Rover: 4.4.0-beta1 release notes update

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Randy Mackay 2023-04-20 12:07:32 +09:00
parent 16e9d183f1
commit 12fcc9b5c5
1 changed files with 152 additions and 153 deletions

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@ -3,170 +3,169 @@ Rover Release Notes:
Rover 4.4.0-beta1 19-Apr-2023 Rover 4.4.0-beta1 19-Apr-2023
Changes from 4.3.0-beta12 Changes from 4.3.0-beta12
1) New autopilots supported 1) New autopilots supported
a) ESP32 - ESP32
b) Flywoo Goku F405S AIO - Flywoo Goku F405S AIO
c) Foxeer H743v1 - Foxeer H743v1
d) MambaF405-2022B - MambaF405-2022B
e) PixPilot-V3 - PixPilot-V3
f) PixSurveyA2 - PixSurveyA2
g) rFCU H743 - rFCU H743
h) ThePeach K1/R1 - ThePeach K1/R1
2) Autopilot specific changes 2) Autopilot specific changes
a) Bi-Directional DShot support for CubeOrangePlus-bdshot, Matek F405TE/VTOL-bdshot, Pixhawk6C-bdshot, QioTekZealotH743-bdshot - Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
b) BlueRobotics Navigator supports baro on I2C bus 6 - Bi-Directional DShot up to 8 channels on MatekH743
c) BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash") - BlueRobotics Navigator supports baro on I2C bus 6
d) CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards") - BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
e) Foxeer Reaper F745 supports external compasses - CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
f) OmnibusF4 support for BMI270 IMU - Foxeer Reaper F745 supports external compasses
g) OmnibusF7V2-bdshot support removed - OmnibusF4 support for BMI270 IMU
h) KakuteF7 regains displayport, frees up DMA from unused serial port - OmnibusF7V2-bdshot support removed
i) KakuteH7v2 gets second battery sensor - KakuteF7 regains displayport, frees up DMA from unused serial port
j) MambaH743v4 supports VTX - KakuteH7v2 gets second battery sensor
k) MatekF405-Wing supports InvensenseV3 IMUs - MambaH743v4 supports VTX
l) PixPilot-V6 heater enabled - MatekF405-Wing supports InvensenseV3 IMUs
m) Raspberry 64OS startup crash fixed - PixPilot-V6 heater enabled
n) ReaperF745AIO serial protocol defaults fixed - Raspberry 64OS startup crash fixed
o) SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version - ReaperF745AIO serial protocol defaults fixed
p) Skyviper loses many unnecessary features to save flash - SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
q) UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash") - Skyviper loses many unnecessary features to save flash
r) VRBrain-v52 and VRCore-v10 features reduced to save flash - UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
- VRBrain-v52 and VRCore-v10 features reduced to save flash
3) Driver enhancements 3) Driver enhancements
a) ARK RTK GPS support - ARK RTK GPS support
b) BMI088 IMU filtering and timing improved, ignores bad data - BMI088 IMU filtering and timing improved, ignores bad data
c) CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS) - CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
d) Daiwa winch baud rate obeys SERIALx_BAUD parameter - Daiwa winch baud rate obeys SERIALx_BAUD parameter
e) EFI supports fuel pressure and ignition voltage reporting and battery failsafe - EFI supports fuel pressure and ignition voltage reporting and battery failsafe
f) ICM45686 IMU support - ICM45686 IMU support
g) ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset) - ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
h) ICM45686 supports fast sampling - ICM45686 supports fast sampling
i) MAX31865 temp sensor support - MAX31865 temp sensor support
j) MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support - MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
k) MMC3416 compass orientation fix - MMC3416 compass orientation fix
l) MPPT battery monitor reliability improvements, enable/disable aux function and less spammy - MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
m) Multiple USD-D1-CAN radar support - Multiple USD-D1-CAN radar support
n) NMEA output rate configurable (see NMEA_RATE_MS) - NMEA output rate configurable (see NMEA_RATE_MS)
o) NMEA output supports PASHR message (see NMEA_MSG_EN) - NMEA output supports PASHR message (see NMEA_MSG_EN)
p) OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params) - OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
q) Rockblock satellite modem support - Rockblock satellite modem support
r) Serial baud support for 2Mbps (only some hardware supports this speed) - Serial baud support for 2Mbps (only some hardware supports this speed)
s) SF45b lidar filtering reduced (allows detecting smaller obstacles - SF45b lidar filtering reduced (allows detecting smaller obstacles
t) SmartAudio 2.0 learns all VTX power levels) - SmartAudio 2.0 learns all VTX power levels)
u) UAVCAN ESCs report error count using ESC Telemetry - UAVCAN ESCs report error count using ESC Telemetry
v) Unicore GPS (e.g. UM982) support - Unicore GPS (e.g. UM982) support
w) VectorNav 100 external AHRS support - VectorNav 100 external AHRS support
x) 5 IMUs supported - 5 IMUs supported
4) EKF related enhancements 4) EKF related enhancements
a) External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS - Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN)
b) Magnetic field tables updated - External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
c) Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover) - Magnetic field tables updated
- Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover)
5) Control and navigation enhancements 5) Control and navigation enhancements
a) DO_SET_ROI_NONE command turns off ROI - DO_SET_ROI_NONE command turns off ROI
b) JUMP_TAG mission item support - JUMP_TAG mission item support
c) Manual mode steering expo configurable (see MANUAL_STR_EXPO) - Manual mode steering expo configurable (see MANUAL_STR_EXPO)
d) Missions can be stored on SD card (see BRD_SD_MISSION) - Missions can be stored on SD card (see BRD_SD_MISSION)
e) NAV_SCRIPT_TIME command accepts floating point arguments - NAV_SCRIPT_TIME command accepts floating point arguments
f) Pause/Resume returns success if mission is already paused or resumed - Pause/Resume returns success if mission is already paused or resumed
7) Camera and gimbal enhancements 8) Camera and gimbal enhancements
a) BMMCC support included in Servo driver - BMMCC support included in Servo driver
b) DJI RS2/RS3-Pro gimbal support - DJI RS2/RS3-Pro gimbal support
c) Dual camera support (see CAM2_TYPE) - Dual camera support (see CAM2_TYPE)
d) Gimbal/Mount2 can be moved to retracted or neutral position - Gimbal/Mount2 can be moved to retracted or neutral position
e) Gremsy ZIO support - Gremsy ZIO support
f) IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support - IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
g) Paramters renamed and rescaled - Paramters renamed and rescaled
i) CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed - CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
ii) CAM_DURATION renamed to CAM1_DURATION and scaled in seconds - CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
iii) CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL - CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL
iv) CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds - CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds
v) CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values - CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values
h) RunCam2 4k support - RunCam2 4k support
i) ViewPro camera gimbal support - ViewPro camera gimbal support
8) Logging changes 8) Logging changes
a) MCU log msg includes main CPU temp and voltage (was part of POWR message) - BARD msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
b) RCOut banner message always included in Logs - MCU log msg includes main CPU temp and voltage (was part of POWR message)
c) SCR message includes memory usage of all running scripts - RCOut banner message always included in Logs
d) CANS message includes CAN bus tx/rx statistics - SCR message includes memory usage of all running scripts
e) Home location not logged to CMD message - CANS message includes CAN bus tx/rx statistics
- Home location not logged to CMD message
- MOTB message includes throttle output
9) Scripting enhancements 9) Scripting enhancements
a) EFI Skypower driver gets improved telem messages and bug fixes - EFI Skypower driver gets improved telem messages and bug fixes
b) Generator throttle control example added - Generator throttle control example added
c) Heap max increased by allowing heap to be split across multiple underlying OS heaps - Heap max increased by allowing heap to be split across multiple underlying OS heaps
d) Hexsoon LEDs applet - Hexsoon LEDs applet
e) Linter code checks for AP drivers and applets - Logging from scripts supports more formats
f) Logging from scripts supports more formats - Parameters can be removed or reordered
g) Parameters can be removed or reordered - Parameter description support (scripts must be in AP's applet or driver directory)
h) Parameter description support (scripts must be in AP's applet or driver directory) - Rangefinder driver support
i) Rangefinder driver support - Runcam_on_arm applet starts recording when vehicle is armed
j) Runcam_on_arm applet starts recording when vehicle is armed - Safety switch, E-Stop and motor interlock support
k) Safety switch, E-Stop and motor interlock support - Scripts can restart all scripts
l) Scripts can restart all scripts - Script_Controller applet supports inflight switching of active scripts
m) Script_Controller applet supports inflight switching of active scripts
n) Skipcheck keywords supports skipping argument range checks
10) Custom build server enhancements 10) Custom build server enhancements
a) Battery, Camera and Compass drivers can be included/excluded - AIS support for displaying nearby boats can be included
b) EKF3 wind estimation can be included/excluded - Battery, Camera and Compass drivers can be included/excluded
c) PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded - EKF3 wind estimation can be included/excluded
d) Preclanding can be included/excluded - PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
e) RichenPower generator can be included/excluded - RichenPower generator can be included/excluded
f) RC SRXL protocol can be excluded - RC SRXL protocol can be excluded
g) SIRF GPSs can be included/excluded - SIRF GPSs can be included/excluded
11) Safety related enhancements and fixes 11) Safety related enhancements and fixes
a) Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting - Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting
b) Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks) - Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks)
c) GCS failsafe timeout is configurable (see FS_GCS_TIMEOUT) - GCS failsafe timeout is configurable (see FS_GCS_TIMEOUT)
d) Pre-arm check that low and critical battery failsafe thresholds are different - "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled)
e) Pre-arm message fixed if 2nd EKF core unhealthy - Pre-arm check that low and critical battery failsafe thresholds are different
f) Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis) - Pre-arm message fixed if 2nd EKF core unhealthy
g) RC failsafe timeout configurable (see RC_FS_TIMEOUT) - Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
- RC failsafe timeout configurable (see RC_FS_TIMEOUT)
12) Minor enhancements 12) Minor enhancements
a) Boot time reduced by improving parameter conversion efficiency - Boot time reduced by improving parameter conversion efficiency
b) BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT - BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
c) Compass calibration auxiliary switch function (set RCx_OPTION=171) - Compass calibration auxiliary switch function (set RCx_OPTION=171)
d) Disable IMU3 auxiliary switch function (set RCx_OPTION=110) - Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
e) Frame type sent to GCS defaults to multicopter to ease first time setup - Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier)
f) Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier) - MAVFTP supports file renaming
g) MAVFTP supports file renaming - MAVLink in-progress reply to some requests for calibration from GCS
h) MAVLink in-progress reply to some requests for calibration from GCS
13) Bug fixes: 13) Bug fixes:
a) ADSB telemetry and callsign fixes - ADSB telemetry and callsign fixes
b) Battery pct reported to GCS limited to 0% to 100% range - Battery pct reported to GCS limited to 0% to 100% range
c) Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6) - Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
d) DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards - DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
e) DisplayPort OSD artificial horizon better matches actual horizon - DisplayPort OSD artificial horizon better matches actual horizon
f) EFI Serial MS bug fix to avoid possible infinite loop - EFI Serial MS bug fix to avoid possible infinite loop
g) EKF3 Replay fix when COMPASS_LEARN=3 - EKF3 Replay fix when COMPASS_LEARN=3
h) ESC Telemetry external temp reporting fix - ESC Telemetry external temp reporting fix
i) Fence upload works even if Auto mode is excluded from firmware - Fence upload works even if Auto mode is excluded from firmware
j) FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server) - FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
k) Guided mode slow yaw fix - Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
l) Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running - ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
m) ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset - IMU detection bug fix to avoid duplicates
n) IMU detection bug fix to avoid duplicates - IMU temp cal fix when using auxiliary IMU
o) IMU temp cal fix when using auxiliary IMU - Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
p) Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947 - RADIO_STATUS messages slow-down feature never completely stops messages from being sent
q) RADIO_STATUS messages slow-down feature never completely stops messages from being sent - SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc. Avoids momentary divide-by-zero
r) SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc. Avoids momentary divide-by-zero - Scripting file system open fix
s) Scripting file system open fix - Scripting PWM source deletion crash fix
t) Scripting PWM source deletion crash fix - MAVFTP fix for low baudrates (4800 baud and lower)
u) MAVFTP fix for low baudrates (4800 baud and lower) - ModalAI VOXL reset handling fix
v) ModalAI VOXL reset handling fix - MPU6500 IMU fast sampling rate to 4k (was 1K)
w) MPU6500 IMU fast sampling rate to 4k (was 1K) - NMEA GPGGA output fixed for GPS quality, num sats and hdop
x) NMEA GPGGA output fixed for GPS quality, num sats and hdop - Position control reset avoided even with very uneven main loop rate due to high CPU load
y) Position control reset avoided even with very uneven main loop rate due to high CPU load - Throttle notch FFT tuning param fix
z) SingleCopter and CoaxCopter fix to fin centering when using DShot - VTX protects against pitmode changes when not enabled or vehicle disarmed
aa) SystemID mode fix to write PID log messages
ab) Terrain offset increased from 15m to 30m (see TERRAIN_OFS_MAX)to reduce chance of "clamping"
ac) Throttle notch FFT tuning param fix
ad) VTX protects against pitmode changes when not enabled or vehicle disarmed
14) Developer specific items 14) Developer specific items
a) DroneCAN replaces UAVCAN - DroneCAN replaces UAVCAN
b) FlighAxis simulator rangefinder fixed - FlighAxis simulator rangefinder fixed
c) Simulator supports main loop timing jitter (see SIM_TIME_JITTER) - Scripts in applet and drivers directory checked using linter
d) Simulink model and init scripts - Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
e) SITL on hardware support (useful to demo servos moving in response to simulated flight) - Simulink model and init scripts
f) SITL parameter definitions added (some, not all) - SITL on hardware support (useful to demo servos moving in response to simulated flight)
g) Webots 2023a simulator support - SITL parameter definitions added (some, not all)
h) XPlane support for wider range of aircraft - Webots 2023a simulator support
- XPlane support for wider range of aircraft
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Rover 4.3.0-beta11/beta12 27-Mar-2023 Rover 4.3.0-beta11/beta12 27-Mar-2023
Changes from 4.3.0-beta10 Changes from 4.3.0-beta10