mirror of https://github.com/ArduPilot/ardupilot
Sub: update Release notes
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Willian Galvani
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APM:Sub Release Notes:
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.0.3 5-March-2021
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Sub-4.5.0 beta1 22-February-2024
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- Branched from Copter 4.5
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- Innumerable system-level improvements; see Copter and Plane 4.2-4.5 release notes
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- Added SurfTrak mode for surface tracking (Altitude Hold with rangefinders)
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- No longer report battery percentage
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- Do not override RNGFND1_TYPE
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- Relax position controller when entering Depth Hold mode
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Sub-4.1.2 22-February-2024
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- Add support for additional joystick axis for roll/pitch
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- Allow using Compass Learn with no GPS
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.0.2 21-September-2020
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Sub 4.1.1 2-November-2023
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- Fix critical error on preflight calibration
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- Fix CI build
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Changes from 4.1.0:
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- prevent multiple baro drivers on the same device
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- Revert attitude control to 3.5 implementation, hopefully resolving the roll/pitch drift for good.
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- Fix Python 3.11 compatibility
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- drop MMC5xx3 sample rate to 100Hz
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- Introduce CONTROL_FRAME parameter, allowing users to switch control frame for yaw
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- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
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- Fix Leak detection on Navigator
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- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
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- Fix GUIDED MODE bouncing back to origin after velocity command
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- Add digital output (including relay) support for Navigator boards
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- Fix Position Hold "bounce back" issue
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- Improve low gain control in Position Hold and Depth Hold modes
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- Add Pixhawk defaults for lights and camera mount tilt
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- Changed flow_of_control error to a gcs warning
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- Always calibrate barometer if negative depth is detected
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- Improve Depth hold behavior when surface/bottom is reached
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- Fix issue where changing modes caused the ROV to dive
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- Change default PILOT_VELZ_MAX to 1 m/s
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- Set default EK3_SRC1_VELZ to None instead of GPS to fix Depth oscilations
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- Set default parameters for a smoother Position Hold and Depth Hold operation
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- Add support for CPU affinity in Linux boards
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.0.1 17-March-2020
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Sub 4.1.1 Beta8 31-Oct-2023
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- Do not report battery level percentage.
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- Revert default Roll/Pitch P and D terms
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- prevent multiple baro drivers on the same device
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.1 Beta7 16-July-2023
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- Revert attitude control to 3.5 implementation, hopefully resolving the roll/pitch drift for good.
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.1 Beta6 10-July-2023
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- Fix roll/pitch drift in stabilized modes
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- Fix Python 3.11 compatibility
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.1 Beta5 10-April-2023
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- drop MMC5xx3 sample rate to 100Hz
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.1 Beta4 1-December-2022
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- Introduce CONTROL_FRAME parameter, allowing users to switch control frame for yaw
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- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.1 Beta3 1-December-2022
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- Fix Leak detection on Navigator
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- Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.1 Beta2 24-October-2022
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- Fix GUIDED MODE bouncing back to origin after velocity command
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.1 Beta1 13-October-2022
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- Add digital output (including relay) support for Navigator boards
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- Fix Position Hold "bounce back" issue
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- Improve low gain control in Position Hold and Depth Hold modes
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- Add Pixhawk defaults for lights and camera mount tilt
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- Changed flow_of_control error to a gcs warning
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- Always calibrate barometer if negative depth is detected
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- Improve Depth hold behavior when surface/bottom is reached
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- Fix issue where changing modes caused the ROV to dive
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- Change default PILOT_VELZ_MAX to 1 m/s
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- Tighten default Pitch stabilization parameters
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- Set default EK3_SRC1_VELZ to None instead of GPS to fix Depth oscilations
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- Set default parameters for a smoother Position Hold and Depth Hold operation
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- Add support for CPU affinity in Linux boards
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0 6-June-2022
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- Fix agressive depth hold twitching introduced in beta7
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0-beta8 26-May-2022
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- Fix issue with poshold introduced in beta7 (no lateral control)
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- Fix i2c buses masks for Navigator
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- Do not use RC3_MIN/MAX instead of MOT_PWM_MIN/MAX
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- Update submodules for easier builds
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- Fix cygwin build
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0-beta7 29-Apr-2022
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- Tweak depth hold at arbitrary attitudes
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- Add autotest for depth hold at arbitrary attitudes
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0-beta6 19-Apr-2022
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- Update Navigator I2C masks
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- Fix constraining PWM with SERVON_MAX and MOT_PWM_MAX
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- Tweak default BTN parameters
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- Improve althold with large buoyancy/payloads
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- Fix depth hold jumping down when enabling it
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- Allow holding arbitrary attitudes in depth hold and stabilize modes
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0-beta5 31-Mar-2022
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- Set default BRD_RTC_TYPE to 3 (GPS and MAVLink)
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- Set default BARO_PROBE_EXT to 768 (Keller and MS5837)
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0-beta4 25-Mar-2022
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- Set default loop rate for Navigator
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0-beta3 3-Mar-2022
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- Set default parameters for Navigator for camera tilt and lights
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- Set default streamrates
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0-beta2 3-Mar-2022
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- Set default parameters for Navigator
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- AP_Hal_Linux: PCA9685: do not shutdown PWM chip
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- Use AK09915 compass at 200Hz
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- Retry reading MMC5983 Compass ID up to 10 times
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.1.0beta 3-Jan-2022
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- Rebased on top of Copter 4.1.3
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- Add leak detection support for Pixhawk 4
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- No longer report battery percentage if capacity is set to 0 mAh
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- fix issue where it was not possible to arm after testing motors
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- Added support for the Blue Robotics Navigator Raspberry Pi hat.
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Sub 4.0.0 4-March-2020
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