mirror of https://github.com/ArduPilot/ardupilot
Copter: 4.3.0-beta1 release notes
This commit is contained in:
parent
526075e390
commit
0aa7a64117
|
@ -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
|
||||
|
|
Loading…
Reference in New Issue