Nov-2015
|
|
Changes from 3.3.2-rc1
|
|
1) Bug fix for desired climb rate initialisation that could lead to drop when entering AltHold, Loiter, PosHold
|
|
2) Fix to hard landings when WPNAV_SPEED_DN set high in RTL, Auto (resolved by using non-feedforward alt hold)
|
|
3) Reduce Bad AHRS by filtering innovations
|
|
4) Allow arming without GPS if using Optical Flow
|
|
5) Smoother throttle output in Guided mode's velocity control (z-axis now 400hz)
|
|
------------------------------------------------------------------
|
|
Copter 3.3.2-rc1 4-Nov-2015
|
|
Changes from 3.3.1
|
|
1) Helicopter Improvements:
|
|
a) Fix Arming race condition
|
|
b) Fix servos to move after arming in Stabilize and Acro
|
|
c) Implement Pirouette Compensation
|
|
d) Add Rate I-Leak-Min functionality
|
|
e) Add new Stab Collective and Acro Expo Col functions
|
|
f) Add circular swashplate limits (Cyclic Ring)
|
|
g) Add new H_SV_Man functions
|
|
h) Add Hover Roll Trim function
|
|
i) Add Engine Run Enable Aux Channel function
|
|
j) Add servo boot test function
|
|
h) Add Disarm Delay parameter
|
|
------------------------------------------------------------------
|
|
Copter 3.3.1 26-Oct-2015 / 3.3.1-rc1 20-Oct-2015
|
|
Changes from 3.3
|
|
1) Bug fix to prevent potential crash if Follow-Me is used after an aborted takeoff
|
|
2) compiler upgraded to 4.9.3 (runs slightly faster than 4.7.2 which was used previously)
|
|
------------------------------------------------------------------
|
|
Copter 3.3 29-Sep-2015 / 3.3-rc12 22-Sep-2015
|
|
Changes from 3.3-rc11
|
|
1) EKF recovers from pre-arm "Compass variance" failure if compasses are consistent
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc11 10-Sep-2015
|
|
Changes from 3.3-rc10
|
|
1) PreArm "Need 3D Fix" message replaced with detailed reason from EKF
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc10 28-Aug-2015
|
|
Changes from 3.3-rc9
|
|
1) EKF improvements:
|
|
a) simpler optical flow takeoff check
|
|
2) Bug Fixes/Minor enhancements:
|
|
a) fix INS3_USE parameter eeprom location
|
|
b) fix SToRM32 serial protocol driver to work with recent versions
|
|
c) increase motor pwm->thrust conversion (aka MOT_THST_EXPO) to 0.65 (was 0.50)
|
|
d) Firmware version sent to GCS in AUTOPILOT_VERSION message
|
|
3) Safety:
|
|
a) pre-arm check of compass variance if arming in Loiter, PosHold, Guided
|
|
b) always check GPS before arming in Loiter (previously could be disabled if ARMING_CHECK=0)
|
|
c) sanity check locations received from GCS for follow-me, do-set-home, do-set-ROI
|
|
d) fix optical flow failsafe (was not always triggering LAND when optical flow failed)
|
|
e) failsafe RTL vs LAND decision based on hardcoded 5m from home check (previously used WPNAV_RADIUS parameter)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc9 19-Aug-2015
|
|
Changes from 3.3-rc8
|
|
1) EKF improvements:
|
|
a) IMU weighting based on vibration levels (previously used accel clipping)
|
|
b) fix blended acceleration (used for altitude control) in cases where first IMU fails
|
|
c) ensure unhealthy barometer values are never consumed
|
|
2) TradHeli: remove acceleration feed forward
|
|
3) Safety:
|
|
a) check accel, gyro and baro are healthy when arming (previously was only checked pre-arm)
|
|
b) Guided mode velocity controller timeout (vehicle stops) after 3 seconds with no update from GCS
|
|
4) Minor enhancements:
|
|
a) fix for AUAV board's usb-connected detection
|
|
b) add Lidar-Lite-V2 support
|
|
c) MOT_THR_MIN_MAX param added to control prioritisation of throttle vs attitude during dynamic flight
|
|
d) RALLY_INCL_HOME param allows always including home when using rally points
|
|
e) DO_FLIGHT_TERMINATION message from GCS acts as kill switch
|
|
5) Bug Fixes:
|
|
a) fix to ensure motors start slowly on 2nd spin-up
|
|
b) fix RTL_CLIMB_MIN feature (vehicle climbed too high above home)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc8 25-Jul-2015
|
|
Changes from 3.3-rc7
|
|
1) EKF improvements:
|
|
a) de-weight accelerometers that are clipping to improve resistance to high vibration
|
|
b) fix EKF to use primary compass instead of first compass (normally the same)
|
|
2) UBlox "HDOP" corrected to actually be hdop (was pdop) which leads to 40% lower value reported
|
|
3) TradHeli:
|
|
a) Motors library split into "Multicopter" and "TradHeli" so TradHeli does not see multicopter parameters
|
|
b) Heading target reset during landing to reduce vehicle fighting to rotate while on the ground
|
|
4) Minor enhancements:
|
|
a) SToRM32 gimbal can be connected to any serial port
|
|
b) log when baro, compass become unhealthy
|
|
c) ESC_CALIBRATION parameter can be set to "9" to disable esc calibration startup check
|
|
d) Circle rate adjustment with ch6 takes effect immediately
|
|
e) log home and origin
|
|
f) pre-arm check of battery voltage and fence
|
|
g) RTL_CLIMB_MIN parameter forces vehicle to climb at least this many cm when RTL is engaged (default is zero)
|
|
5) Bug fixes:
|
|
a) fix THR_MIN being incorrectly scaled as pwm value during low-throttle check
|
|
b) fence distance calculated from home (was incorrectly calculated from ekf-origin)
|
|
c) When flying with joystick and joystick is disconnected, control returns immediately to regular TX
|
|
d) dataflash's ATT yaw fixed to report heading as 0 ~ 360
|
|
e) fix to mission's first command being run multiple times during mission if it was a do-command
|
|
f) ekf-check is enabled only after ekf-origin is set (stops red-yellow flashing led when flying without GPS lock)
|
|
g) fix initialisation of mount's mode
|
|
h) start-up logging so parameters only logged once, mission always written
|
|
6) Linux:
|
|
a) bebop support
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc7 28-Jun-2015
|
|
Changes from 3.3-rc6
|
|
1) reduce EKF gyro bias uncertainty that caused attitude estimate errors
|
|
2) force 400hz IMU logging on (temporary for release candidate testing)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc6 25-Jun-2015
|
|
Changes from 3.3-rc5
|
|
1) EKF related changes:
|
|
a) reset altitude even when arming without GPS lock
|
|
b) fix yaw twitch caused by EKF heading estimate reset
|
|
c) fix IMU time scaling bug that caused height estimate to deviate from the baro
|
|
2) AutoTune improvements:
|
|
a) improved yaw tuning by increasing yaw step magnitude
|
|
b) added logging of accelerations
|
|
c) improvements to step tests
|
|
3) Improved crash check:
|
|
a) allow triggering even if pilot doesn't move throttle to zero
|
|
b) easier triggering by removing baro check and using angle error instead of absolute tilt angle
|
|
4) TradHeli:
|
|
a) swash moves while landed in AltHold mode
|
|
b) improvements to land detector
|
|
c) fixed RSC Runup Time calculation
|
|
d) Rate FF Low-pass Filter changed from 5Hz to 10Hz, more responsive
|
|
5) support Linux builds for NAVIO+ and Erle-Brain (http://firmware.diydrones.com/Copter/beta/)
|
|
6) Other improvements / Bug Fixes:
|
|
a) sonar pre-arm checks only enforced if using optical flow
|
|
b) fix EKF failsafe bug that would not allow recovery
|
|
c) full rate IMU logging for improved vibration analysis (set LOG_BITMASK to All+FullIMU)
|
|
d) new VIBE dataflash message records vibration levels
|
|
e) default MNT_TYPE to "1" if servo gimbal rc outputs were defined
|
|
f) RC_FEEL defaults to medium
|
|
g) addition of SToRM32 serial support (supports mount angle feedback to GCS)
|
|
h) new tricopter's tail servo parameters (MOT_YAW_SV_MIN, MAX, TRIM, REV)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc5 23-May-2015
|
|
Changes from 3.3-rc4
|
|
1) Fix AHRS bad gyro health message caused by timing jitter and log IMU health
|
|
2) TradHeli:
|
|
a) better default rate PIDs
|
|
b) Collective pitch output now operates even when disarmed
|
|
3) Small changes/fixes:
|
|
a) GCS can use MAV_CMD_MISSION_START to start mission in AUTO even without pilot raising throttle
|
|
b) GCS can force disarming even in flight by setting param2 to "21196"
|
|
c) rc-override timeout reduced from 2 seconds to 1 (applies when using GCS joysticks to control vehicle)
|
|
d) do-set-speed fix so it takes effect immediately during missions
|
|
e) GCS failsafe disarms vehicle if already landed (previously it could RTL)
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc4 17-May-2015
|
|
Changes from 3.3-rc3
|
|
1) AutoTune:
|
|
a) save roll, pitch, yaw rate acceleration limits along with gains
|
|
b) more conservative gains
|
|
2) Roll, pitch rate control feed-forward now on by default (set ATC_RATE_FF_ENAB to "0" to disable)
|
|
3) Serial ports increased to maximum of 4 (set SERIALX_PROTOCOL to 1)
|
|
4) MOT_THR_MIX_MIN param to control minimum throttle vs attitude during landing (higher = more attitude control but bumpier landing)
|
|
5) EKF fixes/improvements
|
|
a) prevent yaw errors during fast spins
|
|
b) bug fix preventing external selection of optical flow mode
|
|
6) Parachute:
|
|
a) servo/relay held open for 2sec when deploying (was 1sec)
|
|
b) fix altitude check to be alt-above-home (was alt-above ekf origin which could be slightly different)
|
|
7) TradHeli:
|
|
a) parameters moved to stop possibility of corruption if board is switched between tradheli and multicopter firmware. Heli users may need to re-setup some heli-specific params.
|
|
b) H_COLYAW param can be float
|
|
8) Small Improvements / Bug Fixes:
|
|
a) reduced spline overshoot after very long track followed by very short track
|
|
b) log entire mission to dataflash whenever it's uploaded
|
|
c) altitude reported if vehicle takes off before GPS lock
|
|
d) high speed logging of IMU
|
|
e) STOP flight mode renamed to BRAKE and aux switch option added
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc2/rc3 02-May-2015
|
|
Changes from 3.3-rc1
|
|
1) AutoTune reliability fixes (improved filtering to reduce noise interference)
|
|
2) Optical flow improvements:
|
|
a) Range Finder pre-arm check - lift vehicle between 50cm ~ 2m before arming. Can be disabled by setting ARMING_CHECK to "Skip Params/Sonar"
|
|
b) Vehicle altitude limited to range finder altitude when optical flow is enabled
|
|
3) AltHold & Take-off changes:
|
|
a) feed-forward controller and jerk limiting should result in slightly snappier performance and smoother take-offs
|
|
b) vehicle climbs automatically to PILOT_TKOFF_ALT alt when taking off in Loiter, AltHold, PosHold, Sport (disabled by default, pilot's throttle input overrides takeoff)
|
|
c) PILOT_THR_FILT allows enforcing smoother throttle response in manual flight modes (defaults to 0 = off)
|
|
d) TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick
|
|
e) GCS can initiate takeoff even in Loiter, AltHold, PosHold and sport by issuing NAV_TAKEOFF mavlink command
|
|
4) Stop flight mode - causes vehicle to stop quickly, and does not respond to user input or waypoint movement via MAVLink. Requires GPS, will be renamed to Brake mode.
|
|
5) Aux channel features:
|
|
a) Emergency Stop - stops all motors immediately and disarms in 5 seconds
|
|
b) Motor Interlock - opposite of Emergency Stop, must be on to allow motors to spin motors, must be off to arm
|
|
6) Air pressure gain scaling (of roll, pitch, yaw) should mostly remove need to re-tune when flying at very different altitudes
|
|
7) landing detector simplified to only check vehicle is not accelerating & motors have hit their lower limit
|
|
8) Loiter tuning params to remove "freight train" stops:
|
|
raising WPNAV_LOIT_MAXA makes vehicle start and stop faster
|
|
raising WPNAV_LOIT_MINA makes vehicle stop more quickly when sticks centered
|
|
9) Other items:
|
|
a) faster EKF startup
|
|
b) Camera control messages sent via MAVLink to smart cameras. Allow control of camera zoom for upcoming IntelEdison/Sony QX1 camera control board
|
|
c) Lost Copter Alarm can be triggered by holding throttle down, roll right, pitch back
|
|
10) Bug fixes:
|
|
a) Home position set to latest arm position (it was being set to previous disarm location or first GPS lock position)
|
|
b) bug fix to mission Jump to command zero
|
|
------------------------------------------------------------------
|
|
Copter 3.3-rc1 11-Apr-2015
|
|
Changes from 3.2.1
|
|
1) Only support fast CPUs boards (Pixhawk, VRBrain, etc) and drop support for APM1, APM2 (sorry!)
|
|
2) AutoTune for yaw
|
|
3) Smooth throttle curve which should reduce wobbles during fast climbs and descents
|
|
4) ch7/ch8 aux switches expanded to ch9 ~ ch12 (see CH9_OPT ~ CH12_OPT params)
|
|
5) PX4Flow support in Loiter mode (still somewhat experimental)
|
|
6) Safety features:
|
|
a) EKF on by default replacing DCM/InertialNav which should improve robustness
|
|
b) increased accelerometer range from 8G to 16G to reduce chance of climb due to high vibrations (requires accel calibration)
|
|
7) Landing features:
|
|
a) improved landing on slopes
|
|
b) retractable landing gear (see LGR_ parameters)
|
|
8) Camera Gimbal features:
|
|
a) SToRM32 gimbal support (using MAVLink)
|
|
b) AlexMos gimbal support (using AlexMos serial interface)
|
|
c) do-mount-control commands supported in missions (allows controlling gimbal angle in missions)
|
|
9) Battery related features:
|
|
a) PID scaling for battery voltage (disabled by default, see MOT_THST_BAT_ parameters)
|
|
b) smart battery support
|
|
10) Other:
|
|
a) support do-set-home command (allows return-to-me and locked home position once GCS enhancements are completed)
|
|
b) performance improvements for Pixhawk reduce CPU load from 80% to 15%
|
|
c) firmware string name changed from ArduCopter to APM:Copter
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2.1 11-Feb-2015 / 3.2.1-rc2 30-Jan-2015
|
|
Changes from 3.2.1-rc1
|
|
1) Bug Fixes:
|
|
a) prevent infinite loop with linked jump commands
|
|
b) Pixhawk memory corruption fix when connecting via USB
|
|
c) vehicle stops at fence altitude limit in Loiter, AltHold, PosHold
|
|
d) protect against multiple arming messages from GCS causing silent gyro calibration failure
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2.1-rc1 08-Jan-2015
|
|
Changes from 3.2
|
|
1) Enhancements:
|
|
a) reduced twitch when passing Spline waypoints
|
|
b) Faster disarm after landing in Auto, Land, RTL
|
|
c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
|
|
2) Safety Features:
|
|
a) Add desired descent rate check to reduce chance of false-positive on landing check
|
|
b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
|
|
c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
|
|
d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
|
|
e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
|
|
3) Bug Fixes:
|
|
a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
|
|
b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
|
|
c) PosHold wind compensation fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2 07-Nov2014 / 3.2-rc14 31-Oct-2014
|
|
Changes from 3.2-rc13
|
|
1) Safety Features:
|
|
a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
|
|
2) Bug fixes:
|
|
a) DCM-check to require one continuous second of bad heading before triggering LAND
|
|
b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
|
|
c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
|
|
d) use primary GPS for LED status (instead of always using first GPS)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc13 23-Oct-2014
|
|
Changes from 3.2-rc12
|
|
1) DCM check triggers LAND if yaw disagrees with GPS by > 60deg (configure with DCM_CHECK_THRESH param) and in Loiter, PosHold, Auto, etc
|
|
2) Safety features:
|
|
a) landing detector checks baro climbrate between -1.5 ~ +1.5 m/s
|
|
b) sanity check AHRS_RP_P and AHRS_YAW_P are never less than 0.05
|
|
c) check set-mode requests from GCS are for this vehicle
|
|
3) Bug fixes:
|
|
a) fix ch6 tuning of wp-speed (was getting stuck at zero)
|
|
b) parachute servo set to off position on startup
|
|
c) Auto Takeoff timing bug fix that could cause severe lean on takeoff
|
|
d) timer fix for "slow start" of motors on Pixhawk (timer was incorrectly based on 100hz APM2 main loop speed)
|
|
4) reduced number of relays from 4 to 2 (saves memory and flash required on APM boards)
|
|
5) reduced number of range finders from 2 to 1 (saves memory and flash on APM boards)
|
|
6) allow logging from startup when LOG_BITMASK set to "All+DisarmedLogging"
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc12 10-Oct-2014
|
|
Changes from 3.2-rc11
|
|
1) disable sonar on APM1 and TradHeli (APM1 & APM2) to allow code to fit
|
|
2) Add pre-arm and health check that gyro calibration succeeded
|
|
3) Bug fix to EKF reporting invalid position and velocity when switched on in flight with Ch7/Ch8 switch
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc11 06-Oct-2014
|
|
Changes from 3.2-rc10
|
|
1) reduce lean on take-off in Auto by resetting horizontal position targets
|
|
2) TradHeli landing check ignores overall throttle output
|
|
3) reduce AHRS bad messages by delaying 20sec after init to allow EKF to settle (Pixhawk only)
|
|
4) Bug fixes:
|
|
a) fix THR_MIN scaling issue that could cause landing-detector to fail to detect landing when ch3 min~max > 1000 pwm
|
|
b) fix Mediatek GPS configuration so update rate is set correctly to 5hz
|
|
c) fix to Condition-Yaw mission command to support relative angles
|
|
d) EKF bug fixes when recovering from GPS glitches (affects only Pixhawks using EKF)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc10 24-Sep-2014
|
|
Changes from 3.2-rc9
|
|
1) two-stage land-detector to reduce motor run-up when landing in Loiter, PosHold, RTL, Auto
|
|
2) Allow passthrough from input to output of channels 9 ~ 14 (thanks Emile!)
|
|
3) Add 4hz filter to vertical velocity error during AltHold
|
|
4) Safety Feature:
|
|
a) increase Alt Disparity pre-arm check threshold to 2m (was 1m)
|
|
b) reset battery failsafe after disarming/arming (thanks AndKe!)
|
|
c) EKF only apply centrifugal corrections when GPS has at least 6 satellites (Pixhawk with EKF enabled only)
|
|
5) Bug fixes:
|
|
a) to default compass devid to zero when no compass connected
|
|
b) reduce motor run-up while landing in RTL
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc9 11-Sep-2014
|
|
Changes from 3.2-rc8
|
|
1) FRAM bug fix that could stop Mission or Parameter changes from being saved (Pixhawk, VRBrain only)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc8 11-Sep-2014
|
|
Changes from 3.2-rc7
|
|
1) EKF reduced ripple to resolve copter motor pulsing
|
|
2) Default Param changes:
|
|
a) AltHold Rate P reduced from 6 to 5
|
|
b) AltHold Accel P reduced from 0.75 to 0.5, I from 1.5 to 1.0
|
|
c) EKF check threshold increased from 0.6 to 0.8 to reduce false positives
|
|
3) sensor health flags sent to GCS only after initialisation to remove false alerts
|
|
4) suppress bad terrain data alerts
|
|
5) Bug Fix:
|
|
a)PX4 dataflash RAM usage reduced to 8k so it works again
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc7 04-Sep-2014
|
|
Changes from 3.2-rc6
|
|
1) Safety Items:
|
|
a) Landing check made more strict (climb rate requirement reduced to 30cm/s, overall throttle < 25%, rotation < 20deg/sec)
|
|
b) pre-arm check that accels are consistent (Pixhawk only, must be within 1m/sec/sec of each other)
|
|
c) pre-arm check that gyros are consistent (Pixhawk only, must be within 20deg/sec of each other)
|
|
d) report health of all accels and gyros (not just primary) to ground station
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc6 31-Aug-2014
|
|
Changes from 3.2-rc5
|
|
1) Spline twitch when passing through a waypoint largely resolved
|
|
2) THR_DZ param added to allow user configuration of throttle deadzone during AltHold, Loiter, PosHold
|
|
3) Landing check made more strict (climb rate must be -40~40cm/s for 1 full second)
|
|
4) LAND_REPOSITION param default set to 1
|
|
5) TradHeli with flybar passes through pilot inputs directly to swash when in ACRO mode
|
|
6) Safety Items:
|
|
a) EKF check disabled when using inertial nav (caused too many false positives)
|
|
b) pre-arm check of internal vs external compass direction (must be within 45deg of each other)
|
|
7) Bug Fixes:
|
|
a) resolve NaN in angle targets when vehicle hits gimbal lock in ACRO mode
|
|
b) resolve GPS driver buffer overflow that could lead to missed GPS messages on Pixhawk/PX4 boards
|
|
c) resolve false "compass not calibrated" warnings on Pixhawk/PX4 caused by missing device id initialisation
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc5 15-Aug-2014
|
|
Changes from 3.2-rc4
|
|
1) Pixhawk's max num waypoints increased to 718
|
|
2) Smoother take-off in AltHold, Loiter, PosHold (including removing initial 20cm jump when taking off)
|
|
3) ACRO mode roll, pitch, yaw EXPO added for faster rotation when sticks are at extremes (see ACRO_EXPO parameter)
|
|
4) ch7/ch8 relay option replaces ch6 option (ch6 is reserved for tuning not switching things on/off)
|
|
5) Safety Items:
|
|
a) Baro glitch check relaxed to 5m distance, 15m/s/s max acceleration
|
|
b) EKF/INav check relaxed to 80cm/s/s acceleration correct (default remains as 0.6 but this now means 80cm/s/s)
|
|
c) When GPS or Baro glitch clears, the inertial nav velocities are *not* reset reducing chance of sudden vehicle lean
|
|
d) Baro altitude calculation checked for divide-by-zero and infinity
|
|
6) Bug Fixes:
|
|
a) AltHold jump bug fixed (altitude target reset when landed)
|
|
b) Rally point bug fix so it does not climb excessively before flying to rally point
|
|
c) body-frame rate controller z-axis bug fix (fast rotation in z-axis would cause wobble in roll, pitch)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc4 01-Aug-2014
|
|
Changes from 3.2-rc3
|
|
1) Pre-takeoff throttle feedback in AltHold, Loiter, PosHold
|
|
2) Terrain altitude retrieval from ground station (informational purposes only so far, Pixhawk only)
|
|
3) Safety Items:
|
|
a) "EKF check" will switch to LAND mode if EKF's compass or velocity variance over 0.6 (configurable with EKFCHECK_THRESH param)
|
|
When EKF is not used inertial nav's accelerometer corrections are used as a substitute
|
|
b) Barometer glitch protection added. BAROGLTCH_DIST and BAROGLTCH_ACCEL parameters control sensitivity similar to GPSGLITCH protection
|
|
When glitching occurs barometer values are temporarily ignored
|
|
c) Throttle/radio and battery failsafes now disarm vehicle when landed regardless of pilot's throttle position
|
|
d) auto-disarm extended to Drift, Sport and OF_Loiter flight modes
|
|
e) APM2 buzzer notification added for arming failure
|
|
f) APM2 arming buzz made longer (now matches Pixhawk)
|
|
g) do-set-servo commands cannot interfere with motor output
|
|
4) Bug Fixes:
|
|
a) Drift slow yaw response fixed
|
|
b) AC3.2-rc3 failsafe bug resolved. In -rc3 the throttle failsafe could be triggered even when disabled or motors armed (although vehicle would not takeoff)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc3 16-Jul-2014
|
|
Changes from 3.2-rc2
|
|
1) Hybrid renamed to PosHold
|
|
2) Sonar (analog, i2c) and PulsedLight Range Finders enabled on Pixhawk (Allyson, Tridge)
|
|
3) Landing changes:
|
|
a) disable pilot repositioning while landing in RTL, Auto (set LAND_REPOSITION to 1 to re-enable) (JonathanC)
|
|
b) delay 4 seconds before landing due to failsafe (JonathanC)
|
|
4) Secondary compass calibration enabled, pre-arm check that offsets match current devices (Randy, Tridge, MichaelO)
|
|
5) Control improvements:
|
|
a) use bias adjusted gyro rates - helps in cases of severe gyro drift (Jonathan)
|
|
b) bug-fixes when feed-forward turned off (Leonard)
|
|
6) TradHeli improvements (RobL):
|
|
a) bug fix to use full collective range in stabilize and acro flight modes
|
|
b) filter added to main rotor input (ch8) to ensure momentary blip doesn't affect main rotor speed
|
|
7) Safety items:
|
|
a) increased default circular Fence radius to 300m to reduce chance of breach when GPS lock first acquired
|
|
b) radio failsafe timeout for late frames reduced to 0.5sec for normal receivers or 2.0sec when flying with joystick (Craig)
|
|
c) accelerometer pre-arm check for all active accelerometers (previously only checked the primary accelerometer)
|
|
8) Other features:
|
|
a) ch7/ch8 option to retract mount (svefro)
|
|
b) Do-Set-ROI supported in Guided, RTL mode
|
|
c) Condition-Yaw accepted in Guided, RTL modes (MoussSS)
|
|
d) CAMERA dataflash message includes relative and absolute altitude (Craig)
|
|
9) Red Balloon Popper support (Randy, Leonard):
|
|
a) Velocity controller added to Guided mode
|
|
b) NAV_GUIDED mission command added
|
|
10) Bug fixes:
|
|
a) bug fix to flip on take-off in stabilize mode when landing flag cleared slowly (JonathanC)
|
|
b) allow disarming in AutoTune (JonathanC)
|
|
c) bug fix to unpredictable behaviour when two spline points placed directly ontop of each other
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc2 27-May-2014
|
|
Changes from 3.2-rc1
|
|
1) Hybrid mode initialisation bug fix
|
|
2) Throttle pulsing bug fix on Pixhawk
|
|
3) Parachute enabled on Pixhawk
|
|
4) Rally Points enabled on Pixhawk
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.2-rc1 9-May-2014
|
|
Changes from 3.1.4
|
|
1) Hybrid mode - position hold mode but with direct response to pilot input during repositioning (JulienD, SandroT)
|
|
2) Spline waypoints (created by David Dewey, modified and integrated by Leonard, Randy)
|
|
3) Drift mode uses "throttle assist" for altitude control (Jason)
|
|
4) Extended Kalman Filter for potentially more reliable attitude and position control (Pixhawk only) (Paul Riseborough). Set AHRS_EKF_USE to 1 to enable or use Ch7/8 switch to enable/disable in flight.
|
|
5) Manual flight smoothness:
|
|
a) Smoother roll, pitch response using RC_FEEL_RP parameter (100 = crisp, 0 = extremely soft)
|
|
b) Adjustable max rotation rate (ATC_RATE_RP_MAX, ATC_RATE_Y_MAX) and acceleration (ATC_ACCEL_RP_MAX, ATC_ACCEL_Y_MAX)
|
|
6) Autopilot smoothness:
|
|
a) Vertical acceleration in AltHold, Loiter, Hybrid modes can be configured with PILOT_ACCEL_Z parameter (higher = faster acceleration)
|
|
b) Maximum roll and pitch angle acceleration in Loiter mode can be configured with WPNAV_LOIT_JERK (higher = more responsive but potentially jerky)
|
|
c) Yaw speed can be adjusted with ATC_SLEW_YAW parameter (higher = faster)
|
|
d) smoother takeoff with configurable acceleration using WPNAV_ACCEL_Z parameter
|
|
e) Twitches removed during guided mode or when entering Loiter or RTL from high speeds
|
|
7) Mission improvements:
|
|
a) mission will be resumed from last active command when pilot switches out and then back into Auto mode (prev behaviour can be restored by setting MIS_RESTART param to 1)
|
|
b) DO_SET_ROI persistent across waypoints. All-zero DO_SET_ROI command restores default yaw behaviour
|
|
c) do-jump fixed
|
|
d) conditional_distance fixed
|
|
e) conditional_delay fixed
|
|
f) do-change-speed command takes effect immediately during mission
|
|
g) vehicle faces directly at next waypoint (previously it could be about 10deg off)
|
|
h) loiter turns fix to ensure it will circle around lat/lon point specified in mission command (previously it could be off by CIRCLE_RADIUS)
|
|
8) Safety improvements:
|
|
a) After a fence breach, if the pilot re-takes control he/she will be given a minimum of 10 seconds and 20m to recover before the autopilot will invoke RTL or LAND
|
|
b) Parachute support including automatic deployment during mechanical failures
|
|
9) Other enhancements:
|
|
a) V-tail quad support
|
|
b) Dual GPS support (secondary GPS output is simply logged, not actually used yet)
|
|
c) Electro Permanent Magnet (aka Gripper) support
|
|
d) Servo pass through for channels 6 ~ 8 (set RC6_FUNCTION to 1)
|
|
e) Remove 80m limit on RTL's return altitude but never let it be above fence's max altitude
|
|
10) Other bug fixes:
|
|
a) Bug fix for LAND sometimes getting stuck at 10m
|
|
b) During missions, vehicle will maintain altitude even if WPNAV_SPEED is set above the vehicle's capabilities
|
|
c) when autopilot controls throttle (i.e. Loiter, Auto, etc) vehicle will reach speeds specified in PILOT_VELZ_MAX and WPNAV_SPEED_UP, WPNAV_SPEED_DN parameters
|
|
11) CLI removed from APM1/2 to save flash space, critical functions moved to MAVLink:
|
|
a) Individual motor tests (see MP's Initial Setup > Optional Hardware > Motor Test)
|
|
b) compassmot (see MP's Initial Setup > Optional Hardware > Compass/Motor Calib)
|
|
c) parameter reset to factory defaults (see MP's Config/Tuning > Full Parameter List > Reset to Default)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.5 27-May-2014 / 3.1.5-rc2 20-May-2014
|
|
Changes from 3.1.5-rc1
|
|
1) Bug Fix to broken loiter (pixhawk only)
|
|
2) Workaround to read from FRAM in 128byte chunks to resolve a few users boot issues (Pixhawk only)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.5-rc1 14-May-2014
|
|
Changes from 3.1.4
|
|
1) Bug Fix to ignore roll and pitch inputs to loiter controller when in radio failsafe
|
|
2) Bug Fix to allow compassmot to work on Pixhawk
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.4 8-May-2014 / 3.1.4-rc1 2-May-2014
|
|
Changes from 3.1.3
|
|
1) Bug Fix for Pixhawk/PX4 NuttX I2C memory corruption when errors are found on I2C bus
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.3 7-Apr-2014
|
|
Changes from 3.1.2
|
|
1) Stability patch fix which could cause motors to go to min at full throttle and with large roll/pitch inputs
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.2 13-Feb-2014 / ArduCopter 3.1.2-rc2 12-Feb-2014
|
|
Changes from 3.1.2-rc1
|
|
1) GPS Glitch detection disabled when connected via USB
|
|
2) RC_FEEL_RP param added for adjusting responsiveness to pilot roll/pitch input in Stabilize, Drift, AltHold modes
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.2-rc1 30-Jan-2014
|
|
Changes from 3.1.1
|
|
1) Pixhawk baro bug fix to SPI communication which could cause large altitude estimate jumps at high temperatures
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.1 26-Jan-2014 / ArduCopter 3.1.1-rc2 21-Jan-2014
|
|
Changes from 3.1.1-rc1
|
|
1) Pixhawk improvements (available for APM2 when AC3.2 is released):
|
|
a) Faster arming
|
|
b) AHRS_TRIM fix - reduces movement in loiter when yawing
|
|
c) AUX Out 5 & 6 turned into general purpose I/O pins
|
|
d) Three more relays added (relays are pins that can be set to 0V or 5V)
|
|
e) do-set-servo fix to allow servos to be controlled from ground station
|
|
f) Motorsync CLI test
|
|
g) PX4 parameters moved from SD card to eeprom
|
|
h) additional pre-arm checks for baro & inertial nav altitude and lean angle
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1.1-rc1 14-Jan-2014
|
|
Changes from 3.1
|
|
1) Pixhawk improvements:
|
|
a) Telemetry port 2 enabled (for MinimOSD)
|
|
b) SD card reliability improvements
|
|
c) parameters moved to FRAM
|
|
d) faster parameter loading via USB
|
|
e) Futaba SBUS receiver support
|
|
2) Bug fixes:
|
|
a) Loiter initialisation fix (Loiter would act like AltHold until flight mode switch changed position)
|
|
b) ROI commands were not returning Lat, Lon, Alt to mission planner when mission was loaded from APM
|
|
3) TradHeli only fixes:
|
|
a) Drift now uses same (reduced) collective range as stabilize mode
|
|
b) AutoTune disabled (for tradheli only)
|
|
c) Landing collective (smaller than normal collective) used whenever copter is not moving
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1 14-Dec-2013
|
|
Changes from 3.1-rc8
|
|
1) Pixhawk improvements:
|
|
a) switch to use MPU6k as main accel/gyro
|
|
b) auto loading of IO-board firmware on startup
|
|
2) RTL fixes:
|
|
a) initialise waypoint leash length (first RTL stop would be more aggressive than 2nd)
|
|
b) reduce projected stopping distance for higher speed stops
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc8 9-Dec-2013
|
|
Changes from 3.1-rc7
|
|
1) add Y6 motor mapping with all top props CW, bottom pros CCW (set FRAME = 10)
|
|
2) Safety Changes:
|
|
a) ignore yaw input during radio failsafe (previously the copter could return home spinning if yaw was full over at time of failsafe)
|
|
b) Reduce GPSGLITCH_RADIUS to 2m (was 5m) to catch glitches faster
|
|
3) Bug fixes:
|
|
a) Optical flow SPI bus rates
|
|
b) TradHeli main rotor ramp up speed fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc7 22-Nov-2013
|
|
Changes from 3.1-rc6
|
|
1) MOT_SPIN_ARMED default to 70
|
|
2) Smoother inertial nav response to missed GPS messages
|
|
3) Safety related changes
|
|
a) radio and battery failsafe disarm copter if landed in Loiter or AltHold (previously they would RTL)
|
|
b) Pre-Arm check failure warning output to ground station every 30 seconds until they pass
|
|
c) INS and inertial nav errors logged to dataflash's PM message
|
|
d) pre-arm check for ACRO_BAL_ROLL, ACRO_BAL_PITCH
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc6 16-Nov-2013
|
|
Improvements over 3.1-rc5
|
|
1) Heli improvements:
|
|
a) support for direct drive tails (uses TAIL_TYPE and TAIL_SPEED parameters)
|
|
b) smooth main rotor ramp-up for those without external governor (RSC_RAMP_TIME)
|
|
c) internal estimate of rotor speed configurable with RSC_RUNUP_TIME parameter to ensure rotor at top speed before starting missions
|
|
d) LAND_COL_MIN collective position used when landed (reduces chance copter will push too hard into the ground when landing or before starting missions)
|
|
e) reduced collective while in stabilize mode (STAB_COL_MIN, STAB_COL_MAX) for more precise throttle control
|
|
f) external gyro parameter range changed from 1000~2000 to 0~1000 (more consistent with other parameters)
|
|
g) dynamic flight detector switches on/off leaky-i term depending on copter speed
|
|
2) SingleCopter airframe support (contribution from Bill King)
|
|
3) Drift mode replaces TOY
|
|
4) MPU6k SPI bus speed decreased to 500khz after 4 errors
|
|
5) Safety related changes:
|
|
a) crash detector cuts motors if copter upside down for more than 2 seconds
|
|
b) INS (accel and gyro) health check in pre-arm checks
|
|
c) ARMING_CHECK allows turning on/off individual checks for baro, GPS, compass, parameters, board voltage, radio
|
|
d) detect Ublox GPS running at less than 5hz and resend configuration
|
|
e) GPSGlitch acceptable radius reduced to 5m (stricter detection of glitches)
|
|
f) range check roll, pitch input to ensure crazy radio values don't get through to stabilize controller
|
|
g) GPS failsafe options to trigger AltHold instead of LAND or to trigger LAND even if in flight mode that does not require GPS
|
|
h) Battery failsafe option to trigger RTL instead of LAND
|
|
i) MOT_SPIN_ARMED set to zero by default
|
|
6) Bug fixes:
|
|
a) missing throttle controller initialisation would mean Stabilize mode's throttle could be non-tilt-compensated
|
|
b) inertial nav baro and gps delay compensation fix (contribution from Neurocopter)
|
|
c) GPS failsafe was invoking LAND mode which still used GPS for horizontal control
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc5 22-Oct-2013
|
|
Improvements over 3.1-rc4
|
|
1) Pixhawk USB reliability improvements
|
|
2) AutoTune changes:
|
|
a) enabled by default
|
|
b) status output to GCS
|
|
c) use 2 pos switch only
|
|
3) ch7/ch8 LAND
|
|
4) Tricopter stability patch improvements [thanks to texlan]
|
|
5) safety improvements:
|
|
a) slower speed up of motors after arming
|
|
b) pre-arm check that copter is moving less than 50cm/s if arming in Loiter or fence enabled
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc4 13-Oct-2013
|
|
Improvements over 3.1-rc3
|
|
1) Performance improvements to resolve APM alt hold issues for Octacopters:
|
|
a) SPI bus speed increased from 500khz to 8Mhz
|
|
b) Telemetry buffer increased to 512bytes
|
|
c) broke up medium and slow loops into individual scheduled tasks and increased priority of alt hold tasks
|
|
2) Bug fix for Pixhawk USB connection
|
|
3) GPS Glitch improvements:
|
|
a) added GPS glitch check to arming check
|
|
b) parameters for vehicle max acceleration (GPSGLITCH_ACCEL) and always-ok radius (GPSGLICH_RADIUS)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc3 09-Oct-2013
|
|
Improvements over 3.1-rc2
|
|
1) GPS Glitch protection - gps positions are compared with the previous gps position. Position accepted if within 10m or copter could have reached the position with max accel of 10m/s/s.
|
|
2) Bug fix for pixhawk SPI bus contention that could lead to corrupted accelerometer values on pixhawk resolved
|
|
3) Auto Tuning (compile time option only add "#define AUTOTUNE ENABLED" to APM_Config.h and set CH7_Opt or CH8_Opt parameter to 17)
|
|
4) CPU Performance improvement when reading from MPU6k for APM
|
|
5) SUPER_SIMPLE parameter changed to a bit map to allow some flight modes to use super simpler while others use regular simple (MP release to allow easier selection will go out with AC3.1 official release)
|
|
6) Safety changes:
|
|
a) safety button must be pushed before arming on pixhawk
|
|
b) RGB LED (aka toshiba led) changed so that disarmed flashes, armed is either blue (if no gps lock) or green (if gps lock)
|
|
c) sensor health bitmask sent to groundstations
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc2 18-Sep-2013
|
|
Improvements over 3.1-rc1
|
|
1) bug fix for MOT_SPIN_ARMED to allow it to be higher than 127
|
|
2) PX4/pixhawk auto-detect internal/external compass so COMPASS_ORIENT should be set to ORIENTATION_NONE if using GPS+compass module
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.1-rc1 9-Sep-2013
|
|
Improvements over 3.0.1
|
|
1) Support for Pixhawks board
|
|
2) Arm, Disarm, Land and Takeoff in Loiter and AltHold
|
|
3) Improved Acro
|
|
a) ACRO_RP_P, ACRO_YAW_P parameters added to control speed of rotation
|
|
b) ACRO_BAL_ROLL, ACRO_BAL_PITCH controls speed at which copter returns to level
|
|
c) ACRO_TRAINER can be set to 0:disable trainer, 1:auto leveling when sticks released, 2:auto leveling and lean angle limited to ANGLE_MAX
|
|
d) Ch7 & Ch8 switch to set ACRO_TRAINER options in-flight
|
|
4) SPORT mode - equivalent of earth frame Acro with support for simple mode
|
|
5) Sonar ground tracking improvements and bug fixes that reduce reaction to bad sonar data
|
|
6) Safety improvements
|
|
a) motors always spin when armed (speed can be controlled with MOT_SPIN_ARMED, set to 0 to disable)
|
|
b) vehicle's maximum lean angle can be reduced (or increased) with the ANGLE_MAX parameter
|
|
c) arming check that GPS hdop is > 2.0 (disable by setting GPS_HDOP parameter to 900)
|
|
d) slow take-off in AUTO, LOITER, ALTHOLD to reduce chance of motor/esc burn-out on large copters
|
|
7) Bug fixes:
|
|
a) Optical flow sensor initialisation fix
|
|
b) altitude control fix for Loiter_turns mission command (i.e. mission version of CIRCLE mode)
|
|
c) DO_SET_ROI fix (do not use "ROI")
|
|
8) Distribute Loiter & Navigation calcs over 4 cycles to reduce impact on a single 100hz loop
|
|
9) RCMAP_ parameters allow remapping input channels 1 ~ 4
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-2013
|
|
Improvements over 3.0.1-rc1
|
|
1) Rate Roll, Pitch and Yaw I fix when we hit motor limits
|
|
2) pre-arm check changes:
|
|
a) double flash arming light when pre-arm checks fail
|
|
b) relax mag field checks to 35% min, 165% max of expected field
|
|
3) loiter and auto changes:
|
|
a) reduced Loiter speed to 5 m/s
|
|
b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s)
|
|
c) rounding error fix in loiter controller
|
|
d) bug fix to stopping point calculation for RTL and loiter during missions
|
|
4) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.1-rc1 26-Jun-2013
|
|
Improvements over 3.0.0
|
|
1) bug fix to Fence checking position after GPS lock was lost
|
|
2) bug fix to LAND so that it does not attempt to maintain horizontal position without GPS lock
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0 / 3.0.0-rc6 16-Jun-2013
|
|
Improvements over 3.0.0-rc5
|
|
1) bug fix to Circle mode's start position (was moving to last loiter target)
|
|
2) WP_ACCEL parameter added to allow user to adjust acceleration during missions
|
|
3) loiter acceleration set to half of LOIT_SPEED parameter value (was hard-coded)
|
|
4) reduce AltHold P to 1.0 (was 2.0)
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc5 04-Jun-2013
|
|
Improvements over 3.0.0-rc4
|
|
1) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location
|
|
2) bug fix to Circle mode to allow counter-clockwise rotation
|
|
3) bug fix to heading change in Loiter, RTL, Missions when pilot's throttle is zero
|
|
4) bug fix for mission sticking at take-off command when pilot's throttle is zero
|
|
5) bug fix for parameters not saving when new value is same as default value
|
|
6) reduce pre-arm board min voltage check to 4.3V (was 4.5V)
|
|
7) remove throttle controller's ability to limit lean angle in loiter, rtl, auto
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc4 02-Jun-2013
|
|
Improvements over 3.0.0-rc3
|
|
1) loiter improvements:
|
|
i) repositioning enhanced with feed forward
|
|
ii) use tan to convert desired accel to lean angle
|
|
2) stability patch improvements for high powered copters or those with roll-pitch rate gains set too high
|
|
3) auto mode vertical speed fix (it was not reaching the desired speeds)
|
|
4) alt hold smoothed by filtering feed forward input
|
|
5) circle mode fix to initial position and smoother initialisation
|
|
6) RTL returns to initial yaw heading before descending
|
|
7) safe features:
|
|
i) check for gps lock when entering failsafe
|
|
ii) pre-arm check for mag field length
|
|
iii) pre-arm check for board voltage between 4.5v ~ 5.8V
|
|
iv) beep twice during arming
|
|
v) GPS failsafe enabled by default (will LAND if loses GPS in Loiter, AUTO, Guided modes)
|
|
vi) bug fix for alt-hold mode spinning motors before pilot has raised throttle
|
|
8) bug fixes:
|
|
i) fixed position mode so it responding to pilot input
|
|
ii) baro cli test
|
|
iii) moved cli motor test to test sub menu and minor change to throttle output
|
|
iv) guided mode yaw control fix
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc3 22-May-2013
|
|
Improvements over 3.0.0-rc2
|
|
1) bug fix for dataflash erasing unnecessarily
|
|
2) smoother transition to waypoints, loiter:
|
|
intermediate point's speed initialised from copter's current speed
|
|
3) Ch8 auxiliary function switch (same features as Ch7)
|
|
4) safety checks:
|
|
Warning to GCS of reason for pre-arm check failure
|
|
ARMING_CHECK parameter added to allow disabling pre-arm checks
|
|
Added compass health and offset check to pre-arm check
|
|
compassmot procedure displays interference as percentage of total mag field
|
|
5) WPNAV dataflash message combined into NTUN message
|
|
6) allow TriCopters to use ESC calibration
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc2 13-May-2013
|
|
Improvements over 3.0.0-rc1:
|
|
1) smoother transition to waypoints, loiter:
|
|
reduced loiter max acceleration to smooth waypoints
|
|
bug fix to uninitialised roll/pitch when entering RTL, AUTO, LOITER
|
|
2) fast waypoints - copter does not stop at waypoints unless delay is specified
|
|
3) WPNAV_LOIT_SPEED added to allow faster/slower loiter repositioning
|
|
4) removed speed limits on auto missions
|
|
5) enhance LAND mission command takes lat/lon coordinates
|
|
6) bug fix for RTL not pointing home sometimes
|
|
7) centrifugal correction disabled when copter is disarmed to stop HUD moving
|
|
8) centrifugal correction disabled when sat count less than 6 (AHRS_GPS_MINSATS)
|
|
9) compass calibration reliability improvements when run from mission planner
|
|
10) bug fix to allow compassmot to be run from mission planner terminal screen
|
|
11) add support for H-quad frame
|
|
12) add COMPASS_ORIENT parameter to support external compass in any orientation
|
|
------------------------------------------------------------------
|
|
ArduCopter 3.0.0-rc1 01-May-2013
|
|
Improvements over 2.9.1b:
|
|
1) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan)
|
|
2) 3D waypoint navigation library (Leonard/Randy)
|
|
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL
|
|
WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL
|
|
3) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team)
|
|
4) Safety improvements:
|
|
Tin-can shaped fence (set FENCE_ENABLED to 1 and copter will RTL if alt > 150m or horizontal distance from home > 300m) (Randy/Tridge/Leonard)
|
|
GCS failsafe (set FS_GCS_ENABLED to 1 and if you are using a tablet to fly your copter it will RTL and return control to the radio 3 seconds after losing telemetry) (Randy)
|
|
pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy)
|
|
5) motor interference compensation for compass (Jonathan/Randy)
|
|
6) Circle mode improvements:
|
|
set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates)
|
|
CIRCLE_RATE parameter allows controlling direction and speed of rotation in CIRCLE mode and LOITER_TURNS (can also be adjusted in flight from CH6 knob)
|
|
7) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy)
|
|
8) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig)
|
|
9) performance improvements to dataflash logging (Tridge)
|
|
10) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge)
|
|
11) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy)
|
|
12) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1b 30-Feb-2013
|
|
Improvements over 2.9.1:
|
|
1) reduce INS_MPU6K_FILTER to 20hz
|
|
2) reduce InertialNav Z-axis time constant to 5 (was 7)
|
|
3) increased max InertialNav accel correction to 3 m/s (was 1m/s)
|
|
4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew
|
|
5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
|
|
6) reduce yaw_rate P default to 0.20 (was 0.25)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013
|
|
Improvements over 2.9.1-rc1:
|
|
1) small corretion to use of THR_MID to scale lower end of manual throttle between THR_MIN and 500 instead of 0 and 500
|
|
2) bug fix for longitude scaling being incorrectly calculated using Next Waypoint instead of home which could lead to scaling being 1
|
|
3) ESC calibration change to set update rate to ESCs to 50hz to allow simonk ESC to be calibrated
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9.1-rc1 31-Jan-2013
|
|
Improvements over 2.9:
|
|
1) THR_MID parameter added to allow users to adjust the manual throttle so that vehicle hovers at about mid stick
|
|
2) bug fix for autotrim - roll axis was backwards
|
|
3) bug fix to set sonar_alt_health to zero when sonar is disabled
|
|
4) capture level roll and pitch trims as part of accel calibration
|
|
5) bug fix to ppm encoder false positives
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9 & 2.9-rc5 14-Jan-2013
|
|
Improvements over 2.9-rc4:
|
|
1) add constraint to loiter commanded roll and pitch angles
|
|
2) relax altitude requirement for take-off command to complete
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc4 12-Jan-2013
|
|
Improvements over 2.9-rc3:
|
|
1) Smoother transition between manual and auto flight modes (Leonard)
|
|
2) bug fix for LAND not actually landing when initiated from failsafe (Randy/Craig)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc3 11-Jan-2013
|
|
Improvements over 2.9-rc2:
|
|
1) alt hold with sonar improvements - now on by default (Leonard/Randy)
|
|
2) performance and memory usage improvements (Tridge/Randy)
|
|
3) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold (Randy)
|
|
4) bug fix: altitude error reported to GCS (Randy)
|
|
5) limit inertial nav's max accel offset correction to 100cm/s/s to speed up recovery after hard impacts (Randy)_
|
|
6) moved rate controllers to run after ins read (Tridge/Randy)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc2 31-Dec-2012
|
|
Improvements over 2.9-rc1:
|
|
1) increased throttle rate gains from 1.0 to 6.0
|
|
2) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library)
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.9-rc1 23-Dec-2012
|
|
Improvements over 2.8.1:
|
|
1) altitude hold improvements:
|
|
a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason]
|
|
b)accel based throttle controller [Leonard/Randy]
|
|
c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt]
|
|
d)parameters to control climb rate:
|
|
AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s)
|
|
PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s)
|
|
2) landing improvements [Leonard/Randy]
|
|
LAND_SPEED - allows you to set the landing speed in cm/s
|
|
3) camera related improvements:
|
|
a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno]
|
|
b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy]
|
|
c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy]
|
|
YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never)
|
|
4) trad heli improvements [Rob]
|
|
a) code tested and brought back into the fold (2.8.1 was never released for trad helis)
|
|
b) enabled rate controller (previously only used angle controllers)
|
|
c) fix to rotor speed controllers - now operates by switching off channel 8
|
|
d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode
|
|
e) removed angle boost function because it created more problems than it solved
|
|
f) bug fix to allow collective pitch to use the entire range of servos
|
|
5) mediatek gps driver improvements [Craig]
|
|
a) added support for 1.9 firmware
|
|
b) bug fix to start-up routine so sbas can be enabled
|
|
6) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland]
|
|
a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming
|
|
b) failsafe triggered in unlikely case of a PPM encoder failure
|
|
c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered
|
|
7) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge]
|
|
8) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland]
|
|
9) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard]
|
|
ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level
|
|
ACRO_TRAINER - 1 to enable the auto-bring-upright feature
|
|
10) other changes and bug fixes:
|
|
a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason]
|
|
#define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees
|
|
#define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees
|
|
b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason]
|
|
c) event and state logging [Jason]
|
|
d) allow cli to be used over telemetry link [Tridge]
|
|
e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy]
|
|
f) bug fix so do_set_servo command works [Randy]
|
|
g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge]
|
|
h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason]
|
|
i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy]
|
|
j) removed unused stab_d from roll and pitch controller [Jason]
|
|
k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy]
|
|
l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others]
|
|
|
|
------------------------------------------------------------------
|
|
ArduCopter 2.8.1 22-Oct-2012
|
|
Improvements over 2.8:
|
|
- 430 bytes of RAM freed up to resolve APM1 level issue and reduce chance of memory corruption on both APM1 and APM2
|
|
|
|
Improvements over 2.7.3:
|
|
- Improved ACRO mode (Leonard Hall)
|
|
- Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)
|
|
- Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)
|
|
- Less bouncy Stabilize yaw control (Leonard)
|
|
- OpticalFlow sensor support for APM2.5 (Randy)
|
|
- DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)
|
|
- Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)
|
|
- Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)
|
|
- More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)
|
|
- GPS NMEA bug fix (Alexey Kozin)
|
|
- Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)
|
|
|
|
Bug Fixes / Parameter changes:
|
|
- fixed skipping of last waypoint (Jason)
|
|
- resolved twitching when no GPS attached (Tridge)
|
|
- fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)
|
|
- moved Roll-Pitch I terms from Stabilize controllers to Rate controllers
|
|
- TILT_COMPENSATION param tuned for TradHeli (Rob)
|
|
|
|
Code Cleanup:
|
|
- HAL changes for platform portability (Pat Hickey)
|
|
- Removed INSTANT_PWM (Randy)
|
|
------------------------------------------------------------------
|