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Copter: sync release notes for plane4.0

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This commit is contained in:
Andrew Tridgell 2020-05-11 18:11:29 +10:00
parent f9a045d04d
commit 2cd31c66fe
3 changed files with 37 additions and 11 deletions
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27
ArduCopter/ReleaseNotes.txt
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@ -1,5 +1,32 @@
ArduPilot Copter Release Notes: ArduPilot Copter Release Notes:
------------------------------------------------------------------ ------------------------------------------------------------------
Copter 4.0.3 28-Feb-2020 / 4.0.3-rc1 20-Feb-2020
Changes from 4.0.2
1) Bug Fixes:
a) "RCInput: decoding" message watchdog reset when using MAVLink signing (Critical Fix)
b) HeliQuad yaw control fix
c) Do-Set-Servo commands can affect sprayer, gripper outputs
d) BLHeli passthrough fix for H7 boards (CubeOrange, Holybro Durandal)
2) USB IDs updated for "composite" devices (fixes GCS<->autopilot connection issues for boards which present 2 USB ports)
3) RCOut banner helps confirm correct setup for pwm, oneshot, dshot
4) ZigZag mode supports arming, takeoff and landing
------------------------------------------------------------------
Copter 4.0.2 11-Feb-2020
Changes from 4.0.2-rc4
1) MAVFTP stack size increased to 3k (fixes reboot when using MAVFTP)
------------------------------------------------------------------
Copter 4.0.2 11-Feb-2020 / 4.0.2-rc4 05-Feb-2020
Changes from 4.0.2-rc3
1) Bug Fixes:
a) Spektrum receivers decoding fix for Pixracer
b) Current Alt frame always relative to home (RTL could return at wrong alt)
c) Circle mode pitch control direction fixed
d) EKF only uses world magnetic tables if COMPASS_SCALE is set
e) Logging reliability improvements especially for FRAM logs
f) RangeFinders using PWM interface use RNGFNDx_OFFSET param (attempt2)
g) SpeedyBeeF5 probes all I2C ports for external baro
2) Rangefinder fallback support (both must have same _ORIENT)
------------------------------------------------------------------
Copter 4.0.2-rc3 01-Feb-2020 Copter 4.0.2-rc3 01-Feb-2020
Changes from 4.0.2-rc2 Changes from 4.0.2-rc2
1) Bug Fixes: 1) Bug Fixes:

13
ArduCopter/inertia.cpp
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@ -17,12 +17,11 @@ void Copter::read_inertia()
return; return;
} }
if (ahrs.home_is_set()) { // current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin
current_loc.set_alt_cm(inertial_nav.get_altitude(), const int32_t alt_above_origin_cm = inertial_nav.get_altitude();
Location::AltFrame::ABOVE_HOME); current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN);
} else { if (!ahrs.home_is_set() || !current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
// without home use alt above the EKF origin // if home has not been set yet we treat alt-above-origin as alt-above-home
current_loc.set_alt_cm(inertial_nav.get_altitude(), current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME);
Location::AltFrame::ABOVE_ORIGIN);
} }
} }

8
ArduCopter/version.h
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@ -6,12 +6,12 @@
#include "ap_version.h" #include "ap_version.h"
#define THISFIRMWARE "ArduCopter V4.0.2-rc3" #define THISFIRMWARE "ArduCopter V4.0.3"
// the following line is parsed by the autotest scripts // the following line is parsed by the autotest scripts
#define FIRMWARE_VERSION 4,0,2,FIRMWARE_VERSION_TYPE_RC #define FIRMWARE_VERSION 4,0,3,FIRMWARE_VERSION_TYPE_OFFICIAL
#define FW_MAJOR 4 #define FW_MAJOR 4
#define FW_MINOR 0 #define FW_MINOR 0
#define FW_PATCH 2 #define FW_PATCH 3
#define FW_TYPE FIRMWARE_VERSION_TYPE_RC #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL