mirror of https://github.com/ArduPilot/ardupilot
Rover: Commit for Rover release 3.0.0
This commit is contained in:
Grant Morphett
Andrew Tridgell
parent
801ced34a5
commit
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*/
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#pragma once
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#define THISFIRMWARE "ArduRover v2.51-beta"
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#define FIRMWARE_VERSION 2,51,0,FIRMWARE_VERSION_TYPE_BETA
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#define THISFIRMWARE "ArduRover v3.0.0"
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#define FIRMWARE_VERSION 3,0,0,FIRMWARE_VERSION_TYPE_OFFICIAL
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#include <math.h>
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#include <stdarg.h>
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@ -1,3 +1,236 @@
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Release 3.0.0, 5 April 2015
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===========================
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The ArduPilot development team is proud to announce the release of
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version 3.0.0 of APM:Rover. This is a major release with a lot of
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changes so please read the notes carefully!
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A huge thanks to ALL the ArduPilot developers. The Rover code
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benefits tremendously from all the hard work that goes into the Copter
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and Plane vehicle code. Most of the code changes in this
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release were not specifically for Rover however because of the
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fantastic architecture of the ArduPilot code Rover automatically get's
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those enhancements anyway.
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Note that the documentation hasn't yet caught up with all the changes
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in this release. We are still working on that, but meanwhile if you
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see a feature that interests you and it isn't documented yet then
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please ask.
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The 3.x.x releases and above DON'T support APM1/APM2
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----------------------------------------------------
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This release DOES NOT SUPPORT the old APM1/APM2 AVR based boards. The
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issue is the amount of effort required to keep the new code ported to
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the old platforms. We are very sorry this has to occur and if there
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is someone who is willing and technically capable of doing this work
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then please let us know.
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There will be a discussion created on ArduPilot forums where people
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can request features in the new code be backported to the APM code to
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run on the AVR boards and if it is reasonably easy and they are
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willing to do the beta testing we will do our best to make it happen.
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EKF2 - New Kalman Filter
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------------------------
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Paul Riseborough has been working hard recently on the new
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EKF2 variant which fixes many issues seen with the old estimator. The
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key improvements are:
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- support for separate filters on each IMU for multi-IMU boards
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(such as the Pixhawk), giving a high degree of redundency
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- much better handling of gyro drift estimation, especially on
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startup
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- much faster recovery from attitude estimation errors
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After extensive testing of the new EKF code we decided to make it the
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default for this release. You can still use the old EKF if you want to
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by setting AHRS_EKF_TYPE to 1, although it is recommended that the new
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EKF be used for all vehicles.
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In order to use the EKF we need to be a bit more careful about the
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setup of the vehicle. That is why we enabled arming and pre-arm checks
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by default. Please don't disable the arming checks, they are there for
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very good reasons.
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UAVCAN new protocol
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-------------------
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The uavcan change to the new protocol has been a long time coming, and
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we'd like to thank Holger for both his great work on this and his
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patience given how long it has taken to be in a release. This adds
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support for automatic canbus node assignment which makes setup much
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easier, and also supports the latest versions of the Zubax canbus GPS.
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Support for 4 new Boards
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------------------------
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The porting of ArduPilot to more boards continues, with support
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for 3 new boards in this release. They are:
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- the BHAT board
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- the PXFmini
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- the QualComm Flight
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- the Pixracer
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More information about the list of supported boards is available here:
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http://dev.ardupilot.com/wiki/supported-autopilot-controller-boards/
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Startup on a moving platform
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----------------------------
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One of the benefits of the new EKF2 estimator is that it allows for
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rapid estimation of gyro offset without doing a gyro calibration on
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startup. This makes it possible to startup and arm on a moving
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platform by setting the INS_GYR_CAL parameter to zero (to disable gyro
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calibration on boot). This should be a big help for boats.
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Improved Camera Trigger Logging
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-------------------------------
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This release adds new CAM_FEEDBACK_PIN and CAM_FEEDBACK_POL
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parameters. These add support for separate CAM and TRIG log messages,
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where TRIG is logged when the camera is triggered and the CAM message
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is logged when an external pin indicates the camera has actually
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fired. This pin is typically based on the flash hotshoe of a camera
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and provides a way to log the exact time of camera triggering more
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accurately. Many thanks to Dario Andres and Jaime Machuca for their
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work on this feature.
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PID Tuning
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----------
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You can now see the individual contributions of the P, I and D
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components for the Steering PID in the logs (PIDY), allowing you to
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get a much better picture of the performance.
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Vibration Logging
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-----------------
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This release includes a lot more options for diagnosing vibration
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issues. You will notice new VIBRATION messages in MAVLink and VIBE
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messages in the dataflash logs. Those give you a good idea of your
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(unfiltered) vibration levels. For really detailed analysis you can
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setup your LOG_BITMASK to include raw logging, which gives you every
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accel and gyro sample on your Pixhawk. You can then do a FFT on the
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result and plot the distribution of vibration level with
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frequency. That is great for finding the cause of vibration
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issues. Note that you need a very fast microSD card for that to work!
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Steering Disarm
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---------------
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This is the first release that allows you to disarm using steering
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if you want to. It isn't enabled by default. You can enable it
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with the ARMING_RUDDER parameter by setting it to 2. It will only
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allow you to disarm if the autopilot thinks you are not moving at the
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time.
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More Sensors
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------------
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This release includes support for a bunch more sensors. It now supports
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3 different interfaces for the LightWare range of Lidars (serial, I2C
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and analog), and also supports the very nice Septentrio RTK
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dual-frequency GPS (the first dual-frequency GPS we have support
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for). It also supports the new "blue label" Lidar from Pulsed Light
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(both on I2C and PWM).
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For the uBlox GPS, we now have a lot more configurability of the
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driver, with the ability to set the GNSS mode for different
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constellations. Also in the uBlox driver we support logging of the raw
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carrier phase and pseudo range data, which allows for post RTK
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analysis with raw-capable receivers for really accurate photo
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missions.
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Better Linux support
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--------------------
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This release includes a lot of improvements to the Linux based
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autopilot boards, including the NavIO+, the PXF and ERLE boards and
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the BBBMini and the new RasPilot board.
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On-board compass calibrator
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---------------------------
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We also have a new on-board compass calibrator, which also adds calibration
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for soft iron effects, allowing for much more accurate compass
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calibration.
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Lots of other changes!
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----------------------
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The above list is just a taste of the changes that have gone into this
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release. Thousands of small changes have gone into this release with
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dozens of people contributing. Many thanks to everyone who helped!
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Other key changes
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-----------------
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- fixed the MAV_CMD_DO_SET_HOME (thanks salonijain12)
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- fixed bug when reverse throttle would increase speed in AUTO
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- fixed a bug going into guided and rover still moving
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- loitering at a waypoint if Param1 is non-zero
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- update uavcan to new protocol
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- fixed reporting of armed state with safety switch
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- added optional arming check for minimum voltage
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- improved text message queueing to ground stations
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- re-organisation of HAL_Linux bus API
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- improved NMEA parsing in GPS driver
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- improved autoconfig of uBlox GPS driver
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- support a wider range of Lightware serial Lidars
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- improved non-GPS performance of EKF2
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- improved compass fusion in EKF2
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- improved support for Pixracer board
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- improved NavIO2 support
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- added BATT_WATT_MAX parameter
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- enable messages for MAVLink gimbal support
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- use 64 bit timestamps in dataflash logs
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- added realtime PID tuning messages and PID logging
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- fixed a failure case for the px4 failsafe mixer
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- added DSM binding support on Pixhawk
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- added vibration level logging
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- ignore low voltage failsafe while disarmed
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- added delta velocity and delta angle logging
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- allow steering disarm based on ARMING_RUDDER parameter
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- prevent mode switch changes changing WP tracking
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- fixed parameter documentation spelling errors
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- send MISSION_ITEM_REACHED messages on waypoint completion
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- enable EKF by default on rover
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- Improve gyro bias learning rate for plane and rover
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- Allow switching primary GPS instance with 1 sat difference
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- added NSH over MAVLink support
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- added support for mpu9250 on pixhawk and pixhawk2
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- Add support for logging ublox RXM-RAWX messages
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- lots of updates to improve support for Linux based boards
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- added ORGN message in dataflash
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- added support for new "blue label" Lidar
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- switched to real hdop in uBlox driver
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- improved auto-config of uBlox
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- raise accel discrepancy arming threshold to 0.75
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- improved support for tcp and udp connections on Linux
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- switched to delta-velocity and delta-angles in DCM
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- improved detection of which accel to use in EKF
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- improved auto-detections of flow control on pixhawk UARTs
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- added HDOP to uavcan GPS driver
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- improved sending of autopilot version
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- log zero rangefinder distance when unhealthy
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- added PRU firmware files for BeagleBoneBlack port
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- fix for recent STORM32 gimbal support
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- changed sending of STATUSTEXT severity to use correct values
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- added new RSSI library with PWM input support
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- fixed MAVLink heading report for UAVCAN GPS
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- support LightWare I2C rangefinder on Linux
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- improved staging of parameters and formats on startup to dataflash
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- added new on-board compass calibrator
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- improved RCOutput code for NavIO port
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- added support for Septentrio GPS receiver
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- support DO_MOUNT_CONTROl via command-long interface
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- added CAM_RELAY_ON parameter
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- moved SKIP_GYRO_CAL functionality to INS_GYR_CAL
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- new waf build system
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- new async accel calibrator
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- better rangefinder power control
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- dataflash over mavlink support
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- settable main loop rate
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- hideable parameters
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- improved logging for dual-GPS setups
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- improvements to multiple RTK GPS drivers
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- numerous HAL_Linux improvements
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- improved logging of CAM messages
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- added support for IMU heaters in HAL_Linux
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- support for RCInput over UDP in HAL_Linux
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- improved EKF startup checks for GPS accuracy
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- added raw IMU logging for all platforms
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- configurable RGB LED brightness
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- improvements to the lsm303d driver for Linux
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Release 2.50, 19 June 2015
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==========================
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