From 0732c30e53027cddc8a7ef81dd100c5133ba4e30 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 12 Sep 2022 21:21:14 +0900 Subject: [PATCH] Copter: 4.3.0-beta1 release notes --- ArduCopter/ReleaseNotes.txt | 97 +++++++++++++++++++++++++++++++++++++ 1 file changed, 97 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 4cc6e67ef0..2580b8561e 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,102 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Copter 4.3.0-beta1 14-Sep-2022 +Changes from 4.2.3 +1) New autopilot support + a) AtomRCF405 + b) CubeOrange-SimOnHardWare + c) DevEBoxH7v2 + d) KakuteH7Mini-Nand + e) KakuteH7v2 + f) Mamba F405 Mk4 + g) SkystarsH7HD + h) bi-directional dshot (aka "bdshot") versions for CubeOrange, CubeYellow, KakuteF7, KakuteH7, MatekF405-Wing, Matek F765, PH4-mini, Pixhawk-1M +2) EKF enhancements and fixes + a) EK3_GPS_VACC_MAX threshold to control when GPS altitude is used as alt source + b) EKF ring buffer fix for very slow sensor updates (those that update once every few seconds) + c) EKF3 source set change captured in Replay logs +3) Gimbal enhancements + a) Angle limit params renamed and scaled to degrees (e.g. MNT1_ROLL_MIN, MNT1_PITCH_MIN, etc) + b) BrushlessPWM driver (set MNT1_TYPE = 7) is unstabilized Servo driver + c) Dual mount support (see MNT1_, MNT2 params) + d) Gremsy driver added (set MNT1_TYPE = 6) + e) MAVLink gimbalv2 support including sending GIMBAL_DEVICE_STATUS_UPDATE (replaces MOUNT_STATUS message) + f) "Mount Lock" auxiliary switch supports follow and lock modes in RC targetting (aka earth-frame and body-frame) + g) RC channels to control gimbal set using RCx_OPTION = 212 (Roll), 213 (Pitch) or 214 (Yaw) + h) RC targetting rotation rate in deg/sec (see MNT1_RC_RATE which replaces MNT_JSTICK_SPD) + i) Yaw can be disabled on 3-axis gimbals (set MNTx_YAW_MIN = MNTx_YAW_MAX) +4) Navigation and Flight mode enhancements + a) Auto mode ATTITUDE_TIME command allows specifying lean angle for specified number of seconds (GPS not required) + b) Auto mode support of DO_GIMBAL_MANAGER_PITCHYAW command + c) Auto mode LOITER_TURNS command max radius increased to 2.5km + d) AutoTune allows higher ANGLE_P gains + e) Guided mode support DO_CHANGE_SPEED commands + f) Manual modes throttle mix reduced (improves landing) + g) Payload touchdown detection reliability improved + h) Takeoff detection improved to reduce chance of flip before takeoff if GPS moves + i) TKOFF_SLEW_TIME allows slower takeoffs in Auto, Guided, etc +5) Notch filter enhancements + a) Attitude and filter logging at main loop rate + b) Batch sampler logging both pre and post-filter + c) FFT frame averaging + d) In-flight throttle notch parameter learning using averaged FFTs + e) Triple harmonic notch +5) RemoteId and SecureBoot enhancements + a) Remote update of secure boot's public keys (also allows remote unlocking of bootloader) +6) Safety enhancements + a) Arming checks of FRAME_CLASS/TYPE made mandatory (even if ARMING_CHECK=0) + b) crash_dump.bin file saved to SD Card on startup (includes details re cause of software failures) + c) Dead-reckoning for 30sec on loss of GPS (requires wind estimation be enabled) + d) Dead-reckoning Lua script (On loss of GPS flies towards home for specified number of seconds) + e) Disabling Fence clears any active breaches (e.g. FENCE_TYPE = 0 will clear breaches) + f) "GPS Glitch" message clarified to "GPS Glitch or Compass error" + g) Pre-arm check that configured AHRS is being used (e.g. checks AHRS_EKF_TYPE not changed since boot) + h) Pre-arm check that gimbals are healthy (currently only for Gremsy gimbals, others in future release) + i) Pre-arm check that all motors are setup + j) Pre-arm check that scripts are running + k) Pre-arm check that terrain data loaded if RTL_ALT_TYPE set to Terrain + l) Pre-arm messages are correctly prefixed with "PreArm:" (instead of "Arm:") + m) RC auxiliary switch option for Arm / Emergency Stop + n) RC failsafe made pre-arm check (previously only triggered at arming) + o) RC failsafe option (see FS_OPTIONS) to continue in Guided obeyed even if GCS failsafe disabled + p) TKOFF_RPM_MIN checks all motors spinning before takeoff + q) Vibration compensation disabled in manual modes +7) Scripting enhancements + a) CAN2 port bindings to allow scripts to communicate on 2nd CAN bus + b) ESC RPM bindings to allow scripts to report engine RPM + c) Gimbal bingings to allow scripts to control gimbal + d) Pre-arm check bindings (allows scripts to check if pre-arm checks have passed) + e) Semicolon (:) and period (.) supported (e.g both Logger:write() and Logger.write will work) +8) Sensor driver enhancements + a) Benewake H30 radar support + b) BMI270 IMU performance improvements + c) IRC Tramp VTX suppor + d) Logging pause-able with auxiliary switch. see RCx_OPTION = 165 (Pause Stream Logging) + e) Proximity sensor support for up to 3 sensors + f) Precision Landing consumes LANDING_TARGET MAVLink message's PositionX,Y,Z fields + g) RichenPower generator maintenance-required messages can be suppressed using GEN_OPTIONS param + h) TeraRanger Neo rangefinder support + i) GPS support to provide ellipsoid altitude instead of AMSL (see GPS_DRV_OPTIONS) + j) W25N01GV 1Gb flash support +9) Bug fixes + a) Accel calibration throws away queued commands from GCS (avoids commands being run long after they were sent) + b) Airmode throttle mix at zero throttle fix + c) Cygbot proximity sensor fix to support different orientations (see PRXx_ORIENT) + d) Loiter fix to avoid potential wobble on 2nd takeoff (was not clearing non-zero attitude target from previous landing) + e) Lutan EFI message flood reduced + f) Missions download to GCS corruption avoided by checking serial buffer has space + g) Payload place fix so vehicle flies to specified Lat,Lon (if provided). Previously it could get stuck + h) Safety switch disabled if IOMCU is disabled (see BRD_IO_ENABLE=0) + i) Script restart memory leak fixed + j) Takeoff vertical velocity limits enforced correctly even if PILOT_TKOFF_ALT set to a significant height +10) Developer items + a) Custom controller support + b) Fast loop task list available in real-time using @SYS/tasks.txt + c) Parameter defaults sent to GCS with param FTP and recorded in onboard logs + d) ROS+ArduPilot environment installation script + e) Sim on Hardware allows simulator to run on autopilot (good for exhibitions) + f) Timer info available in real-time using @SYS/timers.txt +------------------------------------------------------------------ Copter 4.2.3 30-Aug-2022 Changes from 4.2.3-rc3 1) OpenDroneId bug fix to consume open-drone-id-system-update message