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Sub: 4.1.1 release notes

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Willian Galvani 2023-11-02 17:29:51 -03:00
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ArduSub/ReleaseNotes.txt
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APM:Sub Release Notes:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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