mirror of https://github.com/ArduPilot/ardupilot
Copter: 4.2.0-rc1 release notes
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ArduPilot Copter Release Notes:
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Copter 4.2.0-rc1 28-Feb-2022
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Changes from 4.1.5
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1) AHRS/EKF improvements
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a) EKF startup messages reduced
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b) GPS<->Opticalflow automatic switching improved (see ahrs-source-gps-optflow.lua script)
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c) LORD Microstrain CX5/GX5 external AHRS support
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d) ModalAI VOXL non-GPS system supported (set VISO_TYPE=3, uses ODOMETRY mavlink msg)
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2) Control and flight mode enhancements
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a) Acro max rate params renamed and improved (see ACRO_RP_RATE, ACRO_Y_RATE, PILOT_Y_RATE, PILOT_Y_EXPO)
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b) Airmode NOT enabled when arming with switch (see ACRO_OPTIONS and "ArmDisarm with AirMode" RCx_OPTION)
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c) Auto and Guided support pausing (uses DO_PAUSE_CONTINUE mavlink command)
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d) Auto supports up to 100 DO_JUMP commands on high memory boards
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e) Autotune reporting improved (less spam, prints final tune)
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f) FLIGHT_OPTIONS to release gripper on thrust loss
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g) ForceFlying auxiliary switch allows pilot to disable land-detector
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h) Guided mode acceleration target support
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i) Guided mode logging of targets improved (GUID msg split into GUIP, GUIA)
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j) Harmonic notch filter on more than four motors
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k) Land mode pilot controlled repositioning max speed reduced (also affects RTL and Auto)
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l) Precision landing improvements esp when using PLAND_EST_TYPE = 1/KalmanFilter
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m) RTL's safe altitude (RTL_ALT) increased 85km (was 325m)
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n) Simple mode heading reset via auxiliary switch
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o) Sport mode deprecated
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p) SURFTRAK_MODE allows disabling surface tracking in Loiter, AltHold, etc
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q) Turtle mode (allows righting a copter while on the ground)
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3) Custom build server support (see https://custom.ardupilot.org)
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4) Lua scripting improvements
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a) ahrs::get_location replaces get_position (get_position still works for now)
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b) Auto support for NAV_SCRIPT_TIME commands (Lua within Auto)
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c) Frame string support (allows scripting based frame to display custom description after startup)
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d) Parameter support (no need to always use SCR_USERx)
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e) Servo output control by channel number (previously was only possibly by specifying the SERVOn_FUNCTION value)
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f) Script logged to onboard log (can be disabled by setting SCR_DEBUG_OPTS)
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5) New autopilots supported
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a) AirLink
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b) BeastF7v2, BeastH7v2
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c) JHEMCU GSF405A
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d) KakuteH7, KakuteH7Mini
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e) MambaF405US-I2C
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f) MatekF405-TE
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g) ModalAI fc-v1
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h) PixC4-Jetson
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i) Pixhawk5X
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j) QioTekZealotH743
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k) RPI-Zero2W
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l) SPRacingH7 Extreme
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m) Swan-K1
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6) Safety improvements
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a) Dijkstra's avoidance performance improvements including converting to A*
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b) Motor PWM range always uses MOT_PWM_MIN/MAX (if these are not set, they are defaulted to RC3_MIN/MAX values)
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c) Parachute option to leave servo in open position (see CHUTE_OPTIONS parameter)
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d) Parachute released arming check added
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e) Pre-arm check of IMU heater temp
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f) Pre-arm check of rangefinder health
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g) Pre-arm check of throttle position skipped if PILOT_THR_BHV is "Feedback from mid stick"
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7) Sensor driver enhancements
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a) ADIS16470, ADIS16507 and BMI270 IMU support
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b) Airspeed sensor support (reporting only, not used for estimation or control)
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c) AK09918 compass support
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d) Battery monitor supports voltage offset (see BATTx_VLT_OFFSET)
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e) Benewake TFMiniPlus I2C address defaults correctly
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f) Buzzer can be connected to any GPIO on any board
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g) Compass calibration (in-flight) uses GSF for better accuracy
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h) CRSFv3 support, CSRF telemetry link reports link quality in RSSI
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i) Cybot D1 Lidar
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j) DroneCan (aka UAVCAN) battery monitors support scaling (see BATTx_CURR_MULT)
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k) DroneCan (aka UAVCAN) GPS-for-yaw support
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l) Electronic Fuel Injection support incl Lutan EFI
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m) FETtecOneWire resyncs if EMI causes lost bytes
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n) IMU heater params renamed to BRD_HEAT_xxx
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o) Landing gear enable parameter added (see LGR_ENABLE)
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p) Lightware SF40C ver 0.9 support removed (ver 1.0 and higher still supported)
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q) Maxbotix serial sonar driver support RNGFNDx_SCALING parameter to support for varieties of sensor
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r) MPPT solar charge controller support
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s) MTK GPS driver removed
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t) Optical flow in-flight calibration
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u) Ping200x support
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v) Proximity sensor min and max range (see PRX_MIN, PRX_MAX)
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w) QSPI external flash support
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x) uLanding (aka USD1) radar provides average of last few samples
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y) Unicore NMEA GPS support for yaw and 3D velocity
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8) TradHeli enhancements
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a) Attitude control default gains improved
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- ATC_RAT_RLL_FF, _I, _IMAX, _ILMI, _FLTT
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- ATC_RAT_PIT_FF, _I, _IMAX, _ILMI, _FLTT
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- ATC_RAT_YAW_IMAX, _FLTT
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b) AutoTune mode
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c) Collective setup (users will be forced to setup new collective parameters)
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d) Rotor Speed Controller Internal Governor improvements (users required to retune governor)
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e) Rotor Speed Controller Cooldown timer added for ICE and turbine engines
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f) _VFF params renamed to _FF
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9) Other System enhancements
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a) Board ID sent in AUTOPILOT_VERSION mavlink message
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b) Compass calibration stick gestures removed
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c) DO_SET_CAM_TRIG_DIST supports instantly triggering camera
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d) DJI FPV OSD multi screen and stats support
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e) GPIO pins configured by setting SERVOx_FUNCTION to -1 (also see SERVO_GPIO_MASK. BRD_PWM_COUNT removed)
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f) GPIO pin support on main outputs on boards with IOMCU
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g) GyroFlow logging (see LOG_BITMASK's "VideoStabilization" option)
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h) Firmware version logged in VER message
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i) SD card format via MAVLink
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j) Serial port option to disable changes to stream rate (see SERIALx_OPTIONS)
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k) VIBE logging units to m/s/s
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10) Bug fixes
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a) Auto and Guided mode takeoff alt fixed if taking off from below home or frame set to absolute (aka AMSL)
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b) Auto mode CONDITION_YAW command completion fix
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c) Auto mode infinite loop with nav commands that fail to start fixed
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d) AutoTune disables ATC_RAT_xxx_SMAX during twitch (SMAX may limit gains to reduce oscillation)
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e) BLHeli passthrough reliability improvements
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f) Compass learning (inflight) fixed to ignore unused compasses (e.g. those with COMPASS_USE = 0)
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g) EKF optical flow terrain alt reset fixed (large changes in rangefinder alt might never be fused)
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h) EKF resets due to bad IMU data occur at most once per second
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i) GPIO pin fix on CubeOrange, F4BY, mRoControlZeroF7, R9Pilot
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j) Guided mode yaw rate timeout fix (vehicle could keep yawing even if companion computer stopped sending target)
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k) MAVlink2 serial ports always send MAVLink2 messages (previously waited until other side sent MAVLink2)
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l) Motor Test, Turtle mode respect emergency stop switch
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m) Omnibusf4pro bi-directional dshot fix
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n) PosHold braking fix if SCHED_LOOP_RATE set to non-default value
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o) Precision landing in RTL activates even if pilot had earlier deactivated by repositioning in Land
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p) Real-Time-Clock (RTC) oldest possible date updated to Jan-2022
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q) Tricopter, Coax copter fin trim fix when using DShot/BLheli
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------------------------------------------------------------------
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Copter 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022
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Changes from 4.1.4
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1) Bug fixes
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