diff --git a/ArduSub/ReleaseNotes.txt b/ArduSub/ReleaseNotes.txt index 6d68f5216e..2fea4f0e91 100644 --- a/ArduSub/ReleaseNotes.txt +++ b/ArduSub/ReleaseNotes.txt @@ -1,22 +1,159 @@ APM:Sub Release Notes: -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sub 4.0.3 5-March-2021 +Sub-4.5.0 beta1 22-February-2024 +- Branched from Copter 4.5 +- Innumerable system-level improvements; see Copter and Plane 4.2-4.5 release notes +- Added SurfTrak mode for surface tracking (Altitude Hold with rangefinders) - - No longer report battery percentage - - Do not override RNGFND1_TYPE - - Relax position controller when entering Depth Hold mode +Sub-4.1.2 22-February-2024 + - Add support for additional joystick axis for roll/pitch + - Allow using Compass Learn with no GPS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sub 4.0.2 21-September-2020 +Sub 4.1.1 2-November-2023 - - Fix critical error on preflight calibration - - Fix CI build +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 4.0.1 17-March-2020 +Sub 4.1.1 Beta8 31-Oct-2023 - - Do not report battery level percentage. + - Revert default Roll/Pitch P and D terms + - prevent multiple baro drivers on the same device + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.1 Beta7 16-July-2023 + + - Revert attitude control to 3.5 implementation, hopefully resolving the roll/pitch drift for good. + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.1 Beta6 10-July-2023 + + - Fix roll/pitch drift in stabilized modes + - Fix Python 3.11 compatibility + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.1 Beta5 10-April-2023 + + - drop MMC5xx3 sample rate to 100Hz + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.1 Beta4 1-December-2022 + + - 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 + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.1 Beta3 1-December-2022 + + - Fix Leak detection on Navigator + - Fix missing deadzone in yaw input for AUTO, SURFACE, GUIDED, and CIRCLE modes + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.1 Beta2 24-October-2022 + + - Fix GUIDED MODE bouncing back to origin after velocity command + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.1 Beta1 13-October-2022 + + - 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 + - Tighten default Pitch stabilization parameters + - 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 4.1.0 6-June-2022 + + - Fix agressive depth hold twitching introduced in beta7 + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0-beta8 26-May-2022 + + - Fix issue with poshold introduced in beta7 (no lateral control) + - Fix i2c buses masks for Navigator + - Do not use RC3_MIN/MAX instead of MOT_PWM_MIN/MAX + - Update submodules for easier builds + - Fix cygwin build + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0-beta7 29-Apr-2022 + + - Tweak depth hold at arbitrary attitudes + - Add autotest for depth hold at arbitrary attitudes + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0-beta6 19-Apr-2022 + + - Update Navigator I2C masks + - Fix constraining PWM with SERVON_MAX and MOT_PWM_MAX + - Tweak default BTN parameters + - Improve althold with large buoyancy/payloads + - Fix depth hold jumping down when enabling it + - Allow holding arbitrary attitudes in depth hold and stabilize modes + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0-beta5 31-Mar-2022 + + - Set default BRD_RTC_TYPE to 3 (GPS and MAVLink) + - Set default BARO_PROBE_EXT to 768 (Keller and MS5837) + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0-beta4 25-Mar-2022 + + - Set default loop rate for Navigator + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0-beta3 3-Mar-2022 + + - Set default parameters for Navigator for camera tilt and lights + - Set default streamrates + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0-beta2 3-Mar-2022 + + - Set default parameters for Navigator + - AP_Hal_Linux: PCA9685: do not shutdown PWM chip + - Use AK09915 compass at 200Hz + - Retry reading MMC5983 Compass ID up to 10 times + + +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Sub 4.1.0beta 3-Jan-2022 + - Rebased on top of Copter 4.1.3 + - Add leak detection support for Pixhawk 4 + - No longer report battery percentage if capacity is set to 0 mAh + - fix issue where it was not possible to arm after testing motors + - Added support for the Blue Robotics Navigator Raspberry Pi hat. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Sub 4.0.0 4-March-2020