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Copter: 4.0.0-rc2 release notes

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Randy Mackay 2019-11-04 14:25:25 +09:00
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ArduCopter/ReleaseNotes.txt
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ArduPilot Copter Release Notes:
------------------------------------------------------------------
Copter 4.0.0-rc2 04-Nov-2019
Changes from 4.0.0-rc1
1) Failsafe changes:
a) GCS failsafe triggers when telemetry connection is lost (previously only triggered when using joystick)
b) FS_OPTION parameter allows continue-in-auto and continue-in-pilot-modes for RC/Radio and GCS failsafe
2) Dynamic Notch Filter supports filter range based on BLHeli ESC feedback
3) Improved protection against high roll/pitch gains affecting altitude control
4) Bug Fixes:
a) Altitude control param conversion fix (PSC_ACCZ_FILT converted to PSC_ACCZ_FLTE)
b) BLHeli fix to RPM calcs and telemetry (aka 0x8000 error)
c) ChibiOS SPI timeout fix (non-critical)
d) Fence upload is less strict about altitude types (fences don't have altitudes)
e) Motor loss detection bug fix (would sometimes think the wrong motor had failed)
f) Pre-arm message fix to reports AHRS/EKF issue (was blank)
g) Sparky2 autopilot firmware available
h) Startup message "AK09916: Unable to get bus semaphore" removed (was not an error)
i) Yaw control fix for fast descent and after large attitude disturbances
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Copter 4.0.0-rc1 25-Oct-2019
Changes from 3.6.11
1) Path Planning for Object Avoidance (aka Bendy Ruler and Dijkstra's) replaces "Dodge" avoidance