mirror of https://github.com/ArduPilot/ardupilot
Copter: update release notes for AC3.2-rc1
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ArduCopter Release Notes:
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ArduCopter 3.2-rc1 9-May-2014
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Changes from 3.1.4
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1) Hybrid mode - position hold mode but with direct response to pilot input during repositioning (JulienD, SandroT)
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2) Spline waypoints (created by David Dewey, modified and integrated by Leonard, Randy)
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3) Drift mode uses "throttle assist" for altitude control (Jason)
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4) Extended Kalman Filter for potentially more reliable attitude and position control (Pixhawk only) (Paul Riseborough). Set AHRS_EKF_USE to 1 to enable or use Ch7/8 switch to enable/disable in flight.
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5) Manual flight smoothness:
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a) Smoother roll, pitch response using RC_FEEL_RP parameter (100 = crisp, 0 = extremely soft)
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b) Adjustable max rotation rate (ATC_RATE_RP_MAX, ATC_RATE_Y_MAX) and acceleration (ATC_ACCEL_RP_MAX, ATC_ACCEL_Y_MAX)
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6) Autopilot smoothness:
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a) Vertical acceleration in AltHold, Loiter, Hybrid modes can be configured with PILOT_ACCEL_Z parameter (higher = faster acceleration)
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b) Maximum roll and pitch angle acceleration in Loiter mode can be configured with WPNAV_LOIT_JERK (higher = more responsive but potentially jerky)
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c) Yaw speed can be adjusted with ATC_SLEW_YAW parameter (higher = faster)
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d) smoother takeoff with configurable acceleration using WPNAV_ACCEL_Z parameter
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e) Twitches removed during guided mode or when entering Loiter or RTL from high speeds
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7) Mission improvements:
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a) mission will be resumed from last active command when pilot switches out and then back into Auto mode (prev behaviour can be restored by setting MIS_RESTART param to 1)
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b) DO_SET_ROI persistent across waypoints. All-zero DO_SET_ROI command restores default yaw behaviour
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c) do-jump fixed
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d) conditional_distance fixed
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e) conditional_delay fixed
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f) do-change-speed command takes effect immediately during mission
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g) vehicle faces directly at next waypoint (previously it could be about 10deg off)
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h) loiter turns fix to ensure it will circle around lat/lon point specified in mission command (previously it could be off by CIRCLE_RADIUS)
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8) Safety improvements:
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a) After a fence breach, if the pilot re-takes control he/she will be given a minimum of 10 seconds and 20m to recover before the autopilot will invoke RTL or LAND
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b) Parachute support including automatic deployment during mechanical failures
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9) Other enhancements:
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a) V-tail quad support
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b) Dual GPS support (secondary GPS output is simply logged, not actually used yet)
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c) Electro Permanent Magnet (aka Gripper) support
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d) Servo pass through for channels 6 ~ 8 (set RC6_FUNCTION to 1)
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e) Remove 80m limit on RTL's return altitude but never let it be above fence's max altitude
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10) Other bug fixes:
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a) Bug fix for LAND sometimes getting stuck at 10m
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b) During missions, vehicle will maintain altitude even if WPNAV_SPEED is set above the vehicle's capabilities
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c) when autopilot controls throttle (i.e. Loiter, Auto, etc) vehicle will reach speeds specified in PILOT_VELZ_MAX and WPNAV_SPEED_UP, WPNAV_SPEED_DN parameters
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11) CLI removed from APM1/2 to save flash space, critical functions moved to MAVLink:
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a) Individual motor tests (see MP's Initial Setup > Optional Hardware > Motor Test)
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b) compassmot (see MP's Initial Setup > Optional Hardware > Compass/Motor Calib)
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c) parameter reset to factory defautls (see MP's Config/Tuning > Full Parameter List > Reset to Default)
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------------------------------------------------------------------
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ArduCopter 3.1.4 8-May-2014 / 3.1.4-rc1 2-May-2014
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Changes from 3.1.3
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