2017-03-15 00:23:17 -03:00
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Release 3.1.2, 15 March 2017
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============================
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Minor bugfix release.
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- Crashing detection is off by default
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- DISARMing of a rover via the transmitter stick works again
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- If a user was driving in reverse in Manual and went into an AUTO
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mode the rover would do the mission in reverse. This is fixed.
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Release 3.1.1, 31 January 2017
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==============================
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Minor bugfix release for a crash bug in the SRXL driver
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2016-12-22 01:24:59 -04:00
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Release 3.1.0, 22 December 2016
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===============================
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The ArduPilot development team is proud to announce the release of
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version 3.1.0 of APM:Rover. This is a major release with a lot of
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changes so please read the notes carefully!
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A huge thanks to ALL the ArduPilot developers. The Rover code
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benefits tremendously from all the hard work that goes into the Copter
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and Plane vehicle code. Most of the code changes in this
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release were not specifically for Rover however because of the
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2016-12-23 04:25:33 -04:00
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fantastic architecture of the ArduPilot code Rover automatically gets
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2016-12-22 01:24:59 -04:00
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those enhancements anyway.
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Note that the documentation hasn't yet caught up with all the changes
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in this release. We are still working on that, but meanwhile if you
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see a feature that interests you and it isn't documented yet then
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please ask.
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The PX4-v2 build has had CANBUS support removed due to firmware size
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issues. If Rover users want CANBUS support you will need to install
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the PX4-v3 build located in the firmware folder here:
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http://firmware.ap.ardupilot.org/Rover/stable/PX4/
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EKF1 has been removed as EKF2 has been the long term default and is
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working extremely well and this has allowed room for EKF3.
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EKF3 is included in this release but it is not the default. Should
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you want to experiment with it set the following parameters:
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AHRS_EKF_TYPE=3
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EK3_ENABLE=1
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but note it is still experimental and you must fully understand the
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implications.
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New GUIDED Command
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------------------
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Rover now accepts a new message MAV_CMD_NAV_SET_YAW_SPEED which has an
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angle in centidegrees and a speed scale and the rover will drive based
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on these inputs.
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The ArduPilot team would like to thank EnRoute for the sponsoring of
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this feature
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http://enroute.co.jp/
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COMMAND_INT and ROI Commands
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----------------------------
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COMMAND_INT support has been added to Rover. This has allowed the
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implementation of SET_POSITION_TARGET_GLOBAL_INT,
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SET_POSITION_TARGET_LOCAL_NED and DO_SET_ROI as a COMMAND_INT
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The ArduPilot team would like to thank EnRoute for the sponsoring of
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this feature
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http://enroute.co.jp/
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Reverse
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-------
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Its now possible in a mission to tell the rover to drive in
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Reverse. If using Mission Planner insert a new Waypoint using "Add
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Below" button on the Flight Plan screen and select from the Command
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drop down list you will see a new command "DO_SET_REVERSE". It takes 1
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2016-12-23 04:25:33 -04:00
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parameter - 0 for forward, 1 for reverse. It's that simple. Please give
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2016-12-22 01:24:59 -04:00
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it a try and report back any success or issues found or any questions
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as well.
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The ArduPilot team would like to thank the Institute for Intelligent
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Systems Research at Deakin University
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(http://www.deakin.edu.au/research/iisri16) for the sponsoring of the
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reverse functionality.
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Loiter
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------
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This changes brings the LOITER commands in line with other ArduPilot
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vehicles so both NAV_LOITER_UNLIM and NAV_LOITER_TIME are supported and are
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actively loitering. This means for instance if you have set a boat to
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loiter at a particular position and the water current pushes the boat off
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that position once the boat has drifted further then the WP_RADIUS
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parameter distance setting from the position the motor(s) will be
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engaged and the boat will return to the loiter position.
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The ArduPilot team would like to thanko MarineTech for sponsoring this
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enhancement.
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http://www.marinetech.fr
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Note: if you currently use Param1 of a NAV_WAYPOINT to loiter at a
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waypoint this functionality has not changed and is NOT actively loitering.
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Crash Check
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-----------
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Rover can now detect a crash in most circumstances - thanks Pierre
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Kancir. It is enabled by default and will change the vehicle into HOLD
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mode if a crash is detected. FS_CRASH_CHECK is the parameter used to
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control what action to take on a crash detection and it supports
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0:Disabled, 1:HOLD, 2:HoldAndDisarm
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Pixhawk2 heated IMU support
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---------------------------
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This release adds support for the IMU heater in the Pixhawk2,
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allowing for more stable IMU temperatures. The Pixhawk2 is
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automatically detected and the heater enabled at boot, with the target
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IMU temperature controllable via BRD_IMU_TARGTEMP.
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Using an IMU heater should improve IMU stability in environments with
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significant temperature changes.
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PH2SLIM Support
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---------------
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This release adds support for the PH2SLIM variant of the Pixhawk2,
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which is a Pixhawk2 cube without the isolated sensor top board. This
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makes for a very compact autopilot for small aircraft. To enable
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PH2SLIM support set the BRD_TYPE parameter to 6 using a GCS connected
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on USB.
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AP_Module Support
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-----------------
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This is the first release of ArduPilot with loadable module support
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for Linux based boards. The AP_Module system allows for externally
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compiled modules to access sensor data from ArduPilot controlled
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sensors. The initial AP_Module support is aimed at vendors integrating
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high-rate digital image stabilisation using IMU data, but it is
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expected this will be expanded to other use cases in future releases.
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Major VRBrain Support Update
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----------------------------
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This release includes a major merge of support for the VRBrain family
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of autopilots. Many thanks to the great work by Luke Mike in putting
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together this merge!
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Much Faster Boot Time
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---------------------
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Boot times on Pixhawk are now much faster due to a restructuring of
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the driver startup code, with slow starting drivers not started unless
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they are enabled with the appropriate parameters. The restructuring
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also allows for support of a wide variety of board types, including
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the PH2SLIM above.
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This release includes many other updates right across the flight
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stack, including several new features. Some of the changes include:
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- log all rally points on startup
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- the armed state is now logged
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- support added for MAV_CMD_ACCELCAL_VEHICLE_POS
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- support MAVLink based external GPS device
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- support LED_CONTROL MAVLink message
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- support PLAY_TUNE MAVLink message
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- added AP_Button support for remote button input reporting
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- support 16 channel SERVO_OUTPUT_RAW in MAVLink2
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- added MAVLink reporting of logging subsystem health
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- added BRD_SAFETY_MASK to allow for channel movement for selected channels with safety on
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- lots of HAL_Linux improvements to bus and thread handling
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- added IMU heater support on Pixhawk2
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- allow for faster accel bias learning in EKF2
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- added AP_Module support for loadable modules
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- merged support for wide range of VRBrain boards
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- added support for PH2SLIM and PHMINI boards with BRD_TYPE
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- greatly reduced boot time on Pixhawk and similar boards
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- fixed magic check for signing key in MAVLink2
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- fixed averaging of gyros for EKF2 gyro bias estimate
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- added support for ParametersG2
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- support added for the GPS_INPUT mavlink message
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2016-06-17 00:11:04 -03:00
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Release 3.0.1, 17 June 2016
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===========================
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The ArduPilot development team is proud to announce the release of
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2016-06-17 00:56:28 -03:00
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version 3.0.1 of APM:Rover. This is a minor release with small but
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2016-06-17 00:11:04 -03:00
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important bug fix changes.
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The two main motivations for this release
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1. Fixing the arming for skid steering Rovers
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2. Fix to the rover steering that should really improve steering of
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all rovers.
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Skid Steering Arming
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--------------------
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Fixed arming for Skid Steering rovers. You should now be able to arm
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your skid steering rover using the steering stick. NOTE skid steering
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Rovers - you will not be able to disarm. The reason for this is zero
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throttle full left turn is a perfectly valid move for a skid steering
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rover as it can turn on the spot. You don't want to be executing this
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and have the rover disarm part way through your turn so we have
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disabled disarming via the steering stick. You can still disarm from
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the GCS. Thanks to Pierre Kancir for working on this.
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Improved Steering Control
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-------------------------
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For historical reason's the steering controller was using the raw GPS
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data for ground speed without any filtering. If you have every graphed
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this data you will see on a rover its very spiky and all over the
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place. This spiky'ness was feeding into the lateral accel demand and
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causing inaccuracies/jitters. Now we using the EKF GPS filtered data
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which is much smoother and accurate and the steering control has
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greatly improved.
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Improved Cornering
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------------------
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Previously when corning we didn't take into account any "lean or tilt"
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in the rover - we assumed the turns were always flat. We have changed
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this to now take into account any lean so turning should be more
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accurate. Boat users should really benefit from this too.
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MAVLink2 support has been added
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-------------------------------
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See this post by Tridge -
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http://discuss.ardupilot.org/t/mavlink2-is-in-ardupilot-master/9188/1
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The other changes in this release are:
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- setting your sonar_trigger_cm to 0 will now log the sonar data but
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not use it for vehicle avoidance.
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- the throttle PID is now being logged
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- range finder input is now being captured (thanks to Allan Matthew)
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- added LOG_DISARMED parameter
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- merge upstream PX4Firmware changes
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- numerous waf build improvements
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- numerous EKF2 improvements
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Release 3.0.0, 5 April 2016
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2016-04-05 02:36:25 -03:00
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===========================
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The ArduPilot development team is proud to announce the release of
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version 3.0.0 of APM:Rover. This is a major release with a lot of
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changes so please read the notes carefully!
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A huge thanks to ALL the ArduPilot developers. The Rover code
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benefits tremendously from all the hard work that goes into the Copter
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and Plane vehicle code. Most of the code changes in this
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release were not specifically for Rover however because of the
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fantastic architecture of the ArduPilot code Rover automatically get's
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those enhancements anyway.
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Note that the documentation hasn't yet caught up with all the changes
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in this release. We are still working on that, but meanwhile if you
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see a feature that interests you and it isn't documented yet then
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please ask.
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The 3.x.x releases and above DON'T support APM1/APM2
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----------------------------------------------------
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This release DOES NOT SUPPORT the old APM1/APM2 AVR based boards. The
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issue is the amount of effort required to keep the new code ported to
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the old platforms. We are very sorry this has to occur and if there
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is someone who is willing and technically capable of doing this work
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then please let us know.
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There will be a discussion created on ArduPilot forums where people
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can request features in the new code be backported to the APM code to
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run on the AVR boards and if it is reasonably easy and they are
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willing to do the beta testing we will do our best to make it happen.
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EKF2 - New Kalman Filter
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------------------------
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Paul Riseborough has been working hard recently on the new
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EKF2 variant which fixes many issues seen with the old estimator. The
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key improvements are:
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- support for separate filters on each IMU for multi-IMU boards
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(such as the Pixhawk), giving a high degree of redundency
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- much better handling of gyro drift estimation, especially on
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startup
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- much faster recovery from attitude estimation errors
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After extensive testing of the new EKF code we decided to make it the
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default for this release. You can still use the old EKF if you want to
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by setting AHRS_EKF_TYPE to 1, although it is recommended that the new
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EKF be used for all vehicles.
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In order to use the EKF we need to be a bit more careful about the
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setup of the vehicle. That is why we enabled arming and pre-arm checks
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by default. Please don't disable the arming checks, they are there for
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very good reasons.
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UAVCAN new protocol
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-------------------
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The uavcan change to the new protocol has been a long time coming, and
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we'd like to thank Holger for both his great work on this and his
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patience given how long it has taken to be in a release. This adds
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support for automatic canbus node assignment which makes setup much
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easier, and also supports the latest versions of the Zubax canbus GPS.
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Support for 4 new Boards
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------------------------
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The porting of ArduPilot to more boards continues, with support
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for 3 new boards in this release. They are:
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- the BHAT board
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- the PXFmini
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- the QualComm Flight
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- the Pixracer
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More information about the list of supported boards is available here:
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2016-04-23 17:54:44 -03:00
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http://dev.ardupilot.org/wiki/supported-autopilot-controller-boards/
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2016-04-05 02:36:25 -03:00
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Startup on a moving platform
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----------------------------
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One of the benefits of the new EKF2 estimator is that it allows for
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rapid estimation of gyro offset without doing a gyro calibration on
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startup. This makes it possible to startup and arm on a moving
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platform by setting the INS_GYR_CAL parameter to zero (to disable gyro
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calibration on boot). This should be a big help for boats.
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Improved Camera Trigger Logging
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-------------------------------
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This release adds new CAM_FEEDBACK_PIN and CAM_FEEDBACK_POL
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parameters. These add support for separate CAM and TRIG log messages,
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where TRIG is logged when the camera is triggered and the CAM message
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is logged when an external pin indicates the camera has actually
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fired. This pin is typically based on the flash hotshoe of a camera
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and provides a way to log the exact time of camera triggering more
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accurately. Many thanks to Dario Andres and Jaime Machuca for their
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work on this feature.
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PID Tuning
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----------
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You can now see the individual contributions of the P, I and D
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components for the Steering PID in the logs (PIDY), allowing you to
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get a much better picture of the performance.
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Vibration Logging
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-----------------
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This release includes a lot more options for diagnosing vibration
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issues. You will notice new VIBRATION messages in MAVLink and VIBE
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messages in the dataflash logs. Those give you a good idea of your
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(unfiltered) vibration levels. For really detailed analysis you can
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setup your LOG_BITMASK to include raw logging, which gives you every
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accel and gyro sample on your Pixhawk. You can then do a FFT on the
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result and plot the distribution of vibration level with
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frequency. That is great for finding the cause of vibration
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issues. Note that you need a very fast microSD card for that to work!
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More Sensors
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------------
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This release includes support for a bunch more sensors. It now supports
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|
|
3 different interfaces for the LightWare range of Lidars (serial, I2C
|
|
|
|
and analog), and also supports the very nice Septentrio RTK
|
|
|
|
dual-frequency GPS (the first dual-frequency GPS we have support
|
|
|
|
for). It also supports the new "blue label" Lidar from Pulsed Light
|
|
|
|
(both on I2C and PWM).
|
|
|
|
|
|
|
|
For the uBlox GPS, we now have a lot more configurability of the
|
|
|
|
driver, with the ability to set the GNSS mode for different
|
|
|
|
constellations. Also in the uBlox driver we support logging of the raw
|
|
|
|
carrier phase and pseudo range data, which allows for post RTK
|
|
|
|
analysis with raw-capable receivers for really accurate photo
|
|
|
|
missions.
|
|
|
|
|
|
|
|
Better Linux support
|
|
|
|
--------------------
|
|
|
|
This release includes a lot of improvements to the Linux based
|
|
|
|
autopilot boards, including the NavIO+, the PXF and ERLE boards and
|
|
|
|
the BBBMini and the new RasPilot board.
|
|
|
|
|
|
|
|
On-board compass calibrator
|
|
|
|
---------------------------
|
|
|
|
We also have a new on-board compass calibrator, which also adds calibration
|
|
|
|
for soft iron effects, allowing for much more accurate compass
|
|
|
|
calibration.
|
|
|
|
|
|
|
|
Lots of other changes!
|
|
|
|
----------------------
|
|
|
|
The above list is just a taste of the changes that have gone into this
|
|
|
|
release. Thousands of small changes have gone into this release with
|
|
|
|
dozens of people contributing. Many thanks to everyone who helped!
|
|
|
|
|
|
|
|
Other key changes
|
|
|
|
-----------------
|
|
|
|
- fixed the MAV_CMD_DO_SET_HOME (thanks salonijain12)
|
|
|
|
- fixed bug when reverse throttle would increase speed in AUTO
|
|
|
|
- fixed a bug going into guided and rover still moving
|
|
|
|
- loitering at a waypoint if Param1 is non-zero
|
|
|
|
- update uavcan to new protocol
|
|
|
|
- fixed reporting of armed state with safety switch
|
|
|
|
- added optional arming check for minimum voltage
|
|
|
|
- improved text message queueing to ground stations
|
|
|
|
- re-organisation of HAL_Linux bus API
|
|
|
|
- improved NMEA parsing in GPS driver
|
|
|
|
- improved autoconfig of uBlox GPS driver
|
|
|
|
- support a wider range of Lightware serial Lidars
|
|
|
|
- improved non-GPS performance of EKF2
|
|
|
|
- improved compass fusion in EKF2
|
|
|
|
- improved support for Pixracer board
|
|
|
|
- improved NavIO2 support
|
|
|
|
- added BATT_WATT_MAX parameter
|
|
|
|
- enable messages for MAVLink gimbal support
|
|
|
|
- use 64 bit timestamps in dataflash logs
|
|
|
|
- added realtime PID tuning messages and PID logging
|
|
|
|
- fixed a failure case for the px4 failsafe mixer
|
|
|
|
- added DSM binding support on Pixhawk
|
|
|
|
- added vibration level logging
|
|
|
|
- ignore low voltage failsafe while disarmed
|
|
|
|
- added delta velocity and delta angle logging
|
|
|
|
- allow steering disarm based on ARMING_RUDDER parameter
|
|
|
|
- prevent mode switch changes changing WP tracking
|
|
|
|
- fixed parameter documentation spelling errors
|
|
|
|
- send MISSION_ITEM_REACHED messages on waypoint completion
|
|
|
|
- enable EKF by default on rover
|
|
|
|
- Improve gyro bias learning rate for plane and rover
|
|
|
|
- Allow switching primary GPS instance with 1 sat difference
|
|
|
|
- added NSH over MAVLink support
|
|
|
|
- added support for mpu9250 on pixhawk and pixhawk2
|
|
|
|
- Add support for logging ublox RXM-RAWX messages
|
|
|
|
- lots of updates to improve support for Linux based boards
|
|
|
|
- added ORGN message in dataflash
|
|
|
|
- added support for new "blue label" Lidar
|
|
|
|
- switched to real hdop in uBlox driver
|
|
|
|
- improved auto-config of uBlox
|
|
|
|
- raise accel discrepancy arming threshold to 0.75
|
|
|
|
- improved support for tcp and udp connections on Linux
|
|
|
|
- switched to delta-velocity and delta-angles in DCM
|
|
|
|
- improved detection of which accel to use in EKF
|
|
|
|
- improved auto-detections of flow control on pixhawk UARTs
|
|
|
|
- added HDOP to uavcan GPS driver
|
|
|
|
- improved sending of autopilot version
|
|
|
|
- log zero rangefinder distance when unhealthy
|
|
|
|
- added PRU firmware files for BeagleBoneBlack port
|
|
|
|
- fix for recent STORM32 gimbal support
|
|
|
|
- changed sending of STATUSTEXT severity to use correct values
|
|
|
|
- added new RSSI library with PWM input support
|
|
|
|
- fixed MAVLink heading report for UAVCAN GPS
|
|
|
|
- support LightWare I2C rangefinder on Linux
|
|
|
|
- improved staging of parameters and formats on startup to dataflash
|
|
|
|
- added new on-board compass calibrator
|
|
|
|
- improved RCOutput code for NavIO port
|
|
|
|
- added support for Septentrio GPS receiver
|
|
|
|
- support DO_MOUNT_CONTROl via command-long interface
|
|
|
|
- added CAM_RELAY_ON parameter
|
|
|
|
- moved SKIP_GYRO_CAL functionality to INS_GYR_CAL
|
|
|
|
- new waf build system
|
|
|
|
- new async accel calibrator
|
|
|
|
- better rangefinder power control
|
|
|
|
- dataflash over mavlink support
|
|
|
|
- settable main loop rate
|
|
|
|
- hideable parameters
|
|
|
|
- improved logging for dual-GPS setups
|
|
|
|
- improvements to multiple RTK GPS drivers
|
|
|
|
- numerous HAL_Linux improvements
|
|
|
|
- improved logging of CAM messages
|
|
|
|
- added support for IMU heaters in HAL_Linux
|
|
|
|
- support for RCInput over UDP in HAL_Linux
|
|
|
|
- improved EKF startup checks for GPS accuracy
|
|
|
|
- added raw IMU logging for all platforms
|
|
|
|
- configurable RGB LED brightness
|
|
|
|
- improvements to the lsm303d driver for Linux
|
|
|
|
|
|
|
|
|
2015-06-19 01:06:26 -03:00
|
|
|
Release 2.50, 19 June 2015
|
|
|
|
==========================
|
|
|
|
|
|
|
|
The ardupilot development team has released version 2.50 of
|
|
|
|
APM:Rover. This release is mostly a backend improvement to ArduPilot
|
|
|
|
but a few new features and bug fixes are included.
|
|
|
|
|
|
|
|
Re-do Accelerometer Calibration
|
|
|
|
-------------------------------
|
|
|
|
Due to a change in the maximum accelerometer range on the Pixhawk all
|
|
|
|
users must re-do their accelerometer calibration for this release.
|
|
|
|
|
|
|
|
|
|
|
|
Only 3D accel calibration
|
|
|
|
-------------------------
|
|
|
|
The old "1D" accelerometer calibration method has now been removed, so
|
|
|
|
you must use the 3D accelerometer calibration method. The old method
|
|
|
|
was removed because a significant number of users had poor experiences.
|
|
|
|
|
|
|
|
|
|
|
|
Changes in this release are:
|
|
|
|
|
|
|
|
- CLI_ENABLED parameter added so the CLI can now be accessed
|
|
|
|
in Rover
|
|
|
|
- PID logging for the steering controller. It its now
|
|
|
|
possible to graph what the P, I and D are doing as your
|
|
|
|
driving the rover around to enable much better tuning of the
|
|
|
|
vehicle.
|
|
|
|
- Transition from .pde file to .cpp files for improved
|
|
|
|
development.
|
|
|
|
- GIT Submodules created for PX4Firmware, PX4Nuttx and uavcan
|
|
|
|
git repositories for improved development.
|
|
|
|
- Followme mode now works for Rover
|
|
|
|
- GUIDED mode significantly improved. If you have a GCS which is in
|
|
|
|
Followme mode if the user then changes mode with the RC transmitter to
|
|
|
|
HOLD or anything else then the Rover will STOP listening to the
|
|
|
|
Followme updated guided mode waypoints.
|
|
|
|
- When going into GUIDED mode the rover went into RTL - this
|
|
|
|
is fixed.
|
|
|
|
- Added EKF_STATUS_REPORT MAVLink message
|
|
|
|
- 64-bit timestamps in dataflash logs
|
|
|
|
- Numerous EKF improvements
|
|
|
|
- Added support for 4th Mavlink channel
|
|
|
|
- Added support for raw IMU logging
|
|
|
|
- updated Piksi RTK GPS driver
|
|
|
|
- improved support for GPS data injection (for Piksi RTK GPS)
|
|
|
|
- The SITL software in the loop simulation system has been completely
|
|
|
|
rewritten for this release. A major change is to make it possible to
|
|
|
|
run SITL on native windows without needing a Linux virtual
|
|
|
|
machine. (thanks Tridge)
|
|
|
|
|
|
|
|
|
|
|
|
|
2015-03-03 20:48:47 -04:00
|
|
|
Release 2.49, March 4th 2015
|
|
|
|
----------------------------
|
|
|
|
|
|
|
|
The ardupilot development team has released version 2.49 of
|
|
|
|
APM:Rover. This release is a bug fix release with two important bugs
|
|
|
|
found by Marco Walther - Thanks Marco!
|
|
|
|
|
|
|
|
The bug fixes in this release are:
|
|
|
|
|
|
|
|
- fixed a sonar problem where objects to the left wouldn't be
|
|
|
|
identified - thanks Marco Walther!
|
|
|
|
- Fixed the ordering of the AP_Notify call so the main indicator
|
|
|
|
light would be correct on startup - thanks Marco Walther!
|
|
|
|
|
|
|
|
|
|
|
|
|
2015-02-19 21:26:19 -04:00
|
|
|
Release 2.48, February 20th 2015
|
|
|
|
--------------------------------
|
2015-02-12 03:06:32 -04:00
|
|
|
|
2015-02-19 21:26:19 -04:00
|
|
|
The ardupilot development team has released version 2.48 of
|
2015-02-12 03:06:32 -04:00
|
|
|
APM:Rover. This release is a bug fix release with some important bugs
|
|
|
|
found by the users of ardupilot.
|
|
|
|
|
|
|
|
The changes in this release are:
|
|
|
|
|
|
|
|
- fixed a bug that could cause short term loss of RC control with
|
|
|
|
some receiver systems and configurations
|
|
|
|
- allowed for shorter sync pulse widths for PPM-SUM receivers on
|
|
|
|
APM1 and APM2
|
|
|
|
- fix an issue where battery reporting could be intermittent (thanks
|
|
|
|
Georgii Staroselskii!)
|
|
|
|
- fixed a mission handling bug that could cause a crash if jump
|
|
|
|
commands form an infinite loop (thanks to Dellarb for reporting
|
|
|
|
this bug)
|
|
|
|
- improved support for in-kernel SPI handling on Linux (thanks to John Williams)
|
|
|
|
- support UAVCAN based ESCs and GPS modules on Pixhawk (thanks to
|
|
|
|
Pavel, Holger and and PX4 dev team)
|
|
|
|
- Multiple updates for the NavIO+ cape on RaspberryPi (thanks to
|
|
|
|
Emlid)
|
|
|
|
- Lots of EKF changes
|
|
|
|
- added support for MAVLink packet routing
|
|
|
|
- added detection and recovery from faulty gyro and accel sensors
|
|
|
|
- added support for BBBMini Linux port
|
|
|
|
- increased number of AVR input channels from 8 to 11
|
|
|
|
- auto-set system clock based on GPS in Linux ports
|
|
|
|
- added SBUS FrSky telemetry support (thanks to Mathias)
|
|
|
|
- Added AK8963 MAG support (thanks Staroselskii Georgii)
|
|
|
|
- Added support for second battery
|
2015-02-19 21:26:19 -04:00
|
|
|
- Auto formatting of SDCard if it cannot be accessed on startup
|
|
|
|
- A number of significant performance improvements for the PX4 platform
|
2015-02-12 03:06:32 -04:00
|
|
|
|
|
|
|
The most important bug fix is the one for short term loss of RC
|
|
|
|
control. This is a very long standing bug which didn't have a
|
2016-05-12 14:08:16 -03:00
|
|
|
noticeable impact for most people, but could cause loss of RC control
|
2015-02-12 03:06:32 -04:00
|
|
|
for around 1 or 2 seconds for some people in certain circumstances.
|
|
|
|
|
|
|
|
The bug was in the the AP_HAL RCInput API. Each HAL backend has a flag
|
|
|
|
that says whether there is a new RC input frame available. That flag
|
|
|
|
was cleared by the read() method (typically hal.rcin->read()). Callers
|
|
|
|
would check for new input by checking the boolean
|
|
|
|
hal.rcin->new_input() function.
|
|
|
|
|
|
|
|
The problem was that read() was called from multiple places. Normally
|
|
|
|
this is fine as reads from other than the main radio input loop happen
|
|
|
|
before the other reads, but if the timing of the new radio frame
|
|
|
|
exactly matched the loop frequency then a read from another place
|
|
|
|
could clear the new_input flag and we would not see the new RC input
|
|
|
|
frame. If that happened enough times we would go into a short term RC
|
|
|
|
failsafe and ignore RC inputs, even in manual mode.
|
|
|
|
|
|
|
|
The fix was very simple - it is the new_input() function itself that
|
|
|
|
should clear the flag, not read().
|
|
|
|
|
|
|
|
Many thanks to MarkM for helping us track down this bug by providing
|
|
|
|
us with sufficient detail on how to reproduce it. In Marks case his
|
|
|
|
OpenLRSng configuration happened to produce exactly the worst case
|
|
|
|
timing needed to reproduce the issue. Once Tridge copied his OpenLRS
|
|
|
|
settings to his TX/RX he was able to reproduce the problem and it was
|
|
|
|
easy to find and fix.
|
|
|
|
|
|
|
|
A number of users have reported occasional glitches in manual control
|
|
|
|
where servos pause for short periods in past releases. It is likely
|
|
|
|
that some of those issues were caused by this bug. The dev team would
|
|
|
|
like to apologise for taking so long to track down this bug!
|
|
|
|
|
|
|
|
The other main change was also related to RC input. Some receivers use
|
|
|
|
a PPM-SUM sync pulse width shorter than what the APM1/APM2 code was
|
|
|
|
setup to handle. The OpenLRSng default sync pulse width is 3000
|
|
|
|
microseconds, but the APM1/APM2 code was written for a mininum sync
|
|
|
|
pulse width of 4000 microseconds. For this release we have changed the
|
|
|
|
APM1/APM2 driver to accept a sync pulse width down to 2700
|
|
|
|
microseconds.
|
|
|
|
|
2015-02-19 21:26:19 -04:00
|
|
|
Auto format of SD Card
|
|
|
|
======================
|
|
|
|
From time to time the SD cards in the PX4 autopilots get corrupted.
|
|
|
|
This isn't a surprise considering what we do to them. Your all
|
|
|
|
familiar with the windows "please unmount or eject your SDCard before
|
|
|
|
removing" process. Well we don't do that. In fact normal operation
|
|
|
|
is to just pull the power on the SDCard - whilst its being written
|
|
|
|
too!! Not to metion the horrible vibration rich environment the
|
|
|
|
SDCard exists in. If the autopilot is setup in the internal innards
|
|
|
|
of your plane/copter/rover this can be a nightmare to get to. To
|
|
|
|
resolve that problem Tridge has added code at startup so when
|
|
|
|
ArduPilot tries to mount to SDCard to access it - if that fails it
|
|
|
|
will then try to format the SDCard and if successful mount the card
|
|
|
|
and proceed. If the format fails then you will get the usual SOS
|
|
|
|
Audio that makes most of us want to find the buzzer and rip its heart
|
|
|
|
out.
|
|
|
|
|
|
|
|
I mention this in case anyone has precious logs saved on the SDCard or
|
|
|
|
they are using the SDCard out of their phone with their wedding
|
|
|
|
photo's on it. Probably best not to do that and assume any data on
|
|
|
|
the SDCard can be deleted.
|
|
|
|
|
|
|
|
We are also looking to add a parameter to control whether the card is
|
|
|
|
auto formatted on startup or not but it isn't in there yet.
|
|
|
|
|
|
|
|
|
2015-02-12 03:06:32 -04:00
|
|
|
|
2014-11-14 23:21:55 -04:00
|
|
|
Release 2.47, November 15th 2014
|
|
|
|
--------------------------------
|
|
|
|
|
|
|
|
The ardupilot development team is proud to announce the release of
|
|
|
|
version 2.47 of APM:Rover. This is a minor bug fix release. The most
|
|
|
|
important change in this release is the fixing of the skid steering
|
|
|
|
support but there have been a number of fixes in other areas as well.
|
|
|
|
|
|
|
|
Full changes list for this release:
|
|
|
|
|
|
|
|
- add support for controlling safety switch on Pixhawk from ground station
|
|
|
|
|
|
|
|
- prevent reports of failed AHRS during initialisation
|
|
|
|
|
|
|
|
- fixed skid steering that was broken in the last release
|
|
|
|
|
|
|
|
- report gyro unhealthy if gyro calibration failed
|
|
|
|
|
|
|
|
- fixed dual sonar support in CLI sonar test
|
|
|
|
|
|
|
|
- fixed Nuttx crash on Pixhawk with bad I2C cables
|
|
|
|
|
|
|
|
- added GPS_SBAS_MODE parameter - turns on/off satellite based augemtation system for GPS
|
|
|
|
|
|
|
|
- added GPS_MIN_ELEV parameter - specifiy the elevation mask for GPS satellites
|
|
|
|
|
|
|
|
- added RELAY_DEFAULT parameter to control default of relay on startup
|
|
|
|
|
|
|
|
- fixed bug in FRAM storage on Pixhawk that could cause parameters changes not to be saved
|
|
|
|
|
|
|
|
- better handling of compass errors in the EKF (Extended Kalman Filter)
|
|
|
|
|
|
|
|
- improved support for linux based autopilots
|
|
|
|
|
|
|
|
- added support for PulsedLight LIDAR as a range finder
|
|
|
|
|
|
|
|
Many thanks to everyone who contributed to this release, especially
|
|
|
|
Tom Coyle and Linus Penzlien for their excellent testing and feedback.
|
|
|
|
|
|
|
|
Happy driving!
|
|
|
|
|
|
|
|
|
|
|
|
|
2014-08-25 18:48:55 -03:00
|
|
|
Release 2.46, August 26th 2014
|
|
|
|
------------------------------
|
|
|
|
|
|
|
|
The ardupilot development team is proud to announce the release of
|
|
|
|
version 2.46 of APM:Rover. This is a major release with a lot of new
|
|
|
|
features and bug fixes.
|
|
|
|
|
|
|
|
This release is based on a lot of development and testing that
|
|
|
|
happened prior to the AVC competition where APM based vehicles
|
|
|
|
performed very well.
|
|
|
|
|
|
|
|
Full changes list for this release:
|
|
|
|
|
|
|
|
- added support for higher baudrates on telemetry ports, to make it
|
|
|
|
easier to use high rate telemetry to companion boards. Rates of up
|
|
|
|
to 1.5MBit are now supported to companion boards.
|
|
|
|
|
|
|
|
- new Rangefinder code with support for a wider range of rangefinder
|
|
|
|
types including a range of Lidars (thanks to Allyson Kreft)
|
|
|
|
|
|
|
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- added logging of power status on Pixhawk
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- added PIVOT_TURN_ANGLE parameter for pivot based turns on skid
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steering rovers
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- lots of improvements to the EKF support for Rover, thanks to Paul
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Riseborough and testing from Tom Coyle. Using the EKF can greatly
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improve navigation accuracy for fast rovers. Enable with
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AHRS_EKF_USE=1.
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- improved support for dual GPS on Pixhawk. Using a 2nd GPS can
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greatly improve performance when in an area with an obstructed
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view of the sky
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- support for up to 14 RC channels on Pihxawk
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- added BRAKING_PERCENT and BRAKING_SPEEDERR parameters for better
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breaking support when cornering
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- added support for FrSky telemetry via SERIAL2_PROTOCOL parameter
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(thanks to Matthias Badaire)
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- added support for Linux based autopilots, initially with the PXF
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BeagleBoneBlack cape and the Erle robotics board. Support for more
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boards is expected in future releases. Thanks to Victor, Sid and
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Anuj for their great work on the Linux port.
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- added StorageManager library, which expands available FRAM storage
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on Pixhawk to 16 kByte. This allows for 724 waypoints, 50 rally
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points and 84 fence points on Pixhawk.
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- improved reporting of magnetometer and barometer errors to the GCS
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- fixed a bug in automatic flow control detection for serial ports
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in Pixhawk
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- fixed use of FMU servo pins as digital inputs on Pixhawk
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- imported latest updates for VRBrain boards (thanks to Emile
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Castelnuovo and Luca Micheletti)
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- updates to the Piksi GPS support (thanks to Niels Joubert)
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- improved gyro estimate in DCM (thanks to Jon Challinger)
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- improved position projection in DCM in wind (thanks to Przemek
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Lekston)
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- several updates to AP_NavEKF for more robust handling of errors
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(thanks to Paul Riseborough)
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- lots of small code cleanups thanks to Daniel Frenzel
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- initial support for NavIO board from Mikhail Avkhimenia
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- fixed logging of RCOU for up to 12 channels (thanks to Emile
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Castelnuovo)
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- code cleanups from Silvia Nunezrivero
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- improved parameter download speed on radio links with no flow
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control
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Many thanks to everyone who contributed to this release, especially
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Tom Coyle and Linus Penzlien for their excellent testing and feedback.
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Happy driving!
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